Spring energy storage control method of circuit breaker, storage medium and equipment

Abstract

The embodiment of the invention discloses a spring energy storage control method of a circuit breaker, a storage medium and equipment, and the method comprises the steps: obtaining the current deviation and the current deviation change rate of the spring energy storage of a spring of a target circuit breaker, and then obtaining the current deviation of the spring energy storage of the spring of the target circuit breaker according to the current deviation and the current deviation change rate; and determining a proportion variation, an integral variation and a differential variation according to the current deviation and the current deviation change rate and a preset fuzzy rule table, adjusting a proportion coefficient, an integral coefficient and a differential coefficient in the PI D controller according to the proportion variation, the integral variation and the differential variation, and inputting the current deviation and the current deviation change rate into the adjusted PI D controller. And finally, motor driving is controlled according to the control signal output by the adjusted PI D controller, so that the motor adjusts the compression displacement of the spring. The fuzzy PI D control is introduced to realize the intelligent control of the spring energy storage of the high-voltage circuit breaker, and the opening and closing faults caused by the reduction of the spring energy storage can be effectively avoided.

Description

Technical Field

[0001] The present invention relates to the field of intelligent control of switchgear, and in particular to a spring energy storage control method, storage medium and equipment for a circuit breaker. Background Art

[0002] In the current context of deepening the construction of ecological civilization and green and low-carbon development, the new power system has put forward higher requirements for the reliability of high-voltage circuit breakers. As a key device, high-voltage circuit breakers realize rapid protection and recovery of the power grid through the opening and closing process of switches. The spring in the high-voltage circuit breaker is the core component of its operating mechanism. Its main function is to release the stored energy at the required moment to drive the opening and closing of the switch. However, during the long-term compression or stretching energy storage process of the high-voltage circuit breaker spring, its energy storage has stress relaxation phenomenon, resulting in a decrease in the energy stored in the spring at the same compression height, affecting the opening and closing speed and accuracy of the switch, and even causing failures due to insufficient energy storage.

[0003] In the prior art, the spring energy storage control of the high-voltage circuit breaker is mainly achieved by designing a control loop of the spring of the high-voltage circuit breaker to realize automatic control of the spring energy storage. However, this method cannot realize intelligent control of the spring energy storage size of the high-voltage circuit breaker, that is, when the spring energy storage decreases due to stress relaxation, the spring energy storage cannot be returned to the spring energy storage range required for the normal operation of the high-voltage circuit breaker. Therefore, it is impossible to effectively avoid the opening and closing faults caused by the reduction of the spring energy storage. Summary of the invention

[0004] Based on this, it is necessary to propose a spring energy storage control method, storage medium and device for a circuit breaker to address the above problems, so as to realize intelligent control of the spring energy storage size of the high-voltage circuit breaker, which can effectively avoid the opening and closing failures caused by the reduction of spring energy storage.

[0005] To achieve the above object, the present invention provides a spring energy storage control method for a circuit breaker in a first aspect, the method comprising:

[0006] Obtaining a current deviation and a current deviation change rate of a spring energy storage of a target circuit breaker spring;

[0007] Determine a proportional change, an integral change, and a differential change according to the current deviation and the current deviation change rate, and a preset fuzzy rule table;

[0008] adjusting a proportional coefficient, an integral coefficient and a differential coefficient in a PID controller according to the proportional change, the integral change and the differential change;

[0009] Inputting the current deviation and the current deviation change rate into the adjusted PID controller to obtain a control signal output by the adjusted PID controller;

[0010] The motor drive is controlled according to the control signal so that the motor adjusts the compression displacement of the spring.

[0011] Optionally, determining the proportional change amount, the integral change amount and the differential change amount according to the current deviation and the current deviation change rate and a preset fuzzy rule table includes:

[0012] The current deviation and the current deviation change rate are both fuzzy quantized to obtain a quantized deviation and a quantized deviation change rate;

[0013] Determine the quantization proportional change, the quantization integral change, and the quantization differential change according to the quantization deviation and the quantization deviation change rate, and the preset fuzzy rule table;

[0014] The quantized proportional change amount, the quantized integral change amount and the quantized differential change amount are all defuzzified to obtain the proportional change amount, the integral change amount and the differential change amount.

[0015] Optionally, the preset fuzzy rule table includes a proportional fuzzy rule table, an integral fuzzy rule table and a differential fuzzy rule table, and the determining of the quantized proportional change amount, the quantized integral change amount and the quantized differential change amount according to the quantized deviation and the quantized deviation change rate, and the preset fuzzy rule table includes:

[0016] According to the quantization deviation and the quantization deviation change rate, matching is performed in the proportion fuzzy rule table to obtain the quantization proportion change amount;

[0017] According to the quantization deviation and the quantization deviation change rate, matching is performed in the integral fuzzy rule table to obtain the quantization integral change amount;

[0018] According to the quantization deviation and the quantization deviation change rate, matching is performed in the differential fuzzy rule table to obtain the quantization differential change amount.

[0019] Optionally, matching in the proportion fuzzy rule table according to the quantization deviation and the quantization deviation change rate to obtain the quantization proportion change amount includes:

[0020] In the case where the quantization deviation is negative and large and the rate of change of the quantization deviation is negative and large or negative and medium, or the quantization deviation is negative and medium and the rate of change of the quantization deviation is negative and large, the quantization ratio change amount is negative and large;

[0021] In the case where the quantization deviation is negative and large and the rate of change of the quantization deviation is negative and small or zero, or the quantization deviation is negative and medium and the rate of change of the quantization deviation is negative and small, or the quantization deviation is negative and small and the rate of change of the quantization deviation is negative and medium or zero, the quantization ratio change amount is negative and medium;

[0022] In the case where the quantization deviation is negative and large and the rate of change of the quantization deviation is positive and small or zero, or the quantization deviation is negative and medium and the rate of change of the quantization deviation is zero, or the quantization deviation is negative and small and the rate of change of the quantization deviation is zero, or the quantization deviation is zero and the rate of change of the quantization deviation is positive and small or zero, the quantization ratio change amount is negative and small;

[0023] In the case where the quantization deviation is negative and large and the rate of change of the quantization deviation is positive and medium or positive and small, or the quantization deviation is negative and medium and the rate of change of the quantization deviation is positive and medium or positive and small, or the quantization deviation is negative and small and the rate of change of the quantization deviation is positive and small, or the quantization deviation is zero and the rate of change of the quantization deviation is positive and medium, the quantization ratio change amount is zero;

[0024] When the quantization deviation is zero and the quantization deviation change rate is negative small or positive small, or the quantization deviation is positive small and the quantization deviation change rate is negative medium or zero, or the quantization deviation is positive medium and the quantization deviation change rate is negative medium, or the quantization deviation is positive large and the quantization deviation change rate is negative medium, the quantization ratio change amount is positive small;

[0025] When the quantization deviation is positive small and the quantization deviation change rate is positive medium or positive large, or the quantization deviation is positive medium and the quantization deviation change rate is positive medium or positive large, or the quantization deviation is positive large and the quantization deviation change rate is positive medium, the quantization ratio change amount is positive medium;

[0026] When the quantization deviation is positive small and the quantization deviation change rate is positive large, or the quantization deviation is positive medium and the quantization deviation change rate is positive large, or the quantization deviation is positive large and the quantization deviation change rate is positive large, the quantization ratio change amount is positive large.

