Control scheme for motor actuators used to operate medium- to high-voltage circuit breakers

Abstract

This disclosure provides a contact actuation unit for a circuit breaker. The contact actuation unit includes an electromechanical device. An actuator of the electromechanical device is connected to a contact device in the circuit breaker. The contact actuation unit also includes a control unit. The control unit is configured to control the electromechanical device to move the actuator and bring the contact device from a first position to a second position. The contact actuation unit also includes a command feedforward or motion trajectory and a feedforward controller configured to provide one or more data signals. At least one of the provided data signals indicates a predetermined force and / or torque value, suitable for commanding the control unit to move the contact device to a predetermined position using the actuator.

Description

Technical Field

[0001] This disclosure relates to the field of electrical switching devices, such as load circuit breakers or circuit breakers (CBs), particularly for high-voltage or medium-voltage circuit breakers (HVCBs, MVCBs). In particular, this application relates to electric drive actuators for electrical switching devices. Background Technology

[0002] Electrical switching devices, such as load break switches or circuit breakers (CBs), particularly for high-voltage or medium-voltage circuit breakers (HVCBs, MVCBs), can form part of a unit that distributes the load and / or fault current to the switch, with typical values ​​ranging from 1 kA to 300 kA RMS. Electrical switching devices open or close by relative movement of contacts.

[0003] This disclosure may relate to high-voltage and medium-voltage circuit breaker devices for voltages greater than, for example, 1000 volts.

[0004] It is known that in high-voltage and medium-voltage switchgear, electrical operations for interruption and connection / disconnection can be performed by contacts in a moving contact device. This is accomplished by an actuation system for performing the electrical operations.

[0005] For interruption and connection / disconnection operations, the most frequently used actuators in conventional load circuit breaker systems can be mechanical or hydraulic.

[0006] Mechanically actuated devices often require complex motion systems to transmit force to the moving contact to actuate it. Furthermore, complex adjustment processes may be necessary because the travel curve / trajectory of the moving contact can be determined solely by the mechanical characteristics of the structural components involved, and cannot be altered by the user. These characteristics can be primarily set during the design phase of the electrical switching or contact device.

[0007] Due to the presence of complex kinematic chains, the response time of such contact devices is relatively long. To achieve a shorter response time, it may be necessary to provide significantly more energy than is required to move a single movable mechanical component.

[0008] Furthermore, the travel curve / trajectory may change over time due to wear of individual components, leading to performance degradation and thus requiring extensive maintenance interventions to maintain the nominal behavior of the actuation system.

[0009] Hydraulic actuators have partially improved these problems, but they have several other disadvantages due to the presence of fluid and, in particular, the sensitivity of the fluid to temperature changes.

[0010] Some switching devices employ actuation and control systems for electrical operation, including electric motors that can be automatically triggered or manually actuated by the operator. Recently introduced high-power motor drives as actuators have shown great promise as a reliable, inexpensive, and customizable alternative to traditional spring or pneumatic actuators.

[0011] In currently known motor drive systems, general position feedback control has been proposed. One known system can employ a control scheme based on cascaded proportional-integral (PI) feedback loops for position, velocity, and current.

[0012] The parameters of these PI controllers may need to be specially tuned, requiring an iterative trial-and-error process to achieve the desired travel curve of the switching contacts in the contact device.

[0013] However, this can impose several limitations on fully utilizing the flexibility of motor drives. For example, feedback control has an inherent delay, making direct, continuous adjustment of the control reference infeasible. Another drawback is that the operation in the current control defines the travel curve in an indirect and unpredictable manner, thus requiring considerable time and iteration for adjustment. Furthermore, the travel curve cannot be easily adapted to different fault conditions.

[0014] Therefore, despite fulfilling their tasks, even these actuation and control systems are characterized by a lack of control over the trajectory of the moving mechanical components, as previously described. This lack of control over the travel curve / trajectory during interrupted and disconnected operations necessitates the presence of travel limiting devices to restrict the movement of the moving contacts, and dampers or shock absorbers to dissipate residual kinetic energy at the end of the operation.

[0015] Due to the lack of control over the travel curve / trajectory, the positioning of the moving contact itself is inaccurate and may lead to premature wear of mechanical parts affected by electrical operation.

[0016] Furthermore, the lack of control over the travel curve / trajectory during interruption, connection, and disconnection operations makes them difficult to coordinate properly. This may require several interventions, significantly increasing the time required to complete the operation.

[0017] Therefore, the purpose of this disclosure is to provide an improved method for operating the contact device in a circuit breaker with predetermined switching behavior, in order to overcome the shortcomings previously presented by known devices. Summary of the Invention

[0018] To address the above and other potential problems, embodiments of this disclosure propose one or more of the following aspects.

[0019] In one aspect of this disclosure, a contact actuation unit for a circuit breaker is provided. The contact actuation unit may include an electric drive device, wherein the actuator of the electric drive device is connected to the contact device in the circuit breaker.

