Servo motor control method and system for circuit breaker contact driving

Abstract

The invention discloses a servo motor control method and system for circuit breaker contact driving, and relates to the technical field of servo control, and the method comprises the steps: collecting the parameter data of a servo motor in a circuit breaker, and forming a reference current for controlling the servo motor; designing a sliding mode controller to track a reference signal based on the upper limit of uncertainty; two parallel state observers are designed, and uncertainty in a servo motor model is estimated. According to the method, a servo motor is used for driving a high-voltage circuit breaker contact to be opened and closed. In order to overcome the influence of various uncertainties and interferences in a servo system model on the precision of the moving position of a circuit breaker contact, the invention provides a control method combining sliding mode control and active disturbance rejection control.

Description

Technical Field

[0001] The present invention relates to the technical field of servo control, and in particular to a servo motor control method and system for circuit breaker contact driving. Background Art

[0002] High-voltage circuit breakers are very important control and protection devices in power systems. After receiving the action command, the circuit needs to be quickly and reliably connected or disconnected by moving the contacts. Permanent magnet synchronous motors have been used to drive the contacts of high-voltage circuit breakers due to their advantages of high efficiency, high power factor and high torque density. High-performance speed controllers are key parameters of permanent magnet synchronous motor drivers, especially in high-voltage circuit breaker systems. During operation, permanent magnet synchronous motors are subject to various disturbances, and traditional PI controllers are no longer sufficient to meet the high-precision control requirements. In order to improve the control performance of permanent magnet synchronous motors with uncertainty, many control strategies have been developed, such as model predictive control, sliding mode control, and active disturbance rejection control. Among them, the sliding mode control method has better tracking performance and simpler implementation in different applications. However, since the disturbance usually varies in a large range, the robustness of sliding mode control to disturbances is usually achieved by using a large switching gain, which will produce undesirable jitter problems. The active disturbance rejection control strategy has received widespread attention and application due to its accurate system modeling and excellent anti-interference ability. In order to solve the control and driving problem of the permanent magnet synchronous motor in the high-voltage circuit breaker caused by parameter uncertainty such as inductance and resistance changes, the present application proposes a control method combining active disturbance rejection and sliding mode control. Summary of the invention

[0003] In view of the above existing problems, the present invention is proposed.

[0004] Therefore, the present invention provides a servo motor control method for circuit breaker contact drive, which can use a control strategy combining self-disturbance rejection and sliding mode control to achieve two control goals: improving the dynamic tracking capability of the servo motor system and minimizing the jitter of the system.

[0005] In order to solve the above technical problems, the present invention provides the following technical solution, a servo motor control method for circuit breaker contact drive, comprising:

[0006] The parameter data of the servo motor in the circuit breaker is collected and used to form a reference current for controlling the servo motor. A sliding mode controller is designed to track the reference signal based on the upper limit of uncertainty. Two parallel state observers are designed to estimate the uncertainty in the servo motor model.

[0007] As a preferred embodiment of the servo motor control method for circuit breaker contact drive described in the present invention, the parameter data of the servo motor in the circuit breaker includes obtaining the actual output speed of the servo motor in the circuit breaker, obtaining the speed difference after comparing it with the given speed, and using the speed difference to form a reference current for controlling the servo motor.

[0008] As a preferred solution of the servo motor control method for circuit breaker contact driving described in the present invention, wherein: the reference current for controlling the servo motor includes a d-axis reference current and a q-axis reference current.

[0009] As a preferred solution of the servo motor control method for circuit breaker contact drive described in the present invention, wherein: the reference current for controlling the servo motor includes, the difference between the reference current and the actual current of the servo motor is the main input parameter of the sliding mode controller, and the sliding mode controller also has two sets of adjustment parameters, which are the proportional adjustment parameters of the two current differences and the adjustment parameters of the sliding surface formed by the two current differences.

[0010] As a preferred solution of the servo motor control method for circuit breaker contact drive described in the present invention, wherein: the reference current for controlling the servo motor also includes that the adjustment parameters of the sliding surface are determined by the boundaries of the uncertainty parameters.