[0027] Optionally, matching in the integral fuzzy rule table according to the quantization deviation and the quantization deviation change rate to obtain the quantization integral change amount includes:

[0028] In the case where the quantization deviation is negative and large and the rate of change of the quantization deviation is negative and large or negative and medium, or the quantization deviation is negative and medium and the rate of change of the quantization deviation is negative and large, the quantization integral change is positive and large;

[0029] In the case where the quantization deviation is negatively large and the rate of change of the quantization deviation is negatively small or zero, or the quantization deviation is negatively medium and the rate of change of the quantization deviation is negatively medium or negatively small, or the quantization deviation is negatively small and the rate of change of the quantization deviation is negatively medium or zero, the quantization integral change is negatively small;

[0030] In the case where the quantization deviation is negative and large and the rate of change of the quantization deviation is positive and small or zero, or the quantization deviation is negative and medium and the rate of change of the quantization deviation is zero, or the quantization deviation is negative and small and the rate of change of the quantization deviation is zero, or the quantization deviation is zero and the rate of change of the quantization deviation is positive and small or zero, the quantization integral change is negative and medium;

[0031] In the case where the quantization deviation is negative and large and the rate of change of the quantization deviation is positive and medium or positive and small, or the quantization deviation is negative and the rate of change of the quantization deviation is positive and medium or positive and small, or the quantization deviation is negative and small and the rate of change of the quantization deviation is positive and small, or the quantization deviation is zero and the rate of change of the quantization deviation is positive and medium, the quantization integral change amount is zero;

[0032] When the quantization deviation is zero and the quantization deviation change rate is negative small or positive small, or the quantization deviation is positive small and the quantization deviation change rate is negative medium or zero, or the quantization deviation is positive medium and the quantization deviation change rate is negative medium, or the quantization deviation is positive large and the quantization deviation change rate is negative medium, the quantization integral change amount is positive small;

[0033] In the case where the quantization deviation is positive small and the quantization deviation change rate is positive medium or positive large, or the quantization deviation is positive medium and the quantization deviation change rate is positive medium or positive large, or the quantization deviation is positive large and the quantization deviation change rate is positive medium, the quantization integral change amount is positive medium;

[0034] When the quantization deviation is positive small and the quantization deviation change rate is positive large, or the quantization deviation is positive medium and the quantization deviation change rate is positive large, or the quantization deviation is positive large and the quantization deviation change rate is positive large, the quantization integral change amount is positive large.

[0035] Optionally, matching in the differential fuzzy rule table according to the quantization deviation and the quantization deviation change rate to obtain the quantization differential change includes:

[0036] In the case where the quantization deviation is negative and large and the rate of change of the quantization deviation is negative and large or negative and medium, or the quantization deviation is negative and medium and the rate of change of the quantization deviation is negative and large, the quantization differential change amount is positive and large;

[0037] In the case where the quantization deviation is negative and large and the rate of change of the quantization deviation is negative and small or zero, or the quantization deviation is negative and medium and the rate of change of the quantization deviation is negative and small, or the quantization deviation is negative and small and the rate of change of the quantization deviation is negative and medium or zero, the quantization differential change is negative and large;

[0038] In the case where the quantization deviation is negative and large and the rate of change of the quantization deviation is positive and small or zero, or the quantization deviation is negative and medium and the rate of change of the quantization deviation is zero, or the quantization deviation is negative and small and the rate of change of the quantization deviation is zero, or the quantization deviation is zero and the rate of change of the quantization deviation is positive and small or zero, the quantization differential change amount is negative and medium;

[0039] In the case where the quantization deviation is negative and large and the rate of change of the quantization deviation is positive and medium or positive and small, or the quantization deviation is negative and medium and the rate of change of the quantization deviation is positive and medium or positive and small, or the quantization deviation is negative and small and the rate of change of the quantization deviation is positive and small, or the quantization deviation is zero and the rate of change of the quantization deviation is positive and medium, the quantization differential change amount is zero;

[0040] When the quantization deviation is zero and the quantization deviation change rate is negative small or positive small, or the quantization deviation is positive small and the quantization deviation change rate is negative medium or zero, or the quantization deviation is positive medium and the quantization deviation change rate is negative medium, or the quantization deviation is positive large and the quantization deviation change rate is negative medium, the quantization differential change amount is positive small;

[0041] In the case where the quantization deviation is positive small and the quantization deviation change rate is positive medium or positive large, or the quantization deviation is positive medium and the quantization deviation change rate is positive medium or positive large, or the quantization deviation is positive large and the quantization deviation change rate is positive medium, the quantization differential change amount is positive medium;

[0042] When the quantization deviation is positive small and the quantization deviation change rate is positive large, or the quantization deviation is positive medium and the quantization deviation change rate is positive large, or the quantization deviation is positive large and the quantization deviation change rate is positive large, the quantization differential change amount is positive large.

[0043] Optionally, adjusting the proportional coefficient, the integral coefficient and the differential coefficient in the PID controller according to the proportional change, the integral change and the differential change comprises:

[0044] Get the initial proportional coefficient, initial integral coefficient and initial differential coefficient;

[0045] Determine a target proportionality coefficient according to the initial proportionality coefficient and the proportionality change amount;

[0046] Determining a target integral coefficient according to the initial integral coefficient and the integral change amount;

[0047] Determining a target differential coefficient according to the initial differential coefficient and the differential change amount;

[0048] The proportional coefficient in the PID controller is adjusted to the target proportional coefficient, the integral coefficient is adjusted to the target integral coefficient, and the differential coefficient is adjusted to the target differential coefficient.

[0049] Optionally, obtaining a current deviation and a current deviation change rate of the spring energy storage of a spring of a target circuit breaker includes:

[0050] Obtaining the pressure value of the current pressure sensor and the current displacement of the displacement sensor installed at the bottom of the spring;

[0051] Determining a current stiffness coefficient of the spring according to the current pressure value and the current displacement;

[0052] Determining a current spring energy storage of the spring according to the current stiffness coefficient and the current displacement;

[0053] determining the current deviation based on the current spring energy storage and the rated spring energy storage of the spring;

[0054] Performing time derivative processing on the current deviation to obtain the current deviation change rate.

[0055] To achieve the above object, the present invention provides a spring energy storage control device for a circuit breaker in a second aspect, the device comprising:

[0056] An acquisition module, used for acquiring a current deviation and a current deviation change rate of a spring energy storage of a spring of a target circuit breaker;

[0057] A determination module, used for determining a proportional change amount, an integral change amount and a differential change amount according to the current deviation and the current deviation change rate, and a preset fuzzy rule table;

[0058] An adjustment module, used for adjusting a proportional coefficient, an integral coefficient and a differential coefficient in a PID controller according to the proportional change, the integral change and the differential change;

[0059] An input-output module, used for inputting the current deviation and the current deviation change rate into the adjusted PID controller to obtain a control signal output by the adjusted PID controller;

[0060] The control module is used to control the motor drive according to the control signal so that the motor adjusts the compression displacement of the spring.

[0061] To achieve the above-mentioned object, the present invention provides in a third aspect a computer-readable storage medium storing a computer program, wherein when the computer program is executed by a processor, the processor executes the method as described in any one of the first aspects.

[0062] To achieve the above-mentioned purpose, the present invention provides a computer device in a fourth aspect, comprising a memory and a processor, wherein the memory stores a computer program, and when the computer program is executed by the processor, the processor executes the method as described in any one of the first aspects.