[0020] The contact actuation unit may further include a control unit. The control unit may be configured to control an electric drive to move the actuator and bring the contact device from a first position to a second position. The contact actuation unit may further include a motion trajectory and feedforward controller configured to provide one or more data signals, wherein at least one of the provided data signals indicates a predetermined force and / or torque value, which is adapted to command the control unit to move the contact device to the predetermined position using the actuator. Attached Figure Description

[0021] Embodiments of this disclosure will be presented in an exemplary sense, and their advantages will be explained in more detail below with reference to the accompanying drawings, wherein:

[0022] Figure 1 A block diagram of a control scheme for a contact actuation unit according to an embodiment of the present disclosure is shown;

[0023] Figure 2 A block diagram illustrating an embodiment according to the present disclosure is shown;

[0024] Figure 3 An embodiment of a motion controller according to one or more embodiments of the present disclosure is shown;

[0025] Figure 4 An embodiment of a feedforward controller according to one or more embodiments of the present disclosure is shown. Detailed Implementation

[0026] In the following description, the principles and spirit of this disclosure will be described with reference to exemplary embodiments. It should be understood that all these embodiments are provided only to enable those skilled in the art to better understand and further practice this disclosure, and are not intended to limit the scope of this disclosure. For example, features shown or described as part of one embodiment may be used with another embodiment to produce yet another embodiment.

[0027] For clarity, not all features of the actual implementation are described in this specification. It should be understood, of course, that in the development of any such actual embodiment, many implementation-specific decisions will be made to achieve the developer's specific goals, such as compliance with system-related and business-related constraints, which will vary between different implementations. Furthermore, it should be understood that such development work can be complex and time-consuming, but is merely a routine task for those skilled in the art who will benefit from this disclosure.

[0028] The disclosed subject matter will now be described with reference to the accompanying drawings. Various structures, systems, and devices are schematically depicted in the drawings for illustrative purposes only, so as not to obscure the description due to details well known to those skilled in the art. However, the drawings are merely illustrative examples included to describe and explain the disclosed subject matter. The words and phrases used herein should be understood and interpreted in accordance with the understanding of those skilled in the art regarding these words and phrases.

[0029] The consistent use of terms or phrases herein is not intended to imply a specific definition of the term or phrase, i.e., a definition different from the common and customary meaning understood by those skilled in the art. Where a term or phrase is intended to have a specific meaning (i.e., a meaning different from that understood by those skilled in the art), such a specific definition will be explicitly stated in the specification by providing it directly and clearly.

[0030] This disclosure aims to improve currently known switching systems and provides an improved operating mechanism for medium- to high-voltage circuit breakers. The interrupting capability of a circuit breaker can be strongly influenced by the travel curve of the contacts in the contact mechanism within the circuit breaker, which can affect the pressure in different compartments of the circuit breaker compartment and the location of contacts that may arc due to switching operation.

[0031] The proposed motor-driven actuator offers the possibility of directly controlling the travel curve of the contact device. This allows for the design of optimal interruption capability. Assuming that contact movement must occur on a timescale of tens of milliseconds, a fast and precise control strategy is paramount.

[0032] This disclosure proposes a novel control scheme to overcome the shortcomings of previous discussions by introducing a command feedforward implementation that directly takes the desired travel curve of the contacts in the circuit breaker's contact device as input and can generate force and / or torque references.

[0033] Therefore, embodiments of this disclosure can provide a contact actuation unit for a circuit breaker. The contact actuation unit may include electromechanical device 110. Electromechanical device 110 may have an actuator. The actuator of electromechanical device 110 may be connected to the contact arrangement in the circuit breaker.

[0034] The contact actuation unit may also have a control unit 200, which may be configured to control the electromechanical device 110 to move the actuator and bring the contact device from a first position to a second position.

[0035] The contact actuation unit according to this disclosure may also have a motion trajectory and feedforward controller block 210. The motion trajectory and feedforward controller block 210 may be configured to provide one or more data signals, wherein at least one of the provided data signals indicates a predetermined force and / or torque value, which is suitable for commanding the control unit 200 to move the contact device to a predetermined position using the actuator.

[0036] Figure 1 An exemplary embodiment of such a system is shown. Block 210 constitutes a command feedforward function. This command feedforward block 210 can output a value representing the desired force or torque value. (In this example, for example, F) cff * T represents the force value. cff * (This represents the torque value). These values ​​can be provided by memory and / or lookup tables connected to or included in the command feedforward block 210.

[0037] These values ​​can be read into a second block 250. This second block 250 can generate additional signal values, in this example, but not limited to, the current value I*, which can be further processed.

[0038] Block 250 can be referred to as a "force / torque to current mapping" block. That is, a force or torque value (e.g., a force / torque reference value) from the command feedforward block is "mapped" to a specific current (or any other signal containing corresponding information) value that can represent the desired force / torque value. As already noted, block 250 can also be adapted to output any form of value, such as a voltage value, which can correspond to a force / torque value.

[0039] This mapping can be achieved by processing values ​​from block 210 (e.g., F) using an algorithm. cff * and / or T cff * This can be achieved either by using a lookup table, where a specific value (e.g., current or voltage) is assigned to a force / torque value.