[0011] As a preferred solution of the servo motor control method for circuit breaker contact drive described in the present invention, wherein: the uncertainty-based upper limit design sliding mode controller tracking reference signal includes obtaining the actual current of the servo motor in the circuit breaker, including the d-axis current and the q-axis current, and using parallel observers to respectively estimate the uncertainties caused by parameter perturbations and interferences.

[0012] As a preferred solution of the servo motor control method for circuit breaker contact drive described in the present invention, wherein: the uncertainty-based upper limit design sliding mode controller tracking reference signal also includes that the two observers used in the d-axis controller are ESO1d and ESO2d respectively.

[0013] As a preferred solution of the servo motor control system for circuit breaker contact drive described in the present invention, the system includes a data collection module, a data storage module, a calculation module and an observer module; the data collection module is used to collect the output speed and actual current of the servo motor in the circuit breaker; the data storage module is used to store and upload information in the control process; the calculation module is used to process the calculation corresponding to the parameters; and the observer module is used to carry the state observer actually used.

[0014] A computer device comprises a memory and a processor, wherein the memory stores a computer program, and is characterized in that when the processor executes the computer program, the steps of a servo motor control method for circuit breaker contact driving are implemented.

[0015] A computer-readable storage medium stores a computer program, wherein the computer program, when executed by a processor, implements the steps of a servo motor control method for circuit breaker contact driving.

[0016] Beneficial effects of the invention: The proposed combined auto-disturbance rejection and sliding mode control method for the servo motor drive in the circuit breaker can eliminate the uncertainty in the permanent magnet synchronous motor model by using two parallel observers and minimize the chattering problem of the sliding mode control method. The results show that the proposed combined auto-disturbance rejection and sliding mode control strategy is superior to the traditional sliding mode method, and exhibits stronger anti-disturbance ability and better tracking performance under contact movement operation. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the accompanying drawings required for use in the description of the embodiments will be briefly introduced below. Obviously, the accompanying drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other accompanying drawings can be obtained based on these accompanying drawings without paying creative work.

[0018] Figure 1 A schematic flow chart of a servo motor control method for circuit breaker contact driving is provided in accordance with an embodiment of the present invention.

[0019] Figure 2 A block diagram of the d-axis sliding mode and active disturbance rejection combined control principle of a servo motor control method for circuit breaker contact drive provided by an embodiment of the present invention.

[0020] Figure 3 A block diagram of the q-axis sliding mode and active disturbance rejection combined control principle of a servo motor control method for circuit breaker contact drive provided by an embodiment of the present invention. DETAILED DESCRIPTION

[0021] In order to make the above-mentioned purposes, features and advantages of the present invention more obvious and easy to understand, the specific implementation methods of the present invention are described in detail below in conjunction with the drawings of the specification. Obviously, the described embodiments are part of the embodiments of the present invention, but not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary persons in the art without creative work should fall within the scope of protection of the present invention.

[0022] In the following description, many specific details are set forth to facilitate a full understanding of the present invention, but the present invention may also be implemented in other ways different from those described herein, and those skilled in the art may make similar generalizations without violating the connotation of the present invention. Therefore, the present invention is not limited to the specific embodiments disclosed below.

[0023] Secondly, the term "one embodiment" or "embodiment" as used herein refers to a specific feature, structure, or characteristic that may be included in at least one implementation of the present invention. The term "in one embodiment" that appears in different places in this specification does not necessarily refer to the same embodiment, nor does it refer to a separate or selective embodiment that is mutually exclusive with other embodiments.

[0024] The present invention is described in detail with reference to schematic diagrams. When describing the embodiments of the present invention, for the sake of convenience, the cross-sectional diagrams showing the device structure will not be partially enlarged according to the general scale, and the schematic diagrams are only examples, which should not limit the scope of protection of the present invention. In addition, in actual production, the three-dimensional dimensions of length, width and depth should be included.

[0025] At the same time, in the description of the present invention, it should be noted that the directions or positional relationships indicated by the terms "upper, lower, inner and outer" are based on the directions or positional relationships shown in the drawings, and are only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific direction, be constructed and operated in a specific direction, and therefore cannot be understood as limiting the present invention. In addition, the terms "first, second or third" are only used for descriptive purposes and cannot be understood as indicating or implying relative importance.