[0063] The embodiment of the present invention has the following beneficial effects: the method obtains the current deviation and the current deviation change rate of the spring energy storage of the spring of the target circuit breaker, and then determines the proportional change, the integral change and the differential change according to the current deviation and the current deviation change rate, and a preset fuzzy rule table, and then adjusts the proportional coefficient, the integral coefficient and the differential coefficient in the PID controller according to the proportional change, the integral change and the differential change, and then inputs the current deviation and the current deviation change rate into the adjusted PID controller to obtain the control signal output by the adjusted PID controller, and finally controls the motor drive according to the control signal so that the motor adjusts the compression displacement of the spring; that is, by introducing fuzzy PID control, the current deviation and the current deviation change rate of the spring energy storage are obtained in real time to dynamically adjust the proportional coefficient, the integral coefficient and the differential coefficient of the PID controller, so as to realize intelligent control of the spring energy storage size of the high-voltage circuit breaker, and can effectively avoid the opening and closing faults caused by the reduction of the spring energy storage. BRIEF DESCRIPTION OF THE DRAWINGS

[0064] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0065] in:

[0066] Figure 1 A schematic diagram of a spring energy storage control method for a circuit breaker in an embodiment of the present application;

[0067] Figure 2 A schematic diagram of the energy storage control process in an embodiment of the present application;

[0068] Figure 3 A schematic diagram of a spring energy storage control device for a circuit breaker in an embodiment of the present application;

[0069] Figure 4 1 is a diagram of the internal structure of a computer device in some embodiments. DETAILED DESCRIPTION

[0070] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0071] In the current context of deepening the construction of ecological civilization and green and low-carbon development, the new power system has put forward higher requirements for the reliability of high-voltage circuit breakers. As a key device, high-voltage circuit breakers realize rapid protection and recovery of the power grid through the opening and closing process of switches. The spring in the high-voltage circuit breaker is the core component of its operating mechanism. Its main function is to release the stored energy at the required moment to drive the opening and closing of the switch. However, during the long-term compression or stretching energy storage process of the high-voltage circuit breaker spring, its energy storage has stress relaxation phenomenon, resulting in a decrease in the energy stored in the spring at the same compression height, affecting the opening and closing speed and accuracy of the switch, and even causing failures due to insufficient energy storage.

[0072] In the prior art, the spring energy storage control of the high-voltage circuit breaker is mainly achieved by designing a control loop of the spring of the high-voltage circuit breaker to realize automatic control of the spring energy storage. However, this method cannot realize intelligent control of the spring energy storage size of the high-voltage circuit breaker, that is, when the spring energy storage decreases due to stress relaxation, the spring energy storage cannot be returned to the spring energy storage range required for the normal operation of the high-voltage circuit breaker. Therefore, it is impossible to effectively avoid the opening and closing faults caused by the reduction of the spring energy storage.

[0073] In response to the above problems, the present application proposes a spring energy storage control method, storage medium and device for a circuit breaker to achieve intelligent control of the spring energy storage size of the high-voltage circuit breaker, which can effectively avoid the opening and closing failures caused by the reduction of spring energy storage. The specific implementation principle will be described in detail in the following embodiments.

[0074] In a first aspect, the present application provides a spring energy storage control method for a circuit breaker.

[0075] See also Figure 1 , is a schematic diagram of a spring energy storage control method for a circuit breaker in an embodiment of the present application, the method comprising:

[0076] Step 110: Obtain the current deviation and current deviation change rate of the spring energy storage of the target circuit breaker.

[0077] The current deviation refers to the deviation between the current spring energy storage of the spring and the spring energy storage range required by the spring when the circuit breaker works normally; the current deviation change rate refers to the time derivative of the current deviation.

[0078] In some embodiments, the spring energy storage range required by the spring when the circuit breaker is working normally is generally [first sum, first difference]; wherein the first sum is the sum of the rated spring energy storage of the spring and a preset error value, and the first difference is the difference between the rated spring energy storage of the spring and a preset error value. The preset error value can be obtained by the operator based on a large amount of experience, experiments or statistics, and of course, can also be set by the operator according to actual needs.

[0079] Regarding the value of the preset error value, in some embodiments, it can be a decimal point value or 0.

[0080] Step 120: Determine the proportional change, the integral change, and the differential change according to the current deviation and the current deviation change rate, as well as a preset fuzzy rule table.

[0081] The preset fuzzy rule table can be obtained by the operator based on a large amount of experience, experiments or statistics.

[0082] In some embodiments, a preset fuzzy rule table can be formed by first acquiring a large number of different current deviations and current deviation change rates, as well as the proportional changes, integral changes, and differential changes corresponding to the different current deviations and current deviation change rates, and then adding a large number of different current deviations and current deviation change rates, as well as the proportional changes, integral changes, and differential changes corresponding to the different current deviations and current deviation change rates to a preset first blank parameter collection to obtain a first parameter collection, and finally adding the first parameter collection to a first numerical table.

[0083] Furthermore, since the present application adopts fuzzy PID control, in other embodiments, the preset fuzzy rule table of the existing fuzzy PID control may also be adopted, and the present application does not make any limitation thereto.

[0084] Step 130: Adjust the proportional coefficient, integral coefficient and differential coefficient in the PID controller according to the proportional change, integral change and differential change.

[0085] In some embodiments, preset values ​​corresponding to the proportional coefficient, integral coefficient and differential coefficient can be obtained, and then the sum, difference, product or quotient corresponding to the proportional coefficient, integral coefficient and differential coefficient can be determined according to the proportional change, integral change and differential change, and the preset values ​​corresponding to the proportional coefficient, integral coefficient and differential coefficient. Finally, the proportional coefficient, integral coefficient and differential coefficient in the PID controller are adjusted to the sum, difference, product or quotient corresponding to the proportional coefficient, integral coefficient and differential coefficient; wherein the preset values ​​corresponding to the proportional coefficient, integral coefficient and differential coefficient can be obtained by the operator based on a lot of experience, experiments or statistics, or can also be set by the operator according to actual needs.

[0086] Of course, in other embodiments, the proportional coefficient, integral coefficient and differential coefficient in the PID controller can also be directly adjusted to proportional change, integral change and differential change, and this application does not limit this.

[0087] Step 140: input the current deviation and the current deviation change rate into the adjusted PID controller to obtain a control signal output by the adjusted PID controller.

[0088] In some embodiments, the proportional coefficient, integral coefficient and differential coefficient in the PID controller are adjusted based on the above steps. At this time, the current deviation and the current deviation change rate are input into the adjusted PID controller. The control signal output by the adjusted PID controller can be calculated in combination with the current deviation and the current deviation change rate, as well as the proportional coefficient, integral coefficient and differential coefficient.

[0089] Step 150: Control the motor drive according to the control signal so that the motor adjusts the compression displacement of the spring.

[0090] It should be noted that, since the control signal changes in real time based on fuzzy PID control, the motor drive is controlled by using the real-time changing control signal, which can adjust the compression displacement of the spring in real time so that the spring energy storage returns to the spring energy storage range required for the normal operation of the high-voltage circuit breaker.

[0091] In an embodiment of the present application, fuzzy PID control is introduced to obtain the current deviation and the current deviation change rate of the spring energy storage in real time to dynamically adjust the proportional coefficient, integral coefficient and differential coefficient of the PID controller, thereby changing the control signal output by the PID controller. The control signal can be used to change the compression displacement of the spring, that is, the spring energy storage, so as to realize intelligent control of the spring energy storage size of the high-voltage circuit breaker, which can effectively avoid the opening and closing faults caused by the reduction of the spring energy storage.

