CN1971800A - Linear motor operating mechanism of high-voltage breaker - Google Patents
Linear motor operating mechanism of high-voltage breaker Download PDFInfo
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- CN1971800A CN1971800A CNA2006101340947A CN200610134094A CN1971800A CN 1971800 A CN1971800 A CN 1971800A CN A2006101340947 A CNA2006101340947 A CN A2006101340947A CN 200610134094 A CN200610134094 A CN 200610134094A CN 1971800 A CN1971800 A CN 1971800A
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Abstract
This invention relates to one high voltage breaker linear motor operation structure, which belongs to transducer device technique field, which comprises linear motor and its servo controller, wherein, the linear motor secondary or high voltage breaker dynamic probe are connected through isolation pull bar; the linear motor is connected to speed sensor and servo controller through isolation pull bar.
Description
Technical field
The invention belongs to the power transmission and transforming equipment technical field, particularly a kind of linear motor operating mechanism of high-voltage breaker is applicable to the intellectualized operation of circuit breaker.
Technical background
Primary cut-out plays control and protective effect in electrical network, be a kind of visual plant in power transmission and transformation field, and it not only will guarantee the reliable in action that circuit breaker is long-term, and will satisfy the requirement of arc quenching characteristic to operating mechanism.Require circuit breaker that good operating characteristics is arranged for this reason.Employed now circuit breaker operation mechanism is to adopt spring, hydraulic pressure or pneumatics, all is traditional mechanical type design, mainly by connecting rod, snap close, and several parts such as energy supply system form, link is many, the cumulative movement tolerance is big and response is slow, poor controllability, and efficient is low.Response time is generally wanted tens milliseconds.The action dispersiveness of these operating mechanisms is also bigger in addition.The structure more complicated, number of spare parts is many, the processing request height.Motion process is uncontrollable, and efficient is low, the characteristic instability, and long-time running is unreliable etc.
Summary of the invention
In order to solve the problem of above-mentioned existence, the invention provides a kind of linear electric motor operation mechanism that is used for primary cut-out.It is the Mechanical Driven part of the traditional operating mechanism of cancellation, the linear servo-actuator that adopts an electronic type to control directly drives the actuating bar of circuit breaker, linear electric motors drive based on Controlled by Microcomputer, power electronics, the closed-loop adaptation control of adopting the band position and speed to detect.Realize that its moving contact moves, the position, speed-controllable is adjustable, controls the motion process of circuit breaker accurately, realizes good divide-shut brake characteristic.
The present invention includes linear electric motors and servo controller, the moving contact of the secondary and primary cut-out of linear electric motors is connected by insulated tension pole, and linear electric motors are connected with servo controller with velocity transducer by armature winding and the position on it.
Its linear electric motors comprise elementary iron core, secondary iron core, permanent magnet, position and velocity transducer, radially be distributed as successively from inside to outside: secondary iron core, armature winding, elementary iron core, housing, elementary iron core forms several flute profile structures by silicon steel plate stacking, in the groove of secondary relatively core side, be equipped with armature winding, embedded opposite polarity permanent magnet on the secondary iron core successively, permanent magnet constitutes the magnetic pole of motor, be equipped with non-magnet material between the adjacent two magnetic levels, armature winding is arranged apart from the mode of wave winding by whole in groove; Position transducer is installed on the electric motor primary, and velocity transducer is contained on motor secondary.Position transducer is a Hall element, and velocity transducer is a linear grating.
Servo controller among the present invention comprises power subsystem, energy-storage units, input-output unit, control unit and driver element, power subsystem is power supply or storage battery, connect control unit and energy-storage units respectively, capacitor passes through power source charges as the energy-storage units of circuit breaker action; Input-output unit comprises keyboard, display and communication interface, connects control unit, realizes the input of divide-shut brake order and the output of motor status, show and with the communication of equipment such as computer; Control unit mainly is made of microprocessor, connect input-output unit and driver element respectively, position on the motor is connected with control unit respectively with velocity transducer, and the position and the rate signal of motor are passed to control unit, and control drive unit provides energy to motor; Driver element is made up of Intelligent Power Module and the IPM driver module IR2130 that IGBT forms, and links to each other with control unit, energy-storage units and motor respectively.