[0040] exist Figure 1 In the example, the current value (e.g., I) can be used. * However, this may not be considered a limitation) is fed into block 260. This block may include current control for subsequent blocks (e.g., PWM block 270). Block 260 may be adapted to generate a signal based on a value from block 250, which in this example is a voltage V*. The signal is not limited to a voltage signal; it can be a current signal or any suitable data signal.

[0041] However, this signal can be adapted to provide appropriate information for generating modulated signals, particularly pulse-width modulated signals, such as... Figure 1As shown in block 270 for executing PWM, block 270 can generate one or more pulse width modulation signals, each pulse width modulation signal having a specific duty cycle.

[0042] Signals from PWM block 270, particularly one or more pulse-modulated signals, are suitable for controlling switching elements (semiconductor switches) in, for example, a voltage source inverter 180. Voltage source inverter 180 is connected to electromechanical device 110. Voltage source inverter 180 can be adapted to command electromechanical device 110, particularly the actuators within electromechanical device 110, to move to a specific predetermined position. The PWM signals allow operation of the switches in the voltage source inverter in such a way that a specific and predetermined magnetic field is established in electromechanical device 110, which generates a desired torque or force on the actuator to drive it at a specific position.

[0043] It should be noted that, in one embodiment, the position can be reached without feedback from the actuator. The “information” of the desired torque / force from the command feedforward controller or motion trajectory command feedforward controller 210 may be sufficient to assume that, in a “healthy” circuit breaker with intact contact devices, the actuator can be set to the desired position within a predetermined time.

[0044] "Predetermined time" can mean that, through experimentation, the torque / force command has been adjusted using a specific contact device until a specific behavior has been achieved. These force / torque values, along with environmental data (temperature, gas pressure, etc.), may have been stored in any block's storage area for later use.

[0045] When the electromechanical device 110 is an electric motor with a rotor as the actuator, this position can be a predetermined rotation angle. When the electric drive device is a solenoid or linear motor, this position can also be a specific excitation of the armature or converter. Figure 1 The electromechanical device 110 described herein may be used only as an exemplary device and may represent any of the aforementioned drive devices. The predetermined position of the actuator of the electromechanical device 110 corresponds to a specific position of the contacts in the contact device of the circuit breaker. That is, the specific position of the actuator corresponds to a specific position of the contacts in the contact device.

[0046] Another embodiment of this disclosure, which can be combined with other embodiments, proposes that the force and / or torque values ​​from the motion trajectory and feedforward controller 210 can correspond to at least one desired travel curve of the contact device in the circuit breaker.

[0047] Another embodiment of this disclosure, which can be combined with other embodiments, proposes that the desired force and / or torque values ​​can be derived from the system model. The system model may represent one or more mechanical and / or electrical parameters of the contact actuation unit and / or circuit breaker. The system model may also represent, for example, one or more travel curves for different environmental conditions or different contact sets.

[0048] The system model can have varying degrees of complexity and can be explicitly included in the feedforward controller or provided as a lookup table, which can be pre-computed by simulation tools known to the inventors. The lookup table can be part of the feedforward controller.

[0049] The model or its parameters can also be adapted to cover varying operating conditions. This type of operation can be rated operation, meaning the formation or disconnection of rated current. Another type of operation can be fault interruption. In this case, the varying operating conditions can be a specific type of fault (e.g., based on current / voltage (I / V) measurements).

[0050] Other varying operating conditions that can be represented in the system model or its parameters can be wear / fatigue conditions. Wear conditions mean that materials may suffer wear or fatigue over long operating times. These conditions can be based on fault history or on measurements from specific sensors (optical sensors, current sensors, etc.), which can be adapted to identify, for example, wear or fatigue of mechanical components.

[0051] Other conditions that may affect parameters and / or one or more system models may include at least one of nozzle wear, friction (e.g., friction between mechanical parts), switching gas composition, and environmental conditions (e.g., temperature, chamber pressure).

[0052] During circuit breaker operation, disturbances and inaccuracies may occur around the pre-calculated values. Therefore, the feedforward input can be supplemented by error-based motion control. Error-based control can compensate for the deviation between the actual load and the feedforward reference.

[0053] Motion trajectory and feedforward block 210 can provide a reference generated from the travel curve to motion controller 240. Force / torque feedforward output can also be generated by this block. The force / torque feedforward, combined with the torque reference output of motion controller 240, can provide input to force / torque-current mapping block 250. This block can generate a current reference for current controller block 260, which in turn can provide a voltage reference for voltage source inverter 180. Resolver 130 can optionally be used to measure the actuator position of electromechanical device 110, particularly time-dependent actuator position. Motion estimator block 220 can optionally generate feedback values ​​for motion controller 240 from the values ​​provided by resolver 130.

[0054] In another embodiment, the system can be configured to learn from previously identified faults or unexpected behaviors in the system. Such unexpected behavior could be, for example, a deviation between the expected closing / opening time of the contact device in a circuit breaker and the closing / opening time measured by a feedback device, caused by a force / torque command from, for example, feedforward block 210.

[0055] That is, based on the force / torque command, it can be expected, for example, that the contacts in the contact device move to their positions within x ms. However, feedback indicates that operation requires x+a ms. This deviation "a" must be compensated for.