[0092] Furthermore, by utilizing the current deviation and current deviation change rate of the spring energy storage to dynamically adjust the PID controller, not only can the control signal adapt to changes in real time, but the motor drive can also be adjusted more finely, thereby more accurately controlling the compression displacement of the spring, further improving the accuracy and reliability of the spring energy storage control.

[0093] In addition, the spring energy storage control of the present application can not only ensure that the circuit breaker can quickly and effectively exclude and resume operation when needed, but also reduce the stress accumulation that may be caused by long-term excessive or insufficient energy storage in the spring, which is beneficial to extending the service life of the circuit breaker and / or spring.

[0094] In a feasible implementation, step 120 in the above embodiment determines the proportional change, integral change and differential change according to the current deviation and the current deviation change rate, as well as a preset fuzzy rule table, including: fuzzy quantizing the current deviation and the current deviation change rate to obtain the quantized deviation and the quantized deviation change rate; determining the quantized proportional change, quantized integral change and quantized differential change according to the quantized deviation and the quantized deviation change rate, as well as a preset fuzzy rule table; defuzzifying the quantized proportional change, quantized integral change and quantized differential change to obtain the proportional change, integral change and differential change.

[0095] It should be noted that fuzzy quantization is the process of mapping precise numerical input (i.e., current deviation and current deviation change rate) to fuzzy sets. In this process, the precise numerical input is converted into fuzzy linguistic variables, which are usually expressed as fuzzy sets; defuzzification is the process of converting fuzzy output (i.e., quantized proportional change, quantized integral change, and quantized differential change) back to precise numerical values. Fuzzy output is usually expressed as fuzzy linguistic variables. In this process, these fuzzy linguistic variables need to be converted into specific numerical values ​​for subsequent control operations.

[0096] In some embodiments, during the fuzzy quantization process, it is first necessary to define a group of fuzzy sets that cover the possible value ranges of the input variables (i.e., the current deviation and the current deviation change rate), and then determine which fuzzy set the input variable belongs to (i.e., the quantization deviation and the quantization deviation change rate) based on the actual value of the input variable; wherein, the group of fuzzy sets includes seven fuzzy sets, namely, negative large (NB), negative medium (NM), negative small (NS), zero (ZE or ZO), positive small (PS), positive medium (PM) and positive large (PB).

[0097] The defuzzification process is the inverse process of fuzzy quantization and will not be described in detail here.

[0098] In the embodiment of the present application, through fuzzy quantization and defuzzification processing, the proportional coefficient, integral coefficient and differential coefficient of the PID controller can be adjusted more finely, thereby improving the response speed and adjustment accuracy to changes in spring energy storage, thereby effectively avoiding opening and closing faults caused by reduced spring energy storage.

[0099] In addition, by means of fuzzy quantization, the actual deviation and deviation change rate are converted into fuzzy quantization values, which can better characterize the dynamic characteristics and features of the system, thereby making the calculation of proportional change, integral change and differential change more accurate. The control signal output by the adjusted PID controller can better adapt to system changes and improve the accuracy of spring energy storage control; and the fuzzy control result can be converted into an accurate numerical control quantity through defuzzification processing, ensuring that the control process is more stable and reliable.

[0100] In a feasible implementation, the preset fuzzy rule table in the above embodiment includes a proportional fuzzy rule table, an integral fuzzy rule table and a differential fuzzy rule table, and determines the quantized proportional change, the quantized integral change and the quantized differential change according to the quantized deviation and the quantized deviation change rate, as well as the preset fuzzy rule table, including: matching in the proportional fuzzy rule table according to the quantized deviation and the quantized deviation change rate to obtain the quantized proportional change; matching in the integral fuzzy rule table according to the quantized deviation and the quantized deviation change rate to obtain the quantized integral change; matching in the differential fuzzy rule table according to the quantized deviation and the quantized deviation change rate to obtain the quantized differential change.

[0101] Among them, the proportional fuzzy rule table, the integral fuzzy rule table and the differential fuzzy rule table can all be obtained by the operator based on a large amount of experience, experiments or statistics.

[0102] In the embodiment of the present application, by introducing a proportional fuzzy rule table, an integral fuzzy rule table and a differential fuzzy rule table, and combining the fuzzy quantization and defuzzification process, the calculation of the proportional change, integral change and differential change is made more accurate. This fine-grained adjustment can better adapt to the dynamic characteristics of the system, thereby improving the response speed and adjustment accuracy to changes in spring energy storage.

[0103] In a feasible implementation method, the above-mentioned embodiment is matched in the proportional fuzzy rule table according to the quantization deviation and the quantization deviation change rate to obtain the quantization proportional change amount, including: when the quantization deviation is negative and large and the quantization deviation change rate is negative and large or negative and medium, or the quantization deviation is negative and medium and the quantization deviation change rate is negative and large, the quantization proportional change amount is negative and large; when the quantization deviation is negative and large and the quantization deviation change rate is negative and small or zero, or the quantization deviation is negative and medium and the quantization deviation change rate is negative and medium or negative and small, or the quantization deviation is negative and small and the quantization deviation change rate is negative and medium or zero, the quantization proportional change amount is negative and medium; when the quantization deviation is negative and large and the quantization deviation change rate is positive and small or zero, or the quantization deviation is negative and medium and the quantization deviation change rate is zero, or the quantization deviation is negative and small and the quantization deviation change rate is zero, or the quantization deviation is zero and the quantization deviation change rate is positive and small or zero, the quantization proportional change amount is negative and small; when the quantization deviation is negative and the quantization deviation change rate is positive and medium or positive and small, or the quantization deviation is negative and medium and the quantization deviation change rate is zero, or the quantization deviation is negative and small and the quantization deviation change rate is zero, the quantization proportional change amount is negative and small; When the quantization deviation is negative and the quantization deviation change rate is positive or small, or the quantization deviation is negative and small and the quantization deviation change rate is positive or small, or the quantization deviation is zero and the quantization deviation change rate is positive, the quantization ratio change is zero; when the quantization deviation is zero and the quantization deviation change rate is negative or small, or the quantization deviation is positive and small and the quantization deviation change rate is negative or zero, or the quantization deviation is positive and the quantization deviation change rate is negative, or the quantization deviation is positive and large and the quantization deviation change rate is negative, the quantization ratio change is positive; when the quantization deviation is positive and small and the quantization deviation change rate is positive or large, or the quantization deviation is positive and the quantization deviation change rate is positive or large, or the quantization deviation is positive and the quantization deviation change rate is positive, the quantization ratio change is positive; when the quantization deviation is positive and small and the quantization deviation change rate is positive or large, or the quantization deviation is positive and the quantization deviation change rate is positive, the quantization ratio change is positive.

[0104] In order to facilitate intuitive understanding of the matching process of the quantitative ratio change amount of the present application, the present application provides a ratio fuzzy rule table corresponding to this embodiment, and the ratio fuzzy rule table is as follows:

[0105]

[0106] Wherein, e(t) is the current deviation, de / dt is the current deviation change rate, NB is large negative, NM is medium negative, NS is small negative, ZE and ZO are both zero, PS is small positive, PM is medium positive, and PB is large positive.