[0026] In the present invention, unless otherwise clearly specified and limited, the terms "install, connect, connect" should be understood in a broad sense, for example: it can be a fixed connection, a detachable connection or an integral connection; it can also be a mechanical connection, an electrical connection or a direct connection, or it can be indirectly connected through an intermediate medium, or it can be the internal communication of two components. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0027] Example 1, reference Figure 1 , which is the first embodiment of the present invention, provides a servo motor control method for circuit breaker contact driving, comprising:

[0028] The proposed control method combining sliding mode control and active disturbance rejection control is used to improve the dynamic tracking capability of the servo motor system and minimize the jitter of the system. A sliding mode controller is designed based on the upper limit of uncertainty to track the reference signal, and two parallel state observers are designed to estimate the uncertainty in the servo motor model.

[0029] The actual output speed of the servo motor in the circuit breaker is obtained, and the speed difference is obtained after comparison with the given speed, and the speed difference is used to form a reference current for controlling the servo motor, including a d-axis reference current and a q-axis reference current.

[0030] The difference between the reference current and the actual current of the servo motor is e d and e q It is the main input parameter of the sliding mode controller. In addition, the sliding mode controller has two sets of adjustment parameters, τ d and τ q are the two current differences e d and e q The proportional adjustment parameter, η d and η q are respectively composed of two current differences e d and e q The adjustment parameters of the sliding surface formed by d and η q Determined by the bounds on the uncertainty parameters.

[0031] For the uncertain parameters of the sliding mode controller, the adjustment parameter η d It is determined by several factors, including:

[0032] 1) The maximum change value of the servo motor resistance is c1, that is, |ΔR|≤c1.

[0033] 2) The maximum change value c3 of the servo motor d-axis inductance, i.e. |ΔL q |≤c3.

[0034] 3) The boundary c4 of other uncertain values ​​of the servo motor d-axis parameters except resistance and inductance, that is, |ε d |≤c4.

[0035] Adjustment parameter η q It is determined by several factors, including:

[0036] 1) The maximum change value of the servo motor resistance is c1, that is, |ΔR|≤c1.

[0037] 2) The maximum change value c2 of the servo motor q-axis inductance, i.e. |ΔL d |≤c2.

[0038] 3) The boundary c5 of other uncertain values ​​of the servo motor q-axis parameters except resistance and inductance, that is, |ε q |≤c5.

[0039] Get the actual current of the servo motor in the circuit breaker, including the d-axis current i d and q-axis current i qThen, the uncertainty caused by parameter perturbation and disturbance is estimated by parallel observers, where the two observers used in the d-axis controller are ESO1d and ESO2d:

[0040] 1)ESO1d is described as:

[0041]

[0042] Among them, s d1 and d2 The current i d and the uncertainty term ΔRi d The estimated value of β d1 and β d2 is the gain value of observer ESO1d, and They are s d1 and d2 The differential of d1 For d1 and i d The error between d is the d-axis control coefficient, u d is the d-axis voltage.

[0043] 2)ESO2d is described as:

[0044]

[0045] Among them, z d1 and z d2 The current i d and the uncertainty term ΔL q i d The estimated value of β d3 and β d4 is the gain value of observer ESO2d, and They are z d1 and z d2 The differential of d2 For z d1 and i d The error between .

[0046] The two observers used in the q-axis controller are ESO1q and ESO2q:

[0047] 1) ESO1q is described as:

[0048]

[0049] Among them, s q1 and q2 The current i qand the uncertainty term ΔRi q The estimated value of β q1 and β q2 is the gain value of observer ESO1q, and They are s q1 and q2 The differential of q1 For q1 and i q The error between q is the q-axis control coefficient, u q is the q-axis voltage.

[0050] 2) ESO2q is described as:

[0051]

[0052] Among them, z q1 and z q2 The current i q and the uncertainty term ΔL d i q The estimated value of β q3 and β q4 is the gain value of observer ESO2q, and They are z q1 and z q2 The differential of q2 For z q1 and i q The error between .