[0056] The system can then be adapted to account for these deviations and update the data in the system model and / or lookup tables. This means, for example, that a different force / torque command will be sent in the next operation of the contact device, or that a new mapping will be specified (assigned) for the same force / torque command, for example, in the force / torque to current mapping block 250.

[0057] Updates can also include rewriting values ​​previously selected from the system model or lookup table and replacing them with values ​​that can again satisfy the expected system behavior, such as the expected switching time of the contact device in a circuit breaker. The force / torque values ​​are adaptable. Alternatively, the values ​​in the force / torque-to-current mapping block 250 can be adapted so that the same force / torque value generates different output values ​​for the force / torque-to-current mapping block 250.

[0058] Another embodiment of this disclosure, which can be combined with other embodiments, proposes that the motion trajectory and feedforward controller 210 may include a processing unit and a storage area, wherein the storage area may contain predetermined data. The predetermined data, also referred to as a "dataset," may represent force and / or torque values ​​and / or at least one predetermined set of travel curves. Advantageously, at least one force and / or torque data may be stored for each predetermined set of travel curves.

[0059] Another embodiment of this disclosure, which can be combined with other embodiments, proposes that at least one system model can be represented by model data of the motion trajectory of one or more exemplary circuit breaker contact devices of one or more circuit breakers.

[0060] That is, there may be several known types of switches on the market. Each of them may include a specific contact device. This contact device may have a specific motion trajectory (travel curve) with specific behavioral / mechanical characteristics, specifically the time span during which the contacts move from a first (e.g., open) position to a second (e.g., closed) position in response to a specific force / torque value from a force / torque feedback controller. The behavior of each of these types of contact devices / switches can be analyzed. Data sets representing the behavior of these switches can be stored in a storage area as data values / characteristic curves (datasets).

[0061] Any system model used can be represented by such a curve. That is, the storage area can have multiple storage trajectories with different motion paths, which can be used as a system model. Based on the switching behavior, the controller 200 can select an appropriate system model from the multiple stored curves.

[0062] Another embodiment of this disclosure, which can be combined with other embodiments, proposes that the motion trajectory and feedforward controller 210 can communicate with one or more sensors. One or more sensors (not shown) can be configured to measure one or more values.

[0063] These values ​​can represent the state of the contact device or circuit breaker, such as its health status. The values ​​can be one or more of the following: the composition of the gas (e.g., insulating or arc-quenching gas) in the circuit breaker compartment, and one or more temperatures in the circuit breaker compartment.

[0064] Another embodiment of the contact actuation unit for a circuit breaker, which can be combined with other embodiments, may propose that one or more sensors may be configured to further measure values ​​from the group consisting of: ambient temperature and humidity inside and / or outside the circuit breaker; the number of switching operations of the contact device in the circuit breaker; the system current through the contact device; the switching time of the most recent switching operation; and the gas pressure in the circuit breaker.

[0065] Another embodiment of the contact actuation unit for a circuit breaker, which can be combined with other embodiments, may propose that the motion trajectory and feedforward controller 210 can be configured to determine one or more predetermined force and / or torque values ​​(e.g., F) based on one or more sensor values. cff * / T cff * ).

[0066] The motion trajectory and feedforward controller 210 can also be configured to provide corresponding force and / or torque values ​​to the control unit 200 based on sensor values; that is, the motion trajectory and feedforward controller 210 can calculate in the processing unit which data or dataset stored in the storage area corresponds to the measured value.

[0067] For example, if a specific temperature value can be measured from, for example, a temperature sensor, the processing unit can determine that a higher / lower force / torque value can be selected to achieve the desired switching behavior. In another example, if, for example, a recent switching operation exhibits a deviation in switching timing due to, for example, wear of a moving part, the processing unit can decide to select an appropriate force / torque value for the next operation.

[0068] However, in the latter case, the system can decide to update the parameters used in the system model and / or the corresponding lookup table, because in the latter case, wear is irreversible, since mechanical wear / fatigue does not improve over time.

[0069] The controller can be configured to calculate and select a single force / torque value, or it can be configured to select one of the travel curves from the system model.

[0070] This travel curve can be associated with a complete dataset of force / torque values. In this case, the motion trajectory and feedforward controller 210 do not need to calculate these values. The controller can select (without calculation) force / torque values ​​corresponding to specific measurements from the selected travel curves.

[0071] The difference is that, in the latter case, computation may not be necessary. This means that less processing power may be required. However, it is possible that the system model no longer meets the requirements for the expected switching behavior. This could occur, for example, under conditions of wear / fatigue (mechanical) or other problems (such as extreme ambient temperatures).

[0072] In this case, the controller 210 can rely on calculating its own force / torque value. In particular, feedback from the actuator, especially motion data from the actor, can be used as a reference, since the actuator's movement is directly related to the switching operation.

[0073] Another embodiment of this disclosure, which can be combined with other embodiments, proposes that the motion trajectory and feedforward controller 210 is configured to determine one or more predetermined force and / or torque values ​​from a storage area in any block based on at least one value from the following group: past and / or planned maintenance dates; age of the contact device; age of the circuit breaker; and history of switching operations.