[0107] After the current deviation e(t) and the current deviation change rate de / dt are fuzzy quantized, they can both take the value of negative large NB, negative medium NM, negative small NS, zero ZO, positive small PS, positive medium PM and positive large PB. At this time, the corresponding value after taking is the quantization deviation and the quantization deviation change rate. According to the corresponding quantization deviation and the quantization deviation change rate after taking the value, the corresponding quantization proportional change can be matched in the proportional fuzzy rule table; for example, the corresponding quantization deviation after taking the value is negative large NB and the quantization deviation change rate is negative small NS, then the matched quantization proportional change is negative medium NM.

[0108] In an embodiment of the present application, a proportional fuzzy rule table different from the prior art is preferably provided. By introducing the proportional fuzzy rule table provided in the present application, the proportional coefficient can be finely adjusted for different deviations and deviation change rates, ensuring that the proportional coefficient can accurately reflect changes in the current spring energy storage state, thereby achieving more precise control.

[0109] In a feasible implementation method, the above-mentioned embodiment is matched in the integral fuzzy rule table according to the quantization deviation and the quantization deviation change rate to obtain the quantization integral change amount, including: when the quantization deviation is negative and large and the quantization deviation change rate is negative and large or negative and medium, or the quantization deviation is negative and medium and the quantization deviation change rate is negative and large, the quantization integral change amount is positive and large; when the quantization deviation is negative and large and the quantization deviation change rate is negative and small or zero, or the quantization deviation is negative and medium and the quantization deviation change rate is negative and medium or negative and small, or the quantization deviation is negative and small and the quantization deviation change rate is negative and medium or zero, the quantization integral change amount is negative and small; when the quantization deviation is negative and large and the quantization deviation change rate is positive and small or zero, or the quantization deviation is negative and medium and the quantization deviation change rate is zero, or the quantization deviation is negative and small and the quantization deviation change rate is zero, or the quantization deviation is zero and the quantization deviation change rate is positive and small or zero, the quantization integral change amount is negative and medium; when the quantization deviation is negative and large and the quantization deviation change rate is positive and medium or positive and small, or the quantization deviation is negative and medium and the quantization deviation change rate is zero, When the quantization deviation is negative and the quantization deviation change rate is positive or small, or the quantization deviation is negative and small and the quantization deviation change rate is positive or small, or the quantization deviation is zero and the quantization deviation change rate is positive, the quantization integral change is zero; when the quantization deviation is zero and the quantization deviation change rate is negative or small, or the quantization deviation is positive and small and the quantization deviation change rate is negative or zero, or the quantization deviation is positive and the quantization deviation change rate is negative, or the quantization deviation is positive and large and the quantization deviation change rate is negative, the quantization integral change is positive and small; when the quantization deviation is positive and small and the quantization deviation change rate is positive or large, or the quantization deviation is positive and the quantization deviation change rate is positive or large, or the quantization deviation is positive and the quantization deviation change rate is positive, the quantization integral change is positive; when the quantization deviation is positive and small and the quantization deviation change rate is positive and large, or the quantization deviation is positive and the quantization deviation change rate is positive and large, or the quantization deviation is positive and the quantization deviation change rate is positive, the quantization integral change is positive and large.

[0110] In order to facilitate intuitive understanding of the matching process of the quantitative integral change amount of the present application, the present application provides an integral fuzzy rule table corresponding to this embodiment, and the integral fuzzy rule table is as follows:

[0111]

[0112] Wherein, e(t) is the current deviation, de / dt is the current deviation change rate, NB is large negative, NM is medium negative, NS is small negative, ZE and ZO are both zero, PS is small positive, PM is medium positive, and PB is large positive.

[0113] After the current deviation e(t) and the current deviation change rate de / dt are fuzzy quantized, they can both take the value of negative large NB, negative middle NM, negative small NS, zero ZO, positive small PS, positive middle PM and positive large PB. At this time, the corresponding value after taking is the quantization deviation and the quantization deviation change rate. According to the corresponding quantization deviation and quantization deviation change rate after taking the value, the corresponding quantization integral change can be matched in the integral fuzzy rule table; for example, after taking the value, the corresponding quantization deviation is negative large NB and the quantization deviation change rate is negative small NS, then the matched quantization integral change is positive small PS.

[0114] In an embodiment of the present application, an integral fuzzy rule table different from the prior art is preferably provided. By introducing the integral fuzzy rule table provided by the present application, the integral coefficient can be finely adjusted for different deviations and deviation change rates, ensuring that the integral coefficient can accurately reflect changes in the current spring energy storage state, thereby achieving more precise control.

[0115] In a feasible implementation method, the above-mentioned embodiment is matched in the differential fuzzy rule table according to the quantization deviation and the quantization deviation change rate to obtain the quantization differential change amount, including: when the quantization deviation is negative and large and the quantization deviation change rate is negative and large or negative and medium, or the quantization deviation is negative and medium and the quantization deviation change rate is negative and large, the quantization differential change amount is positive and large; when the quantization deviation is negative and large and the quantization deviation change rate is negative and small or zero, or the quantization deviation is negative and medium and the quantization deviation change rate is negative and medium or negative and small, or the quantization deviation is negative and small and the quantization deviation change rate is negative and medium or zero, the quantization differential change amount is negative and large; when the quantization deviation is negative and large and the quantization deviation change rate is positive and small or zero, or the quantization deviation is negative and medium and the quantization deviation change rate is zero, or the quantization deviation is negative and small and the quantization deviation change rate is zero, or the quantization deviation is zero and the quantization deviation change rate is positive and small or zero, the quantization differential change amount is negative and medium; when the quantization deviation is negative and large and the quantization deviation change rate is positive and medium or positive and small, or the quantization deviation is negative and medium and the quantization deviation change rate is zero, When the quantization deviation is negative and the quantization deviation change rate is positive or small, or the quantization deviation is negative and small and the quantization deviation change rate is positive or small, or the quantization deviation is zero and the quantization deviation change rate is positive, the quantization differential change is zero; when the quantization deviation is zero and the quantization deviation change rate is negative or small, or the quantization deviation is positive and small and the quantization deviation change rate is negative or zero, or the quantization deviation is positive and the quantization deviation change rate is negative, or the quantization deviation is positive and large and the quantization deviation change rate is negative, the quantization differential change is positive and small; when the quantization deviation is positive and small and the quantization deviation change rate is positive or large, or the quantization deviation is positive and the quantization deviation change rate is positive or large, or the quantization deviation is positive and the quantization deviation change rate is positive, the quantization differential change is positive; when the quantization deviation is positive and small and the quantization deviation change rate is positive and large, or the quantization deviation is positive and the quantization deviation change rate is positive and large, the quantization differential change is positive and large.

[0116] In order to facilitate intuitive understanding of the matching process of the quantitative differential change amount of the present application, the present application provides a differential fuzzy rule table corresponding to this embodiment, and the differential fuzzy rule table is as follows:

[0117]

[0118] Wherein, e(t) is the current deviation, de / dt is the current deviation change rate, NB is large negative, NM is medium negative, NS is small negative, ZE and ZO are both zero, PS is small positive, PM is medium positive, and PB is large positive.

[0119] After the current deviation e(t) and the current deviation change rate de / dt are fuzzy quantized, they can both take the value of negative large NB, negative medium NM, negative small NS, zero ZO, positive small PS, positive medium PM and positive large PB. At this time, the corresponding value after taking is the quantization deviation and the quantization deviation change rate. According to the corresponding quantization deviation and quantization deviation change rate after taking the value, the corresponding quantization differential change can be matched in the differential fuzzy rule table; for example, after taking the value, the corresponding quantization deviation is negative large NB and the quantization deviation change rate is negative small NS, then the matched quantization differential change is negative medium NM.