The control procedure of servo controller among the present invention, carry out according to the following steps:
1. initialization;
2. judge that circuit breaker is in branch/close position;
3. wait for and divide/close order;
4. call branch/combined floodgate interrupt service routine;
5. branch/making process finishes;
6. preserve branch/making process;
7. finish to return and wait for the order of branch/combined floodgate.
Branch/combined floodgate service disruption subprocess in the above-mentioned steps 4, carry out according to the following steps:
1. position of magnetic pole is judged:
The detection position sensor signal, and determine whether commutation, need commutation, then enter the commutation service process, do not need, then continue down to carry out;
2. reading speed;
3. compare speed;
4. governing speed;
5. read electric current;
6. adjusting electric current;
7. determine the PWM duty ratio;
8. upgrade the PWM register;
9. judge whether to finish;
10. return.
Step 1 is judged the commutation service process in the position of magnetic pole in above-mentioned branch/combined floodgate service disruption service process, carries out according to the following steps:
1. keep the scene intact;
2. read the commutation control word;
3. search switch tube working status;
4. commutation;
5. the recovery scene is withdrawed from.
Linear electric motors of the present invention are controlled by servo controller; the divide-shut brake order is passed to controller by the interface unit of input and output; the order sending controling instruction that the controller basis obtains is with control drive unit; driver element is made of Intelligent Power Module (being called for short IPM) and IPM driver module IR2103 forms, and IPM integrates Power Conversion, driving and protective circuit.To convert the energy that motor needs to and flow to motor by the energy storage capacitor energy stored by driver element and drive the circuit breaker action.Position transducer on the motor is passed to control unit with detected signal simultaneously, control unit compares the position signalling that obtains with the default rate curve of the circuit breaker of storage in advance, and send further control command, exert oneself and the speed of motor can be regulated continuously, to keep as far as possible little deviation.Whole motion process is accurately controlled by pre-set programs.
The present invention replaces traditional operating mechanism by a whole set of complicated mechanical driving, makes it have only a moving component, has reduced mechanical drive train in a large number, and is simple and reliable for structure.Servo-controlled use can be cancelled traditional buffer unit, and buffering is provided by the opposite force of motor, and energy remaining can be returned to energy-storage units.Control law is realized that by program linear electric motors provide reciprocating motion to drive the divide-shut brake of circuit breaker, by detecting the motion state of circuit breaker, can regulate the size of output energy automatically.The electronics actuating system of linear electric motor operation mechanism relies on power electronic device control power source, the time precision that guarantees execution command can reach the microsecond level, be controlled can on desirable phase place, the action of response time of mechanism, so being highly suitable for the synchronous pass of switch closes, linear electric motors servo-control system based on microprocessor, can realize various motion control strategies by program, motion process to moving contact is optimized control, be beneficial to the circuit breaker blow-out, reduce switching overvoltage, the raising breaking capacity of breaker reduces to shove, level and smooth motion is provided, to reduce the impact stress of structural member, guarantee the circuit breaker reliability service, be convenient to realize the intellectuality of switch.Mechanism of the present invention quality is little, and movement inertia is little, and kinetic energy reduces greatly, and energy loss reduces, and makes most of energy all use on the moving contact of breaker kinetic energy, has improved the service efficiency of energy.And have following characteristics: volume is little, and is in light weight; Simple in structure, highly reliable; High efficiency, low energy consumption; Respond fast and high accuracy; Motion process is controlled.
Description of drawings
Fig. 1 is a structural representation of the present invention;
Fig. 2 is the structural representation of cathetus motor of the present invention,
Fig. 3 is a servo controller block diagram of the present invention,
Fig. 4 is the electric control theory figure of linear electric motors of the present invention,
Fig. 5 is the control flow chart of servo controller of the present invention,
Fig. 6 is a branch/combined floodgate service process flow chart among Fig. 5,
Fig. 7 is a commutation service process flow chart among Fig. 5,
Fig. 8 is the pre-set velocity curve among the embodiment;
1. elementary iron cores among the figure, 2. nonmagnetic substance, 3. armature winding, 4. time level iron core, 5. permanent magnet, 6. fixed contact, 7. moving contact, 8. air cylinder, 9. insulated tension pole, 10. electric motor primary, 11. motor secondary, 12. grooves, 13. housing, 14. displays, 15. communication interfaces, 16. linear grating chis, 17. hall position sensor, 18. linear electric motors, 19. current sensors, 20 power supplys, C is a storage capacitor, and K1 is an opening button, and K2 is a switch knob.