[0053] In the ADRC, two observers work in parallel, and the two observers ESO1d and ESO2d in the d-axis are connected in parallel. After the parallel connection, the output of the d-axis current controller will be adjusted for interference, and the adjustment formula is:

[0054]

[0055] The two observers ESO1d and ESO2d in the d-axis are connected in parallel. After the connection, the output of the d-axis current controller will be adjusted for interference, and the adjustment formula is:

[0056]

[0057] After the ADRC is combined with the sliding mode controller, the adjustment parameter η of the sliding mode surface is d and η q The coverage of the d-axis will be reduced, because the two observers ESO1d and ESO2d in the d-axis estimate the uncertainty term ΔRi respectively. d and ΔL q i d , so the adjustment parameter ηd It depends only on the uncertainty value c4; since the two observers ESO1q and ESO2q in the q axis estimate the uncertainty term ΔRi respectively q and ΔL d i q , so the adjustment parameter η d It depends only on the uncertain value c5.

[0058] Embodiment 2 is the second embodiment of the present invention, which provides a servo motor control method for circuit breaker contact driving, comprising:

[0059] S1: Collect parameter data of the servo motor in the circuit breaker and form a reference current for controlling the servo motor.

[0060] S2: Design a sliding mode controller to track the reference signal based on an upper bound on uncertainty.

[0061] S3: Design two parallel state observers to estimate the uncertainty in the servo motor model.

[0062] In the implementation of this application, the servo motor used to drive the circuit breaker contacts is a permanent magnet synchronous motor. Considering that the servo motor can be controlled with high precision using vector control technology, a dq-axis coordinate system model that is convenient for implementing vector control is established in the invention of this application, and the description of uncertainty terms such as resistance and inductance is included in the model.

[0063] The parameter data of the servo motor in the circuit breaker includes obtaining the actual output speed of the servo motor in the circuit breaker, comparing it with the given speed to obtain the speed difference, and using the speed difference to form a reference current for controlling the servo motor.

[0064] The reference current for controlling the servo motor includes a d-axis reference current and a q-axis reference current.

[0065] As a possible implementation method, in order to quantitatively describe the uncertainty in the servo motor model, L d and L q Respectively represent the actual inductance of the d-axis and q-axis, L d0 and L q0 Indicates rated value, ΔL d and ΔL q represents uncertainties, which satisfy |ΔL d |≤c2 and |ΔL q |≤c3; R represents resistance, R0 represents rated value, ΔR represents uncertainty, which satisfies |ΔR|≤c1; ε d and ε q represents the uncertain values ​​other than resistance and inductance, which satisfy ε d |≤c4 and |ε q|≤c5.

[0066] In the implementation method of the present application, a three-loop control strategy is adopted for the servo motor for the circuit breaker, wherein the outer loop is a position control loop, the middle loop is a speed control loop, and the inner loop is a current control loop.

[0067] The position control loop provides a control signal for the speed control loop, measures the speed of the permanent magnet servo motor, and uses the speed controller to generate a control signal for the current controller. and

[0068] The control strategy of the combination of the active disturbance rejection control and the sliding mode control in this embodiment is mainly reflected in the current control loop. The sliding mode controller provides a suitable control signal for controlling the servo motor in the current loop, and the control signal is provided to the motor drive circuit to directly control the operation of the motor through space vector pulse width modulation. The active disturbance rejection controller estimates the uncertainty of resistance and inductance in the current control loop, and the control output signal of the sliding mode controller can eliminate the influence of these uncertainties on the motor control performance.

[0069] The reference current for controlling the servo motor includes: the difference between the reference current and the actual current of the servo motor is the main input parameter of the sliding mode controller; in addition, the sliding mode controller has two sets of adjustment parameters, namely, the proportional adjustment parameters of the two current differences and the adjustment parameters of the sliding surface formed by the two current differences.

[0070] The reference current for controlling the servo motor also includes that the adjustment parameters of the sliding surface are determined by the boundaries of the uncertainty parameters.