[0120] In an embodiment of the present application, a differential fuzzy rule table different from the prior art is preferably provided. By introducing the differential fuzzy rule table provided by the present application, the differential coefficient can be finely adjusted for different deviations and deviation change rates, ensuring that the differential coefficient can accurately reflect changes in the current spring energy storage state, thereby achieving more precise control.

[0121] In a feasible implementation, step 130 in the above embodiment adjusts the proportional coefficient, integral coefficient and differential coefficient in the PID controller according to the proportional change, integral change and differential change, including: obtaining the initial proportional coefficient, initial integral coefficient and initial differential coefficient; determining the target proportional coefficient according to the initial proportional coefficient and the proportional change; determining the target integral coefficient according to the initial integral coefficient and the integral change; determining the target differential coefficient according to the initial differential coefficient and the differential change; adjusting the proportional coefficient in the PID controller to the target proportional coefficient, the integral coefficient to the target integral coefficient, and the differential coefficient to the target differential coefficient.

[0122] Among them, the initial proportional coefficient, initial integral coefficient and initial differential coefficient can be obtained by the operator based on a large amount of experience, experiments or statistics, or can also be set by the operator according to actual needs, and are not limited here.

[0123] In some embodiments, the sum of the initial proportional coefficient and the proportional change can be used as the target proportional coefficient, the sum of the initial integral coefficient and the integral change can be used as the target integral coefficient, and the sum of the initial differential coefficient and the differential change can be used as the target differential coefficient.

[0124] In the embodiment of the present application, by gradually adjusting the coefficients of the PID controller based on the initial coefficients instead of starting directly from zero, the adjustment process is greatly simplified, the complexity of the adjustment is reduced, and the operation is made more intuitive and simple.

[0125] In a feasible implementation, step 110 in the above embodiment, obtaining the current deviation and the current deviation change rate of the spring energy storage of the target circuit breaker, includes: obtaining the pressure value of the current pressure sensor installed at the bottom of the spring and the current displacement of the displacement sensor; determining the current stiffness coefficient of the spring according to the current pressure value and the current displacement; determining the current spring energy storage of the spring according to the current stiffness coefficient and the current displacement; determining the current deviation according to the current spring energy storage and the rated spring energy storage of the spring; performing time derivative processing on the current deviation to obtain the current deviation change rate.

[0126] Regarding the determination method of the current stiffness coefficient, in some embodiments, the formula Determine the current stiffness coefficient; where k is the current stiffness coefficient, F is the current pressure value, and Δx is the current displacement.

[0127] In some embodiments, the current spring energy storage can be determined by using the formula Determine the current spring energy storage; where c(t) is the current spring energy storage.

[0128] In the embodiment of the present application, by using a pressure sensor and a displacement sensor to accurately measure the real-time state of the spring, the current energy storage status of the spring can be accurately reflected, ensuring the accuracy of the measurement data; and by using a pressure sensor and a displacement sensor to accurately measure the real-time state of the spring, the current deviation and the rate of change of the deviation can be dynamically obtained, making the control strategy more flexible and intelligent, and able to better adapt to changes in the system.

[0129] In order to better understand the above embodiments of the present application, the present application exemplifies the pre-set process, that is, the exemplary setting of the fuzzy PID control for the 110kV high-voltage circuit breaker is as follows:

[0130] According to the work requirements for normal operation of 110kV high-voltage circuit breakers, the rated spring energy storage of the spring is set to 15000J to ensure that the circuit breaker can be effectively started.

[0131] Assuming the domain of the current deviation e(t) and the current deviation change rate de / dt is [-100, 100], the value ranges of the seven fuzzy sets of the quantization deviation and the quantization deviation change rate are: NB is [-100, -75], NM is [-75, -50], NS is [-50, -25], ZO is [-25, 25], PS is (25, 50], PM is (50, 75], and PB is (75, 100].

[0132] In order to accurately adjust the proportional coefficient, integral coefficient and differential coefficient of the PID controller, the fuzzy quantization of the PID parameters is designed, that is, the proportional change, integral change rate and differential change corresponding to the quantized proportional change are [-200, 200], [-50, 50] and [-10, 10] respectively. The value ranges of the seven fuzzy sets of the quantized proportional change rate are: NB is [-200, -150], NM is [-150, -100], NS is [-100, -50], ZE is [-50, 50], PS is [50, 100], PM is [1 The value ranges of the seven fuzzy sets for quantifying the integral change rate are: NB is [-50,-35], NM is [-35,-20], NS is [-20,-5], ZE is [-5,5], PS is [5,20], PM is [20,35], PB is [35,50], the value ranges of the seven fuzzy sets for quantifying the differential change rate are: NB is [-10,-7], NM is [-7,-4], NS is [-4,-1], ZE is [-1,1], PS is [1,4], PM is [4,7], PB is [7,10].

[0133] For the fuzzy PID control of 110kV high-voltage circuit breakers, due to this setting, by adopting fuzzy PID control, the parameters of the PID controller can be adjusted more accurately, thereby effectively solving the control problems caused by the change of spring energy storage, ensuring that the circuit breaker can operate stably and avoiding opening and closing failures.

[0134] It should be noted that the above are value settings for fuzzy PID control of 110kV high-voltage circuit breakers. For fuzzy PID control of other high-voltage circuit breakers, the operator can also set the range first and then divide it. This application is only an example for reference and is not limiting.

[0135] In order to better understand the energy storage control process in the above embodiments of the present application, this application will use diagrams for illustration. Figure 2 , which is a schematic diagram of the energy storage control process in an embodiment of the present application.

[0136] Figure 2 The r(t) shown is the rated spring energy storage, c(t) is the current spring energy storage, e(t) is the current deviation, de / dt is the current deviation change rate, K P is the target proportionality coefficient, K I is the target integration coefficient, K D is the target differential coefficient, u(t) is the control signal; fuzzy reasoning and fuzzy judgment are the matching processes of quantized proportional change, quantized integral change rate and quantized differential change.

[0137] In a second aspect, the present application provides a spring energy storage control device for a circuit breaker.

[0138] See also Figure 3 , is a schematic diagram of a spring energy storage control device for a circuit breaker in an embodiment of the present application, the device 310 includes:

[0139] An acquisition module 311 is used to acquire a current deviation and a current deviation change rate of a spring energy storage of a spring of a target circuit breaker;

[0140] A determination module 312, for determining a proportional change, an integral change, and a differential change according to a current deviation and a current deviation change rate, and a preset fuzzy rule table;

[0141] An adjustment module 313 is used to adjust the proportional coefficient, integral coefficient and differential coefficient in the PID controller according to the proportional change, integral change and differential change;

[0142] An input-output module 314 is used to input the current deviation and the current deviation change rate into the adjusted PID controller to obtain a control signal output by the adjusted PID controller;

[0143] The control module 315 is used to control the motor drive according to the control signal so that the motor adjusts the compression displacement of the spring.

[0144] In the embodiment of the present application, the relevant contents of the acquisition module 311, the determination module 312, the adjustment module 313, the input and output module 314 and the control module 315 can be referred to in Figure 1 The contents in the illustrated embodiment will not be described in detail here.