Embodiment
Below in conjunction with accompanying drawing the present invention is described further:
Embodiment: as shown in Figure 1, linear electric motors and servo controller have been the present invention includes, secondary 11 of linear electric motors are connected by insulated tension pole 9 with the moving contact 7 of primary cut-out, and linear electric motors 18 are connected with servo controller with velocity transducer by armature winding 3 and the position on it.
Structure of the linear motion actuator as shown in Figure 2, comprise elementary unshakable in one's determination 1, secondary unshakable in one's determination 4, permanent magnet 5, position and velocity transducer, radially be distributed as successively from inside to outside: secondary unshakable in one's determination 4, armature winding 3, elementary unshakable in one's determination 1, housing 13, elementary unshakable in one's determination 1 forms several flute profile structures by silicon steel plate stacking, in the groove 12 of secondary relatively 4 sides unshakable in one's determination, be equipped with armature winding 3, embedded opposite polarity permanent magnet 5 on secondary unshakable in one's determination 4 successively, permanent magnet 5 constitutes the magnetic pole of motor, be equipped with non-magnet material 2 between adjacent vertically two magnetic poles, armature winding 3 is arranged apart from the mode of wave winding by whole in groove 12; Position transducer be contained in elementary on, velocity transducer is contained on motor secondary.Feed electric current in armature winding 3, electric current is subjected to secondary 11 motions of effect pushing motor of Ampere force in the magnetic field that permanent magnet produces, and the winding under the different magnetic poles feeds the opposite electric current of direction, makes the thrust maximum that synchronization produced.
Servo controller among the present invention, as shown in Figure 3, Figure 4, comprise power subsystem, energy-storage units, input-output unit, control unit and driver element, power subsystem is power supply or storage battery, it connects control unit and energy-storage units respectively, for controller power supply and be the energy-storage units conveying capacity; Capacitor by power source charges, is given motor by driver element with energy delivery as the energy-storage units of circuit breaker action; Input-output unit comprises keyboard, display and communication interface, connects control unit, realizes the input of divide-shut brake order and the output of motor status, show and with the communication of equipment such as computer; Control unit mainly is made of microprocessor, driver element is made up of Intelligent Power Module and IPM driver module IR2130, Intelligent Power Module is made of the full bridge driving circuit that six IGBT form, and driver element links to each other with control unit, energy-storage units and motor respectively; Current sensor is installed on IPM and the lead that storage capacitor links to each other, the size of monitoring current; Control unit in this example adopts the chip of TMS320 * 2407 models, connect input-output unit, driver element and motor and current sensor respectively, receive the feedback signal of motor and current sensor, the IOPB4 of control chip links to each other with keyboard with IOPB5, receives the divide-shut brake order; IOPE1-IOPE6 links to each other with display, and the state of circuit breaker is outputed to display; IOPA0 links to each other with communication interface with IOPA1, realizes the communication with external equipment; The PWM1-PWM6 mouth links to each other with LIN3 with LIN2, HIN3 with LIN1, HIN2 with the HIN1 of IR2130 respectively and H01 and L01, H02 and L02, H03 and L03 by IR2130, be connected with six 1GBT circuit respectively, the break-make of six transistor IGBT 1-IGBT6 of control IPM, the PWM1-PWM6 synchronization has only two conductings, control per moment of IGBT1-IGBT6 has only two conductings, to the motor conveying capacity; CAP1, CAP2, CAP3 link to each other with hall position sensor on the motor, receive the position feed back signal of motor, according to the difference of location status, determine two interfaces of synchronization conducting among the PWM1-PWM6, realize the commutation of electric current in the armature winding; QEP3, QEP4, CAP6 receive the signal of motor speed sensor, compare with pre-set velocity curve shown in Figure 8, regulate the speed of service of motor; The VIN0 mouth links to each other with current sensor, and the feedback signal of received current realizes the monitoring of electric current; Hall position sensor and linear grating are housed on the motor, the position and the rate signal of motor are passed to control unit.