[0074] That is, for example, if maintenance has been performed and components (e.g., contacts) in the circuit breaker may have been replaced, it may be necessary to change the force / torque value previously selected to achieve a particular switching behavior, since the new component has no mechanical wear. Therefore, the contact actuation unit can be configured to receive information about, for example, the maintenance performed, so that a force / torque value corresponding to the switching behavior of the replaced (new) component can be selected by the appropriate controller.

[0075] Another embodiment of this disclosure, which can be combined with other embodiments, proposes that the motion trajectory and feedforward controller 210 can be configured to adapt to values ​​of force and / or torque, for example, in the storage area of ​​any block, in the event of unintended switching behavior of the contact device.

[0076] Another embodiment of this disclosure, which can be combined with other embodiments, proposes that the motion trajectory and feedforward controller 210 can be configured to determine one or more predetermined travel curves or combinations thereof from a storage area based on one or more sensor values, and such that the corresponding force and / or torque values ​​represented by at least one set of travel curves are available at the output of the motion trajectory and feedforward controller 210.

[0077] Another embodiment of this disclosure, which may be combined with other embodiments, proposes that the processing unit in the motion trajectory and feedforward controller 210 may be configured to adapt (update) data values ​​in the storage area based on a comparison between the expected behavior of the contact device according to the force and / or torque values ​​and the time-related behavior of the actuator of the electromechanical device 110 or the time-related behavior of the measured travel curve of the contact device. That is, the processing unit in the motion trajectory and feedforward controller 210 can autonomously detect and correct deviations in behavior. New and updated values, such as force and / or torque values, can be autonomously written into the storage area.

[0078] The storage areas in this disclosure can be of non-volatile and rewritable type. Operators can be notified of any update operations performed on the storage areas.

[0079] Another embodiment of this disclosure, which can be combined with other embodiments, proposes that the motion trajectory and feedforward controller 210 can be configured to determine force and / or torque values, particularly for a currently operating system model, for updating the current system model.

[0080] This can be based on the deviation between the expected behavior of the travel curve of the contact device in the circuit breaker and the measured behavior of the travel curve of the contact device. Correction values ​​for force and / or torque and / or system model values ​​can be calculated and stored as correction values ​​in a storage area. This embodiment can be similar to the "self-update" function of one of the previous embodiments.

[0081] Another embodiment of this disclosure, which can be combined with other embodiments, may propose that the electromechanical device 110 is a rotating electric motor, such as an AC (alternating current), BLDC (brushless direct current) motor, stepper motor (similar to BLDC), or linear motor or solenoid. The actuator may be the rotor of the rotating electric motor, the converter of the linear motor, or the armature of the solenoid.

[0082] A linear motor can be thought of as a motor whose stator and rotor are "unfolded," thus generating linear force along its length instead of torque (rotation). Therefore, the motion trajectory and feedforward controller 210 can output the force value. However, a linear motor is not necessarily straight. A linear motor can provide high acceleration along its actuator. A linear motor can have a coil configuration similar to that of a rotating machine.

[0083] Therefore, known voltage source inverters can be used for control, for example, using space vector PWM. Space vector pulse width modulation (SVPWM) is a modulation scheme used to apply a given voltage vector to an electric drive device (e.g., a three-phase electric motor with permanent magnets or induction motors).

[0084] This disclosure can be combined with other embodiments to propose that the actuator can be directly coupled to the contact device, or the actuator can be coupled to the contact device via a kinematic chain, or the actuator can be coupled to the contact device via gears. Direct coupling between the actuator and the contacts in the contact device minimizes switching delay.

[0085] Using a linear motor, such as electrical device 110, may be advantageous because the motion is linear and simplifies the movement of contacts within the contact device. This saves mass (fewer moving parts) and therefore reduces inertia, which allows for faster switching / reduction of force (or torque) values.

[0086] Another embodiment of this disclosure, which can be combined with other embodiments, proposes that the contact actuation unit for a circuit breaker may further include a feedback controller configured to provide additional force and / or torque values ​​to block 250. Another embodiment of this disclosure, which can be combined with other embodiments, proposes that the feedback controller may be configured to receive motion data from electromechanical device 110 and provide force and / or torque based on the deviation between the motion data and the travel curve.

[0087] exist Figure 2 In this embodiment, another exemplary embodiment of the present disclosure with feedback control is provided. In addition to providing force / torque feedforward values, the motion trajectory and command feedforward (CFF) block 210 can also provide a travel curve control reference to the motion controller block 240.

[0088] Depending on the type of electric drive unit, the reference may include one or more values. The motion controller block combines feedback information from the actuator to, for example, reference torque / force value T. fb / F fb Provided to torque / force mapping block 250, and the force / torque mapping block can provide the corrected output value to block 260.

[0089] In the case of a rotating machine, the travel curve reference may include angle values ​​and their time derivatives, such as the travel control reference angle θ. * Reference speed for travel control ω * , travel control reference angle acceleration α * For linear motors, the reference may include the time derivative of the converter's excitation.