[0145] It should be noted that the device 310 of the present application also includes some other modules. It can be understood that the method of the present application and the device 310 have a one-to-one correspondence. Therefore, some other modules of the device 310 of the present application are the contents corresponding to the method of the present application in the above-mentioned embodiment.

[0146] In an embodiment of the present application, fuzzy PID control is introduced to obtain the current deviation and the current deviation change rate of the spring energy storage in real time to dynamically adjust the proportional coefficient, integral coefficient and differential coefficient of the PID controller, thereby changing the control signal output by the PID controller. The control signal can be used to change the compression displacement of the spring, that is, the spring energy storage, so as to realize intelligent control of the spring energy storage size of the high-voltage circuit breaker, which can effectively avoid the opening and closing faults caused by the reduction of the spring energy storage.

[0147] Furthermore, by utilizing the current deviation and current deviation change rate of the spring energy storage to dynamically adjust the PID controller, not only can the control signal adapt to changes in real time, but the motor drive can also be adjusted more finely, thereby more accurately controlling the compression displacement of the spring, further improving the accuracy and reliability of the spring energy storage control.

[0148] In addition, the spring energy storage control of the present application can not only ensure that the circuit breaker can quickly and effectively exclude and resume operation when needed, but also reduce the stress accumulation that may be caused by long-term excessive or insufficient energy storage in the spring, which is beneficial to extending the service life of the circuit breaker and / or spring.

[0149] In a third aspect, the present application further provides a computer-readable storage medium storing a computer program. When the computer program is executed by a processor, the processor executes a spring energy storage control method for a circuit breaker in the above method embodiment.

[0150] In a fourth aspect, the present application further provides a computer device, including a memory and a processor, wherein the memory stores a computer program, and when the computer program is executed by the processor, the processor executes a spring energy storage control method for a circuit breaker in the above method embodiment.

[0151] Figure 4 The internal structure diagram of a computer device in some embodiments is shown. The computer device may be a terminal, a server, or a gateway. Figure 4 As shown, the computer device includes a processor, a memory and a network interface connected through a system bus.

[0152] The memory includes a non-volatile storage medium and an internal memory. The non-volatile storage medium of the computer device stores an operating system and may also store a computer program. When the computer program is executed by the processor, the processor can implement each step in the above method embodiment. The internal memory may also store a computer program. When the computer program is executed by the processor, the processor can implement each step in the above method embodiment. Those skilled in the art can understand that Figure 4 The structure shown in the figure is only a block diagram of a part of the structure related to the solution of the present application, and does not constitute a limitation on the computer device to which the solution of the present application is applied. The specific computer device may include more or fewer components than those shown in the figure, or combine certain components, or have a different arrangement of components.

[0153] A person skilled in the art can understand that all or part of the processes in the above-mentioned embodiment methods can be implemented by instructing related hardware through a computer program. The program can be stored in a non-volatile computer-readable storage medium. When the program is executed, it can include the processes of the embodiments of the above-mentioned methods.

[0154] Among them, any reference to memory, storage, database or other media used in the embodiments provided in the present application may include non-volatile and / or volatile memory. Non-volatile memory may include read-only memory (ROM), programmable ROM (PROM), electrically programmable ROM (EPROM), electrically erasable programmable ROM (EEPROM) or flash memory. Volatile memory may include random access memory (RAM) or external cache memory. As an illustration and not limitation, RAM is available in various forms, such as static RAM (SRAM), dynamic RAM (DRAM), synchronous DRAM (SDRAM), double data rate SDRAM (DDRSDRAM), enhanced SDRAM (ESDRAM), synchronous link (Synch li nk) DRAM (SLDRAM), memory bus (Rambus) direct RAM (RDRAM), direct memory bus dynamic RAM (DRDRAM), and memory bus dynamic RAM (RDRAM).

[0155] The technical features of the above embodiments may be combined arbitrarily. To make the description concise, not all possible combinations of the technical features in the above embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this specification.

[0156] The above-mentioned embodiments only express several implementation methods of the present application, and the descriptions thereof are relatively specific and detailed, but they cannot be understood as limiting the scope of the present application. It should be pointed out that, for a person of ordinary skill in the art, several variations and improvements can be made without departing from the concept of the present application, and these all belong to the protection scope of the present application. Therefore, the protection scope of the present application shall be subject to the attached claims.

Claims

1. A spring energy storage control method for a circuit breaker, characterized in that: The method comprises: Obtaining a current deviation and a current deviation change rate of a spring energy storage of a target circuit breaker spring; Determine a proportional change, an integral change, and a differential change according to the current deviation and the current deviation change rate, and a preset fuzzy rule table; Adjusting the proportional coefficient, the integral coefficient and the differential coefficient in the PID controller according to the proportional change, the integral change and the differential change; Inputting the current deviation and the current deviation change rate into an adjusted PID controller to obtain a control signal output by the adjusted PID controller; The motor drive is controlled according to the control signal so that the motor adjusts the compression displacement of the spring.

2. The method according to claim 1, characterized in that: The determining of the proportional change amount, the integral change amount and the differential change amount according to the current deviation and the current deviation change rate and a preset fuzzy rule table includes: The current deviation and the current deviation change rate are both fuzzy quantized to obtain a quantized deviation and a quantized deviation change rate; Determine the quantization proportional change, the quantization integral change, and the quantization differential change according to the quantization deviation and the quantization deviation change rate, and the preset fuzzy rule table; The quantized proportional change amount, the quantized integral change amount and the quantized differential change amount are all defuzzified to obtain the proportional change amount, the integral change amount and the differential change amount.

3. The method according to claim 2, characterized in that The preset fuzzy rule table includes a proportional fuzzy rule table, an integral fuzzy rule table and a differential fuzzy rule table, and the quantization proportional change amount, the quantization integral change amount and the quantization differential change amount are determined according to the quantization deviation and the quantization deviation change rate, and the preset fuzzy rule table, including: According to the quantization deviation and the quantization deviation change rate, matching is performed in the proportion fuzzy rule table to obtain the quantization proportion change amount; According to the quantization deviation and the quantization deviation change rate, matching is performed in the integral fuzzy rule table to obtain the quantization integral change amount; According to the quantization deviation and the quantization deviation change rate, matching is performed in the differential fuzzy rule table to obtain the quantization differential change amount.

4. The method according to claim 3, characterized in that The matching is performed in the proportion fuzzy rule table according to the quantization deviation and the quantization deviation change rate to obtain the quantization proportion change amount, including: In the case where the quantization deviation is negative and large and the rate of change of the quantization deviation is negative and large or negative and medium, or the quantization deviation is negative and medium and the rate of change of the quantization deviation is negative and large, the quantization ratio change amount is negative and large; In the case where the quantization deviation is negative and large and the rate of change of the quantization deviation is negative and small or zero, or the quantization deviation is negative and medium and the rate of change of the quantization deviation is negative and small, or the quantization deviation is negative and small and the rate of change of the quantization deviation is negative and medium or zero, the quantization ratio change amount is negative and medium; In the case where the quantization deviation is negative and large and the rate of change of the quantization deviation is positive and small or zero, or the quantization deviation is negative and medium and the rate of change of the quantization deviation is zero, or the quantization deviation is negative and small and the rate of change of the quantization deviation is zero, or the quantization deviation is zero and the rate of change of the quantization deviation is positive and small or zero, the quantization ratio change amount is negative and small; In the case where the quantization deviation is negative and large and the rate of change of the quantization deviation is positive and medium or positive and small, or the quantization deviation is negative and medium and the rate of change of the quantization deviation is positive and medium or positive and small, or the quantization deviation is negative and small and the rate of change of the quantization deviation is positive and small, or the quantization deviation is zero and the rate of change of the quantization deviation is positive and medium, the quantization ratio change amount is zero; When the quantization deviation is zero and the quantization deviation change rate is negative small or positive small, or the quantization deviation is positive small and the quantization deviation change rate is negative medium or zero, or the quantization deviation is positive medium and the quantization deviation change rate is negative medium, or the quantization deviation is positive large and the quantization deviation change rate is negative medium, the quantization ratio change amount is positive small; When the quantization deviation is positive small and the quantization deviation change rate is positive medium or positive large, or the quantization deviation is positive medium and the quantization deviation change rate is positive medium or positive large, or the quantization deviation is positive large and the quantization deviation change rate is positive medium, the quantization ratio change amount is positive medium; When the quantization deviation is positive small and the quantization deviation change rate is positive large, or the quantization deviation is positive medium and the quantization deviation change rate is positive large, or the quantization deviation is positive large and the quantization deviation change rate is positive large, the quantization ratio change amount is positive large.