[0071] The sliding mode controller requires current error to drive, and also requires a sliding surface to maintain the stability of the controller. Measure the actual current of the servo motor and get i through abc-dq changes d and i q , and use them with the control signal output by the speed controller and The resulting current error is:

[0072]

[0073] Using the current error e d and e q and their integrals generate the sliding surface σ in the sliding mode controller d and σ q :

[0074]

[0075] The sliding mode controller mainly relies on the current error e d and e qAnd the sliding surface σ d and σ q To achieve a more satisfactory control effect, the controller also uses two sets of adjustment parameters to adjust the performance of the controller. Generally speaking, τ d and τ q As the difference between the two currents e d and e q The proportional adjustment parameter, η d and η q As the difference between the two currents e d and e q The adjustment parameters of the sliding surface constructed.

[0076] η d and η q The selection of η is related to the stability of the control system. d and η q Selecting a larger value will cause the servo motor to vibrate during operation; η d and η q Selecting a smaller value may make the servo motor unstable. d and η q The range of is very important for the sliding mode controller implemented in this application. The specific formula is as follows:

[0077]

[0078] Among them, ω e Indicates the electromagnetic speed of the motor.

[0079] The ADRC consists of two parallel observers, one of which estimates the effect of resistance uncertainty on the servo control system, and the other observer is used to estimate the effect of inductance uncertainty on the servo control system.

[0080] The use of the anti-disturbance controller eliminates the influence of resistance and inductance uncertainty on the current controller. The sliding mode surface adjustment parameter η of the sliding mode controller d and η q A smaller value can be selected to avoid jitter during servo motor operation. Considering the effect of the ADRC in eliminating uncertainty, the limit η d and η q The formula for the range becomes:

[0081]

[0082] The uncertainty-based upper limit design sliding mode controller tracking reference signal includes obtaining the actual current of the servo motor in the circuit breaker, including the d-axis current and the q-axis current, and using parallel observers to estimate the uncertainty caused by parameter perturbation and interference respectively.

[0083] The uncertainty-based upper limit design of the sliding mode controller to track the reference signal also includes that the two observers used in the d-axis controller are ESO1d and ESO2d respectively.

[0084] The two observers used in the d-axis ADRC are labeled ESO1d and ESO2d, and the two parallel observers in the q-axis ADRC are labeled ESO1q and ESO2q. ESO1d and ESO1q are used to estimate the uncertainty associated with the resistor, while ESO2d and ESO2q are used to estimate the uncertainty associated with the inductor.

[0085] As a possible implementation, all observers adopt a second-order extended observer structure, using the current error to further estimate the uncertainty associated with the resistor or inductor parameters. The accuracy of the estimated value is closely related to the gain of the observer.

[0086] Example 3, reference Figure 2-Figure 3 , which is an embodiment of the present invention, provides a servo motor control method for circuit breaker contact drive. In order to verify the beneficial effects of the present invention, scientific demonstration is carried out through experiments.

[0087] 1) Establish a permanent magnet servo motor model with uncertainty:

[0088]

[0089] Among them, i d and i q Represent the d-axis and q-axis currents, pi d and pi q Respectively represent i d and i q The differential of u d and u q Represent the d-axis and q-axis voltages respectively; L d and L q Respectively represent the equivalent inductance of the d-axis and q-axis; R represents the resistance; ε d and ε q Indicates other uncertain values ​​besides resistance and inductance; ω e Represents the electromagnetic speed of the motor; ψ f Represents the permanent magnet flux of the servo motor.

[0090] 2) Measure the speed of the permanent magnet servo motor and use the speed controller to generate the control signal of the current controller and

[0091] 3) Measure the actual current of the permanent magnet servo motor and obtain i through abc-dq changes d and iq , and use them with control signals and The resulting current error is:

[0092]

[0093] 4) Using the current error e d and e q , generating the sliding surface σ in the sliding mode controller d and σ q :

[0094]

[0095] 5) Using the current error e d and e q And the sliding surface σ d and σ q , produce sliding mode controller:

[0096]

[0097] Among them, τ d and τ q The two current differences are d and e q The proportional adjustment parameter, η d and η q The two current differences are d and e q The adjustment parameters of the sliding surface constructed.

