Isolation of the method for vibration suppression of the switch based on fuzzy PID control algorithm

Abstract

This invention provides a method for suppressing vibration during the opening and closing of isolating switches based on a fuzzy PID control algorithm. The method includes: constructing a physical model of a 500kV isolating switch and combining a fuzzy PID controller with the physical model to obtain a closed-loop control system; simulating the closed-loop control system based on the fuzzy PID control algorithm to obtain the simulated curves of the first rotation angle and the first angular velocity during the opening and closing of corresponding nodes; performing a first comparison between the simulated curve of the first rotation angle and the simulated curve of the initial rotation angle before control is applied, and a second comparison between the simulated curve of the first angular velocity and the simulated curve of the initial angular velocity before control is applied; continuously optimizing the control constraints during the simulation process until the results of the first and second comparisons meet the vibration suppression criteria. By setting up the fuzzy PID control algorithm, the stability of the isolating switch during the opening and closing process is improved, effectively suppressing the vibration of the isolating switch.

Description

Technical Field

[0001] This invention relates to the field of isolating switch technology for ultra-high voltage lines, and in particular to a method for suppressing vibration during the opening and closing of isolating switches based on a fuzzy PID control algorithm. Background Technology

[0002] Disconnecting switches are commonly used switching devices in power plants and substations. They serve to isolate voltage in circuits, but due to their simple structure and lack of arc-extinguishing devices, they cannot be used to interrupt or connect current in a circuit, let alone interrupt or connect short-circuit current. Therefore, disconnecting switches are often used in conjunction with circuit breakers to perform switching operations in circuits and change the operating mode of electrical equipment.

[0003] Before repairing a piece of equipment or a part of a circuit, disconnect the isolating switches on both sides of the equipment or that part of the circuit to isolate the voltage on both sides, creating a clear break point in the circuit. Then, install a grounding wire on the equipment or part of the circuit that is being repaired while the power is off to ensure the safety of the repair work.

[0004] Select the appropriate disconnector and breaking type according to different voltage levels and site conditions. Disconnectors can be classified into single-column, double-column, and three-column types based on the number of insulating supports per phase in their structure. Based on the movement mode of the main disconnector and moving contact, they are classified into: single-column scissor type (the moving contact moves linearly up and down during opening and closing), single-column telescopic type (the moving contact is driven by a folding arm during opening and closing, moving up and down in an arc), double-column horizontal telescopic type (the moving contact is driven by a folding arm, moving horizontally in an approximately straight horizontal direction), double-column clasping type (the moving contact moves horizontally in an arc), three-column type with a rotating center column (the moving contact moves horizontally in an arc), and suspended type (a type of single-column disconnector where the moving contact is supported by a porcelain insulating column, the stationary contact is suspended, and it moves up and down during opening), etc.

[0005] The double-column horizontal telescopic type is widely used in ultra-high voltage and extra-high voltage levels. Its mechanical transmission mainly transmits the motor power in the isolating switch mechanism box to the insulating support, driving the insulating support to rotate, thereby driving the moving contact at the top of the folding arm to move horizontally.

[0006] However, during the power transmission process, the gear transmission has disadvantages such as gaps, large vibrations and impacts. This can cause unnecessary elastic vibrations caused by the long folding arm of the isolating switch during the opening and closing process. This may lead to contact errors between the moving and stationary contacts, resulting in overheating. In severe cases, it can cause arcing, endangering personal and equipment safety.

[0007] Therefore, in order to improve the stability of the isolating switch during the opening and closing process, it is particularly important to study the suppression of elastic vibration generated by the 500KV isolating switch.

[0008] Therefore, this invention provides a method for suppressing vibration during the opening and closing of isolating switches based on a fuzzy PID control algorithm. Summary of the Invention

[0009] This invention provides a method for suppressing vibration during the opening and closing of isolating switches based on a fuzzy PID control algorithm. By setting a fuzzy PID control algorithm, the stability of the isolating switch during the opening and closing process is improved, and vibration suppression of the isolating switch is effectively achieved.

[0010] This invention provides a method for suppressing vibration during the opening and closing of isolating switches based on a fuzzy PID control algorithm, comprising:

[0011] Step 1: Build a physical model of a 500KV disconnector and combine the fuzzy PID controller with the physical model of the 500KV disconnector to obtain a closed-loop control system;

[0012] Step 2: Simulate the closed-loop control system based on the fuzzy PID control algorithm to obtain the simulation curves of the first angle and the first angular velocity of the corresponding node when it is opening or closing.