5. The method according to claim 3, characterized in that: The matching is performed in the integral fuzzy rule table according to the quantization deviation and the quantization deviation change rate to obtain the quantization integral change amount, including: In the case where the quantization deviation is negative and large and the rate of change of the quantization deviation is negative and large or negative and medium, or the quantization deviation is negative and medium and the rate of change of the quantization deviation is negative and large, the quantization integral change is positive and large; In the case where the quantization deviation is negatively large and the rate of change of the quantization deviation is negatively small or zero, or the quantization deviation is negatively medium and the rate of change of the quantization deviation is negatively medium or negatively small, or the quantization deviation is negatively small and the rate of change of the quantization deviation is negatively medium or zero, the quantization integral change is negatively small; In the case where the quantization deviation is negative and large and the rate of change of the quantization deviation is positive and small or zero, or the quantization deviation is negative and medium and the rate of change of the quantization deviation is zero, or the quantization deviation is negative and small and the rate of change of the quantization deviation is zero, or the quantization deviation is zero and the rate of change of the quantization deviation is positive and small or zero, the quantization integral change is negative and medium; In the case where the quantization deviation is negative and large and the rate of change of the quantization deviation is positive and medium or positive and small, or the quantization deviation is negative and the rate of change of the quantization deviation is positive and medium or positive and small, or the quantization deviation is negative and small and the rate of change of the quantization deviation is positive and small, or the quantization deviation is zero and the rate of change of the quantization deviation is positive and medium, the quantization integral change amount is zero; When the quantization deviation is zero and the quantization deviation change rate is negative small or positive small, or the quantization deviation is positive small and the quantization deviation change rate is negative medium or zero, or the quantization deviation is positive medium and the quantization deviation change rate is negative medium, or the quantization deviation is positive large and the quantization deviation change rate is negative medium, the quantization integral change amount is positive small; In the case where the quantization deviation is positive small and the quantization deviation change rate is positive medium or positive large, or the quantization deviation is positive medium and the quantization deviation change rate is positive medium or positive large, or the quantization deviation is positive large and the quantization deviation change rate is positive medium, the quantization integral change amount is positive medium; When the quantization deviation is positive small and the quantization deviation change rate is positive large, or the quantization deviation is positive medium and the quantization deviation change rate is positive large, or the quantization deviation is positive large and the quantization deviation change rate is positive large, the quantization integral change amount is positive large.

6. The method according to claim 3, characterized in that: The step of matching the quantization deviation and the quantization deviation change rate in the differential fuzzy rule table to obtain the quantization differential change amount includes: In the case where the quantization deviation is negative and large and the rate of change of the quantization deviation is negative and large or negative and medium, or the quantization deviation is negative and medium and the rate of change of the quantization deviation is negative and large, the quantization differential change amount is positive and large; In the case where the quantization deviation is negative and large and the rate of change of the quantization deviation is negative and small or zero, or the quantization deviation is negative and medium and the rate of change of the quantization deviation is negative and small, or the quantization deviation is negative and small and the rate of change of the quantization deviation is negative and medium or zero, the quantization differential change is negative and large; In the case where the quantization deviation is negative and large and the rate of change of the quantization deviation is positive and small or zero, or the quantization deviation is negative and medium and the rate of change of the quantization deviation is zero, or the quantization deviation is negative and small and the rate of change of the quantization deviation is zero, or the quantization deviation is zero and the rate of change of the quantization deviation is positive and small or zero, the quantization differential change amount is negative and medium; In the case where the quantization deviation is negative and large and the rate of change of the quantization deviation is positive and medium or positive and small, or the quantization deviation is negative and medium and the rate of change of the quantization deviation is positive and medium or positive and small, or the quantization deviation is negative and small and the rate of change of the quantization deviation is positive and small, or the quantization deviation is zero and the rate of change of the quantization deviation is positive and medium, the quantization differential change amount is zero; When the quantization deviation is zero and the quantization deviation change rate is negative small or positive small, or the quantization deviation is positive small and the quantization deviation change rate is negative medium or zero, or the quantization deviation is positive medium and the quantization deviation change rate is negative medium, or the quantization deviation is positive large and the quantization deviation change rate is negative medium, the quantization differential change amount is positive small; In the case where the quantization deviation is positive small and the quantization deviation change rate is positive medium or positive large, or the quantization deviation is positive medium and the quantization deviation change rate is positive medium or positive large, or the quantization deviation is positive large and the quantization deviation change rate is positive medium, the quantization differential change amount is positive medium; When the quantization deviation is positive small and the quantization deviation change rate is positive large, or the quantization deviation is positive medium and the quantization deviation change rate is positive large, or the quantization deviation is positive large and the quantization deviation change rate is positive large, the quantization differential change amount is positive large.

7. The method according to claim 1, characterized in that The adjusting the proportional coefficient, the integral coefficient and the differential coefficient in the PID controller according to the proportional change, the integral change and the differential change comprises: Get the initial proportional coefficient, initial integral coefficient and initial differential coefficient; Determine a target proportionality coefficient according to the initial proportionality coefficient and the proportionality change amount; Determining a target integral coefficient according to the initial integral coefficient and the integral change amount; Determining a target differential coefficient according to the initial differential coefficient and the differential change amount; The proportional coefficient in the PID controller is adjusted to the target proportional coefficient, the integral coefficient is adjusted to the target integral coefficient, and the differential coefficient is adjusted to the target differential coefficient.

8. The method according to claim 1, characterized in that The step of obtaining the current deviation and the current deviation change rate of the spring energy storage of the target circuit breaker includes: Obtaining the pressure value of the current pressure sensor and the current displacement of the displacement sensor installed at the bottom of the spring; Determining a current stiffness coefficient of the spring according to the current pressure value and the current displacement; Determining a current spring energy storage of the spring according to the current stiffness coefficient and the current displacement; determining the current deviation based on the current spring energy storage and the rated spring energy storage of the spring; Performing time derivative processing on the current deviation to obtain the current deviation change rate.

9. A computer-readable storage medium, characterized in that: A computer program is stored, and when the computer program is executed by a processor, the processor is caused to perform the method according to any one of claims 1 to 8.

10. A computer device, characterized in that: The method comprises a memory and a processor, wherein the memory stores a computer program, and when the computer program is executed by the processor, the processor executes the method according to any one of claims 1 to 8.

Images