[0098] 6) Limit η d and η q The specific formula is as follows

[0099]

[0100] 7) As attached Figure 2 As shown, the d-axis active disturbance rejection controller is designed, which consists of two parallel observers ESO1d and ESO2d. ESO1d is described as:

[0101]

[0102] Among them, s d1 and d2 The current i d and the uncertainty term ΔRi d The estimated value of β d1 and β d2 is the gain value of observer ESO1d.

[0103] ESO2d is described as:

[0104]

[0105] Among them, z d1 and z d2 The current i d and the uncertainty term ΔL q i d The estimated value of β d3 and β d4 is the gain value of observer ESO2d.

[0106] After parallel connection, the output of the d-axis current controller will undergo anti-interference regulation, and the regulation formula is:

[0107]

[0108] 8) As attached Figure 3 As shown in the figure, the q-axis ADRC is designed, which consists of two parallel observers ESO1q and ESO2q. ESO1q is described as

[0109]

[0110] Among them, s q1 and q2 The current i q and the uncertainty term ΔRi q The estimated value of β q1 and β q2 is the gain value of observer ESO1q.

[0111] ESO2q is described as:

[0112]

[0113] Among them, s q1 and q2 The current i q and the uncertainty term ΔRi q The estimated value of β q1 and β q2 is the gain value of observer ESO1q.

[0114] After parallel connection, the output of the q-axis current controller will undergo anti-interference regulation, and the regulation formula is:

[0115]

[0116] 9) Combining the sliding mode controller with the active disturbance rejection controller, the new controller is as follows:

[0117]

[0118] in, and Represents the adjustment parameters of the updated sliding surface. Since the two parallel observers in the ADRC estimate the uncertainty of resistance and inductance, and remove the influence of the uncertainty of resistance and inductance on the control output signal in the new control rate, in general, the value of the adjustment parameters of the sliding surface can be reduced, which can improve the dynamic tracking ability of the servo motor system and reduce the jitter of the system.

[0119] It should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention rather than to limit it. Although the present invention has been described in detail with reference to the preferred embodiments, those skilled in the art should understand that the technical solutions of the present invention may be modified or replaced by equivalents without departing from the spirit and scope of the technical solutions of the present invention, which should all be included in the scope of the claims of the present invention.

[0120] Embodiment 4, the fourth embodiment of the present invention, is different from the first three embodiments in that:

[0121] If the functions are implemented in the form of software functional units and sold or used as independent products, they can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of the present invention, or the part that contributes to the prior art or the part of the technical solution, can be embodied in the form of a software product. The computer software product is stored in a storage medium, including several instructions for a computer device (which can be a personal computer, a server, or a network device, etc.) to perform all or part of the steps of the methods described in each embodiment of the present invention. The aforementioned storage medium includes: U disk, mobile hard disk, read-only memory (ROM, Read-Only Memory), random access memory (RAM, Random Access Memory), disk or optical disk, etc., which can store program codes.

[0122] The present application is described with reference to the flowcharts and / or block diagrams of the methods, devices (systems), and computer program products according to the embodiments of the present application. It should be understood that each process and / or box in the flowchart and / or block diagram, as well as the combination of the processes and / or boxes in the flowchart and / or block diagram, can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, a special-purpose computer, an embedded processor, or other programmable data processing device to generate a machine, so that the instructions executed by the processor of the computer or other programmable data processing device generate instructions for implementing the processes in the flowchart and / or block diagram. Figure 1 A process or multiple processes and / or boxes Figure 1 A device that provides the functions specified in a block or multiple blocks.

[0123] These computer program instructions may also be stored in a computer-readable memory capable of directing a computer or other programmable data processing device to operate in a specific manner, so that the instructions stored in the computer-readable memory produce an article of manufacture comprising an instruction device, which implements the process Figure 1 A process or multiple processes and / or boxes Figure 1 A function specified in one or more boxes.

[0124] These computer program instructions can also be loaded onto a computer or other programmable data processing device so that a series of operating steps are executed on the computer or other programmable device to produce a computer-implemented process, thereby providing instructions for implementing the process. Figure 1 A process or multiple processes and / or boxes Figure 1 The steps for the functions specified in one or more boxes.