[0090] The force / torque to current mapping block 250 can convert the total force / torque input into a corresponding value, such as the direct orthogonal (dq) reference current (I). d * and I q * The output of the current controller block 260 can be fed to the motor via a voltage source inverter controlled by space vector pulse width modulation (SVPWM). The values ​​calculated and provided by the current controller block 260 can include one or more parameters, such as the voltage value V, in a non-limiting manner. d / V q .

[0091] The feedback controller may not appear as a single block. The motion estimator block 220, motion controller block 240, and resolver 130 can be considered as representations (in any combination) of the feedback controller. They can also be combined into a single functional block. From the actuator of the electromechanical device 110, time-dependent motion data, such as sin(θ) and cos(θ), representing the angular position of the rotor of the electromechanical device 110 when the motor is a rotating machine, can be measured using the resolver 130.

[0092] In the case of a converter in a linear motor or an armature in a solenoid, corresponding motion data can also be provided. A resolver 130 connected to the electromechanical device 110 can be adapted to measure and provide such values ​​as one or more feedback parameter values.

[0093] In the case of a linear motor, this could be the time-dependent position and / or, for example, the speed / acceleration of the actuator (converter). The same applies to the armature of a solenoid. In the case of the rotor of a rotating machine, such values ​​could be angle, angular velocity, or angular acceleration.

[0094] Another embodiment of this disclosure, which can be combined with other embodiments, may propose that the motion data provided to the feedback controllers 220, 230, 240 may be a function of data from one or more sensors and / or may be estimated from a system model.

[0095] Motion estimation controller 220 is configured to determine one or more of the following values: the angle or position of the actuator of electromechanical device 110 (e.g., angle). ), the speed of the actuator (e.g., the angular velocity in the case where the actuator is a rotor in a rotating machine). ), the acceleration of the actuator (e.g., angular acceleration in the case where the actuator is a rotor in a rotating machine). In the case of linear motor actuators, corresponding values ​​can also be provided. One or all of the above values ​​can be instantaneous values.

[0096] It is important to note that the time-dependent position values ​​of the actuator do not necessarily require the use of resolver 130. Current and voltage can also be used to estimate a set of motion values, such as position, velocity, and / or acceleration. Another possibility is to use another position measurement device, such as an encoder.

[0097] Another possibility for determining the position of the actuator of electromechanical device 110 may include: the current to electromechanical device 110 may contain so-called "ripple". This is related to the fact that most electromechanical devices 110 have permanent magnets in their actuators. (Separately excited electromechanical devices are not considered here). The "ripple counting" method relies on measuring current fluctuations in one of the power supply lines to the electric drive device 110. Another method for determining the actuator position may be transient counting, which is based on measuring voltage transients generated by the moving actuator.

[0098] Neither of the latter two methods requires a specific resolver 130 coupled to the actuator. However, position determination is possible using many possible combinations of methods / sensors within the motion estimation block 220 or elsewhere in the feedback control.

[0099] Another embodiment of this disclosure, which can be combined with other embodiments, proposes that the controller 200 may include a converter block (Clarke / Park converter) to convert the three-phase current of the electric drive device into DC and quadrature components. Controller 200 may also include a transformation block (see Figure 2 To perform the inverse transformation of the transformation.

[0100] Another embodiment of this disclosure, which can be combined with other embodiments, may propose that one or more values ​​calculated and provided by the motion controller 240 may include at least a reference force / torque value. The reference force / torque value may be provided to the "force / torque to current mapping block" 250. Figure 2 It can also be used to correct errors determined by the feedback controller.

[0101] Figure 3An exemplary embodiment 300 of the motion controller 240 is shown. In this exemplary embodiment, velocity and position reference inputs from the motion trajectory and command feedforward block 210 and estimated velocity and position feedback from the motion estimator block 220 are used as inputs. The actuator acceleration value is not used in this exemplary embodiment.

[0102] Another embodiment of this disclosure, which can be combined with other embodiments, may propose that the motion trajectory and feedforward controller 210 may include a command feedforward block, wherein the force / torque feedforward F cff * / T cff * The value can be based on one or more functions, including inertia, viscous damping, dynamic friction, or other values, such as the inertia of the moving part (mechanical part) of the contact device or the inertia of the kinematic chain.

[0103] Figure 4 A non-limiting embodiment 400 of a command feedforward controller based on an exemplary system model incorporating inertia, viscous damping, and dynamic friction is shown. The parameters of this system model can be provided as a lookup table based on a detailed system model of the circuit breaker and can be pre-calculated by simulation tools. Other parameters previously discussed in this disclosure may also be incorporated into the system model.

[0104] The command feedforward controller can be a component of the motion trajectory and the feedforward controller 210.

[0105] In an alternative embodiment, force / torque feedforward values ​​can be directly provided to unit 250 based on a lookup table pre-calculated from the system model. The model or its parameter values ​​can also be adapted to varying operating conditions (as described in detail above). Thus, in one embodiment, various lookup tables can be provided, and interpolation can be performed between different tables. In another embodiment, the system model or a suitable simplification thereof can be embedded in the feedforward controller, for example, but not limited to, using standardized model containers, such as functional entity model units.