The control procedure of servo controller among the present invention, as shown in Figure 5, carry out according to the following steps:
1. initialization;
2. judge that circuit breaker is in branch/close position;
3. wait for and divide/close order;
4. call branch/combined floodgate interrupt service routine;
5. branch/making process finishes;
6. preserve branch/making process;
7. finish to return and wait for the order of branch/combined floodgate.
4 minutes/combined floodgate of above-mentioned steps service disruption service process, as shown in Figure 6, carry out according to the following steps:
1. judgement position of magnetic pole;
The detection position sensor signal is determined the switching tube of conducting, and judges whether position sensor signal changes, if position sensor signal changes to another kind of state from a kind of state, then application is interrupted, and enters the commutation interrupt service routine;
2. if the position sensor signal state is constant, then reading speed;
Read the motor values for actual speed v that given velocity amplitude v* of pre-set velocity curve and velocity transducer feed back;
3. compare speed;
The actual speed that velocity transducer records is compared with given velocity amplitude, with the assigned error of its difference as speed regulation, Δ v=v*-v;
4. governing speed;
Determine the error amount Δ i=K of electric current by given velocity error
iΔ v, K
i-Current Regulation coefficient;
5. read electric current;
Read the current value i that current sensor feeds back;
6. adjusting electric current;
With actual current value and the addition of current error value that current sensor records, determine the set-point of Current Regulation, i*=Δ i+i;
7. determine the PWM duty ratio;
The PWM duty cycle alpha
kFrom 0-1, corresponding i* is from 0-I
Max, determine the PWM duty ratio according to the size of given electric current
8. upgrade the PWM register;
9. judge whether to finish;
10. return.
Step 1 is judged the commutation interrupt service routine in the position of magnetic pole in above-mentioned branch/combined floodgate service disruption service process, as shown in Figure 7, carries out according to the following steps:
1. keep the scene intact;
2. read the commutation control word;
Position transducer sends three signal a, b, c, and each signal has 0,1 two value, and in the making process, synchronization has two, and to be 1, one be 0, and synchronization has two to be 0, one be 1 in the separating brake process.Therefore, have 110,101,011,100,010,001 6 commutations constantly.Corresponding six groups of switch tube working status, every group has two switching tube conductings.
3. search switch tube working status;
| Position sensor signal | The PWM operating state | ||||||||
| a | b | c | PWM1 | PWM2 | PWM3 | PWM4 | PWM5 | PWM6 | |
| 1 | 1 | 0 | Open | Close | Close | Close | Close | Open | |
| 1 | 0 | 1 | Close | Close | Open | Close | Close | Open | |
| 0 | 1 | 1 | Close | Open | Open | Close | Close | Close | |
| 1 | 0 | 0 | Open | Close | Close | | Close | Close | |
| 0 | 1 | 0 | Close | Close | Close | Open | | Close | |
| 0 | 0 | 1 | Close | Open | Close | Close | Open | Close | |
4. commutation;
5. the recovery scene is withdrawed from.
Claims (7)
1, a kind of linear motor operating mechanism of high-voltage breaker, it is characterized in that including linear electric motors and servo controller, the moving contact of the secondary and primary cut-out of linear electric motors is connected by insulated tension pole, and linear electric motors are connected with servo controller with velocity transducer by armature winding and the position on it.
2, a kind of linear motor operating mechanism of high-voltage breaker according to claim 1, it is characterized in that described linear electric motors comprise elementary iron core, secondary iron core, permanent magnet, position and velocity transducer, radially be distributed as successively from inside to outside: secondary iron core, armature winding, elementary iron core, housing, elementary iron core forms several flute profile structures by silicon steel plate stacking, in the groove of secondary relatively core side, be equipped with armature winding, embedded opposite polarity permanent magnet on the secondary iron core successively, permanent magnet constitutes the magnetic pole of motor, be equipped with non-magnet material between the adjacent two magnetic levels, armature winding is arranged apart from the mode of wave winding by whole in groove; Position transducer is installed on the electric motor primary, and velocity transducer is contained on motor secondary.