[0125] Although the preferred embodiments of the present application have been described, those skilled in the art may make other changes and modifications to these embodiments once they have learned the basic creative concept. Therefore, the appended claims are intended to be interpreted as including the preferred embodiments and all changes and modifications falling within the scope of the present application.

[0126] Obviously, those skilled in the art can make various changes and modifications to the present application without departing from the spirit and scope of the present application. Thus, if these modifications and variations of the present application fall within the scope of the claims of the present application and their equivalents, the present application is also intended to include these modifications and variations.

[0127] Embodiment 5, the fifth embodiment of the present invention, provides a servo motor control system for circuit breaker contact driving, comprising:

[0128] The system includes a data collection module, a data storage module, a calculation module and an observer module; the data collection module is used to collect the output speed and actual current of the servo motor in the circuit breaker; the data storage module is used to store and upload information in the control process; the calculation module is used to process the calculation corresponding to the parameters; and the observer module is used to carry the state observer for actual use.

[0129] Specifically, the sliding mode control designed based on the upper bound of the uncertainty of the servo motor system ensures the reliability of the controller, and the accuracy of the controller is improved by using two parallel observers to estimate the uncertain parameters at the same time. The control method combining sliding mode control and anti-disturbance control is used in the core algorithm of driving the circuit breaker servo motor, which ensures the reliability and rapidity of the opening and closing of the high-voltage circuit breaker contacts.

Claims

1. A servo motor control method for circuit breaker contact drive, characterized in that: include, Collect parameter data of the servo motor in the circuit breaker and form a reference current for controlling the servo motor; Design a sliding mode controller to track the reference signal based on the upper limit of uncertainty; Design two parallel state observers to estimate the uncertainty in the servo motor model.

2. A servo motor control method for circuit breaker contact drive according to claim 1, characterized in that: The parameter data of the servo motor in the circuit breaker includes obtaining the actual output speed of the servo motor in the circuit breaker, obtaining the speed difference after comparing it with the given speed, and using the speed difference to form a reference current for controlling the servo motor.

3. A servo motor control method for circuit breaker contact drive according to claim 2, characterized in that: The reference current for controlling the servo motor includes a d-axis reference current and a q-axis reference current.

4. A servo motor control method for circuit breaker contact drive according to claim 3, characterized in that: The reference current for controlling the servo motor includes: the difference between the reference current and the actual current of the servo motor is the main input parameter of the sliding mode controller; in addition, the sliding mode controller has two sets of adjustment parameters, namely, the proportional adjustment parameters of the two current differences and the adjustment parameters of the sliding surface formed by the two current differences.

5. A servo motor control method for circuit breaker contact drive according to claim 4, characterized in that: The reference current for controlling the servo motor also includes that the adjustment parameters of the sliding surface are determined by the boundaries of the uncertainty parameters.

6. A servo motor control method for circuit breaker contact drive according to claim 5, characterized in that: The uncertainty-based upper limit design sliding mode controller tracking reference signal includes obtaining the actual current of the servo motor in the circuit breaker, including the d-axis current and the q-axis current, and using parallel observers to estimate the uncertainty caused by parameter perturbation and interference respectively.

7. A servo motor control method for circuit breaker contact drive according to claim 6, characterized in that: The uncertainty-based upper limit design of the sliding mode controller to track the reference signal also includes that the two observers used in the d-axis controller are ESO1d and ESO2d respectively.

8. A system for a servo motor control method for circuit breaker contact drive according to any one of claims 1 to 7, characterized in that: The system includes a data collection module, a data storage module, a calculation module and an observer module; The data collection module is used to collect the output speed and actual current of the servo motor in the circuit breaker; The data storage module is used to store and upload information during the control process; The calculation module is used to process the calculation corresponding to the parameters; The observer module is used to carry the state observer for actual use.

9. A computer device comprising a memory and a processor, wherein the memory stores a computer program, wherein: When the processor executes the computer program, the steps of the method according to any one of claims 1 to 7 are implemented.

10. A computer-readable storage medium having a computer program stored thereon, characterized in that: When the computer program is executed by a processor, the steps of the method according to any one of claims 1 to 7 are implemented.

Images