[0106] In summary, this disclosure provides an improved contact actuation unit for contact devices in circuit breakers. The contact devices are driven by an electric drive (e.g., a motor). The electromechanical device 110 may have an actuator coupled to the contact devices.

[0107] Feedforward control is advantageous for separately commanding electric drives and actuators to move contact devices, for example, from a closed position to an open position, or vice versa, or any other intermediate position.

[0108] The movement of the contacts can be performed using only values ​​(force / torque) from the feedforward control. These force / torque values ​​are provided by a system model, for example, of the contact mechanism of a circuit breaker. However, feedback can be used to provide information about the switching operation.

[0109] The deviation between expected and actual behavior can be determined. An optional motion controller compensates for the difference between the reference value (travel curve) used for positioning and its derivative, and the corresponding measurement feedback value. Accurate estimation of position and its derivative can be achieved by a suitable observer.

[0110] The contact actuation unit can be adapted to (autonomously) update / correct the force / torque values ​​in the storage area of ​​the control block of the contact actuation unit, so that subsequent switching operations can be performed with the updated force / torque values.

Claims

1. A contact actuation unit for a circuit breaker, comprising: Electromechanical equipment (110), wherein the actuator of said electromechanical equipment (110) is connected to the contact device in said circuit breaker; Control unit (200) is configured to control the electromechanical device (110) to move the actuator and bring the contact device from a first position to a second position; and A motion trajectory and feedforward controller (210) is configured to provide one or more data signals, wherein at least one of the provided data signals indicates a predetermined force and / or torque value, said predetermined force and / or torque value being adapted to command the control unit (200) to move the contact device to a predetermined position using the actuator. The motion trajectory and feedforward controller (210) includes a processing unit and a storage area. The predetermined force and / or torque values ​​from the motion trajectory and feedforward controller (210) correspond to at least one desired travel curve of the contact device in the circuit breaker. The motion trajectory and feedforward controller (210) communicates with one or more sensors configured to measure the composition of the gas in the circuit breaker chamber. The motion trajectory and feedforward controller (210) are configured to determine one or more predetermined travel curves or combinations thereof from the storage area based on the measured composition of the gas in the circuit breaker compartment, and to provide corresponding force and / or torque values ​​represented by at least one set of travel curves. Wherein, the electromechanical equipment (110) is a rotary motor, a linear motor, or a solenoid, and the actuator is the rotor of the rotary motor, the converter of the linear motor, or the armature of the solenoid, and wherein The actuator is directly coupled to the contact device, or the actuator is coupled to the contact device via a kinematic chain, or the actuator is coupled to the contact device via gears.

2. The contact actuation unit according to claim 1, wherein, The predetermined force and / or torque values ​​are derived from the system model; wherein The system model represents one or more mechanical and / or electrical parameters and / or travel curves of the contact actuation unit and / or circuit breaker.

3. The contact actuation unit according to claim 1, wherein, The storage area contains predetermined data representing the force and / or torque values, and / or at least one predetermined set of travel curves.

4. The contact actuation unit according to claim 2, wherein, At least one system model is represented by model data of the motion trajectory of one or more example circuit breaker contact devices of one or more circuit breakers.

5. The contact actuation unit for a circuit breaker according to claim 1, in, The one or more sensors are also configured to measure one or more temperatures in the circuit breaker compartment.

6. The contact actuation unit for a circuit breaker according to claim 1, wherein, The one or more sensors are configured to also measure one or more values ​​from the following group: Ambient temperature, humidity, number of switching operations of the contact device in the circuit breaker; system current through the contact device; switching time of the most recent switching operation; gas pressure in the circuit breaker.

7. The contact actuation unit for a circuit breaker according to claim 1, wherein, The motion trajectory and feedforward controller (210) is configured to determine one or more predetermined force and / or torque values ​​based on one or more sensor values, and to provide the corresponding force and / or torque values ​​to the control unit (200).

8. The contact actuation unit for a circuit breaker according to claim 1, wherein, The motion trajectory and feedforward controller (210) is configured to determine one or more predetermined force and / or torque values ​​from the storage region based on at least one value from the following group: Past and / or planned maintenance dates; age of the contact devices; age of the circuit breaker; history of switch operation.

9. The contact actuation unit for a circuit breaker according to claim 1, wherein, The motion trajectory and feedforward controller (210) are configured to adapt the values ​​of force and / or torque in the event of unintended switching behavior of the contact device.

10. The contact actuation unit for a circuit breaker according to claim 1, wherein, The processing unit in the motion trajectory and feedforward controller (210) is configured to adapt or update data values ​​in the storage area based on a comparison between the expected behavior of the contact device according to the force and / or torque value and the measured time-related behavior of the actuator of the electromechanical device (110) or the measured time-related behavior of the travel curve of the contact device.

11. The contact actuation unit for a circuit breaker according to claim 1, wherein, The motion trajectory and feedforward controller (210) is configured to determine force and / or torque values, and / or system model values, based on the deviation between the expected behavior of the travel curve of the contact device and the measured behavior of the travel curve of the contact device, and to calculate correction values ​​for the force and / or torque values, and / or system model values, and to store the correction values ​​in a storage area.