3, a kind of linear motor operating mechanism of high-voltage breaker according to claim 2 is characterized in that described position transducer is a Hall element, and velocity transducer is a linear grating.
4, a kind of linear motor operating mechanism of high-voltage breaker according to claim 1, it is characterized in that described servo controller comprises power subsystem, energy-storage units, input-output unit, control unit and driver element, power subsystem is power supply or storage battery, connects control unit and energy-storage units respectively; Energy-storage units is made of capacitor; Input-output unit comprises keyboard, display and communication interface, connects control unit; Control unit mainly is made of microprocessor, connects input-output unit and driver element respectively, and the position on the motor is connected with control unit respectively with velocity transducer; Driver element is made up of Intelligent Power Module and the IPM driver module IR 2103 that IGBT forms, and links to each other with control unit, energy-storage units and motor respectively.
5, a kind of linear motor operating mechanism of high-voltage breaker according to claim 1 is characterized in that the control procedure of described servo controller, carries out according to the following steps:
1) initialization;
2) judge that circuit breaker is in branch/close position;
3) order divide/is closed in wait;
4) call branch/combined floodgate interrupt service routine;
5) branch/making process finishes;
6) preserve branch/making process;
7) finish to return the order of wait branch/combined floodgate.
6, a kind of linear motor operating mechanism of high-voltage breaker according to claim 5 is characterized in that branch/combined floodgate interrupt service routine in the described step 4), carries out according to the following steps:
1) position of magnetic pole is judged:
The detection position sensor signal, and determine whether commutation, need commutation, then enter the commutation service process, do not need, then continue down to carry out;
2) reading speed;
3) compare speed;
4) governing speed;
5) read electric current;
6) regulate electric current;
7) determine duty ratio;
8) upgrade the PWM register;
9) judge whether to finish;
10) return.
7, a kind of linear motor operating mechanism of high-voltage breaker according to claim 6 is characterized in that the commutation service process in the described step 1), carries out according to the following steps:
1) keeps the scene intact;
2) read the commutation control word;
3) search switch tube working status;
4) commutation;
5) the recovery scene is withdrawed from.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CNB2006101340947A CN100468599C (en) | 2006-10-30 | 2006-10-30 | Linear motor operating mechanism of high-voltage breaker |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CNB2006101340947A CN100468599C (en) | 2006-10-30 | 2006-10-30 | Linear motor operating mechanism of high-voltage breaker |
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| Publication Number | Publication Date |
|---|---|
| CN1971800A true CN1971800A (en) | 2007-05-30 |
| CN100468599C CN100468599C (en) | 2009-03-11 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CNB2006101340947A Expired - Fee Related CN100468599C (en) | 2006-10-30 | 2006-10-30 | Linear motor operating mechanism of high-voltage breaker |
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Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104503363A (en) * | 2014-12-31 | 2015-04-08 | 中达电通股份有限公司 | Switch control system and method |
| CN108549021A (en) * | 2018-06-21 | 2018-09-18 | 沈阳工业大学 | A kind of experimental rig and method for the research of environment-friendly type gas arc extinction performance |
| CN109510424A (en) * | 2018-12-17 | 2019-03-22 | 煤科集团沈阳研究院有限公司 | Coal mine disconnecting switch disjunction test direct-drive motor mechanism and its control system |
-
2006
- 2006-10-30 CN CNB2006101340947A patent/CN100468599C/en not_active Expired - Fee Related
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104503363A (en) * | 2014-12-31 | 2015-04-08 | 中达电通股份有限公司 | Switch control system and method |
| CN108549021A (en) * | 2018-06-21 | 2018-09-18 | 沈阳工业大学 | A kind of experimental rig and method for the research of environment-friendly type gas arc extinction performance |
| CN109510424A (en) * | 2018-12-17 | 2019-03-22 | 煤科集团沈阳研究院有限公司 | Coal mine disconnecting switch disjunction test direct-drive motor mechanism and its control system |
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| Publication number | Publication date |
|---|---|
| CN100468599C (en) | 2009-03-11 |
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Granted publication date: 20090311 Termination date: 20111030 |