12. The contact actuation unit for a circuit breaker according to claim 1, further comprising: Feedback controllers (220, 230, 240) are configured to provide additional force and / or torque values ​​to the control unit (200).

13. The contact actuation unit for a circuit breaker according to claim 1, further comprising a feedback controller (220, 230, 240), wherein, The feedback controllers (220, 230, 240) are configured to receive motion data from the electromechanical equipment (110) and provide force and / or torque based on the deviation between the motion data and the travel curve; And / or wherein the motion data provided to the feedback controller (220, 230, 240) is a function of data from one or more sensors and / or is estimated from the system model.

14. A contact actuation unit for a circuit breaker, comprising: Electromechanical equipment (110); wherein the actuator of the electromechanical equipment (110) is connected to the contact device in the circuit breaker; The control unit (200) is configured to control the electromechanical device (110) to move the actuator and bring the contact device from a first position to a second position; A motion trajectory and feedforward controller (210) is configured to provide one or more data signals, wherein at least one of the provided data signals indicates a predetermined force and / or torque value, said predetermined force and / or torque value being adapted to command the control unit (200) to move the contact device to a predetermined position using the actuator; and Feedback controllers (220, 230, 240) are configured to provide additional force and / or torque values ​​to the control unit (200). The motion trajectory and feedforward controller (210) includes a processing unit and a storage area. The predetermined force and / or torque values ​​from the motion trajectory and feedforward controller (210) correspond to at least one desired travel curve of the contact device in the circuit breaker. The motion trajectory and feedforward controller (210) communicates with one or more sensors configured to measure the composition of the gas in the circuit breaker chamber. The motion trajectory and feedforward controller (210) is configured to determine one or more predetermined travel curves or combinations thereof from a storage area based on the measured composition of the gas in the circuit breaker compartment, and to provide corresponding force and / or torque values ​​represented by at least one set of travel curves, wherein the feedback controller (220, 230, 240) is configured to receive motion data from the electromechanical device (110) and to provide force and / or torque based on the deviation between the motion data and the travel curves; and / or wherein, The motion data provided to the feedback controllers (220, 230, 240) is a function of data from one or more sensors and / or is estimated from the system model.

15. The contact actuation unit according to claim 14, wherein, The predetermined force and / or torque values ​​are derived from the system model; The system model represents one or more mechanical and / or electrical parameters and / or travel curves of the contact actuation unit and / or circuit breaker.

16. The contact actuation unit according to claim 14, wherein, The storage area contains predetermined data representing the force and / or torque values, and / or at least one predetermined set of travel curves.

17. The contact actuation unit according to claim 15, wherein, At least one system model is represented by model data of the motion trajectory of one or more example circuit breaker contact devices of one or more circuit breakers.

18. The contact actuation unit for a circuit breaker according to claim 14, in, The one or more sensors are also configured to measure one or more temperatures in the circuit breaker compartment.

19. The contact actuation unit for a circuit breaker according to claim 14, wherein, The one or more sensors are configured to also measure one or more values ​​from the following group: Ambient temperature, humidity, number of switching operations of the contact device in the circuit breaker; system current through the contact device; switching time of the most recent switching operation; gas pressure in the circuit breaker.

20. The contact actuation unit for a circuit breaker according to claim 14, wherein, The motion trajectory and feedforward controller (210) is configured to determine one or more predetermined force and / or torque values ​​based on one or more sensor values, and to provide the corresponding force and / or torque values ​​to the control unit (200).

21. The contact actuation unit for a circuit breaker according to claim 14, wherein, The motion trajectory and feedforward controller (210) is configured to determine one or more predetermined force and / or torque values ​​from the storage region based on at least one value from the following group: Past and / or planned maintenance dates; age of the contact devices; age of the circuit breaker; history of switch operation.

22. The contact actuation unit for a circuit breaker according to claim 14, wherein, The motion trajectory and feedforward controller (210) are configured to adapt the values ​​of force and / or torque in the event of unintended switching behavior of the contact device.

23. The contact actuation unit for a circuit breaker according to claim 14, wherein, The processing unit in the motion trajectory and feedforward controller (210) is configured to adapt or update data values ​​in the storage area based on a comparison between the expected behavior of the contact device according to the force and / or torque value and the measured time-related behavior of the actuator of the electromechanical device (110) or the measured time-related behavior of the travel curve of the contact device.

24. The contact actuation unit for a circuit breaker according to claim 14, wherein, The motion trajectory and feedforward controller (210) is configured to determine force and / or torque values, and / or system model values, based on the deviation between the expected behavior of the travel curve of the contact device and the measured behavior of the travel curve of the contact device, and to calculate correction values ​​for the force and / or torque values, and / or system model values, and to store the correction values ​​in a storage area.

25. The contact actuation unit for a circuit breaker according to claim 14, wherein, The electromechanical equipment (110) is a rotary motor, a linear motor, or a solenoid, and The actuator is the rotor of the rotary electric motor, the converter of the linear electric motor, or the armature of the solenoid, and wherein... The actuator is directly coupled to the contact device, or the actuator is coupled to the contact device via a kinematic chain, or the actuator is coupled to the contact device via gears.

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