[0013] Step 3: Perform a first comparison between the first angle simulation curve and the initial angle simulation curve before the fuzzy PID controller is combined, and perform a second comparison between the first angular velocity simulation curve and the initial angular velocity simulation curve before the fuzzy PID controller is combined.

[0014] Step 4: Based on the first comparison result and the second comparison result, continuously optimize the control constraints in the simulation process until the first comparison result and the second comparison result meet the vibration suppression standard.

[0015] Preferably, the fuzzy PID controller is combined with the physical model of a 500kV isolating switch to obtain a closed-loop control system, including:

[0016] A fuzzy PID controller is connected in series after each of the two signal terminals of the 500KV isolating switch physical model to obtain a closed-loop control system.

[0017] Preferably, the closed-loop control system is simulated based on a fuzzy PID control algorithm to obtain the simulation curves of the first angle and the first angular velocity of the corresponding node during opening and closing, including:

[0018] Based on the simulation platform, and using the fuzzy PID control algorithm to simulate the closed-loop control system, the simulation diagram of the current frame is obtained.

[0019] The simulation diagram of the current frame is analyzed to obtain the simulation curve of the first angle and the simulation curve of the first angular velocity of the corresponding node when it is opened or closed.

[0020] Preferably, based on the first comparison result and the second comparison result, the control constraints during the simulation process are continuously optimized, including:

[0021] Obtain the first difference between the first angle simulation curve and the initial angle simulation curve; at the same time, obtain the second difference between the first angular velocity simulation curve and the initial angular velocity simulation curve.

[0022] Based on the current frame simulation image, several frames of first simulation images are continuously acquired, and the first angle simulation curve and the first angular velocity simulation curve in each frame of the first simulation image are extracted and averaged to obtain the first average angle simulation curve and the first average angular velocity simulation curve.

[0023] Obtain the first average curve of the first angle simulation curve and the first average angle simulation curve, and obtain the second average curve of the first angular velocity simulation curve and the first average angular velocity simulation curve;

[0024] Obtain the third difference between the first average curve and the initial angle simulation curve; at the same time, obtain the fourth difference between the second average curve and the initial angular velocity simulation curve.

[0025] The final angle simulation curve is determined based on the first and third differences, and the final angular velocity simulation curve is determined based on the second and fourth differences.

[0026] Obtain the smoothness of the angle curve in each frame of the simulation image and construct the smoothness vector of the angle simulation curve. At the same time, obtain the smoothness of the angular velocity curve in each frame of the simulation image and construct the smoothness vector of the angular velocity simulation curve.

[0027] If the final angle simulation curve, the final angular velocity simulation curve, the smoothed vector of the angle simulation curve, and the smoothed vector of the angular velocity simulation curve all satisfy the control constraints, then it is determined that no further optimization is needed.

[0028] Otherwise, it is determined that continuous optimization of the fuzzy PID controller is required.

[0029] Preferably, the final angle simulation curve is determined based on the first difference and the third difference, including:

[0030] The points on the same curve in the first and third differences are filtered according to min(x1,x2), where x1 represents the first difference of the points on the same curve and x2 represents the third difference of the points on the same curve.

[0031] according to The screening results are first optimized to obtain the first adjustment result of the points on the same curve;

[0032] If both x1 and x2 are less than 0, then according to The screening results were optimized and adjusted first.

[0033] If one of x1 and x2 is greater than 0 and the other is less than 0, then The screening results were then further optimized and adjusted.

[0034] If both x1 and x2 are greater than 0, then according to The screening results were then optimized and adjusted a third time.

[0035] Based on the optimization results, the corresponding curve points on the first angle simulation curve are adjusted to construct the final angle simulation curve.

[0036] Preferably, the smoothness of the angle curve in each frame of the simulation image is obtained, and a smoothing vector for the angle simulation curve is constructed, including:

[0037] Lock the convex points, concave points, and smooth points of the angle curve in each frame of the simulation image;

[0038] Based on the convex point location and convex value of the convex point, the concave point location and concave value of the concave point, and the smooth point location and smooth value of the smooth point, a smooth vector of the angle simulation curve is constructed according to the matching relationship with the total position point of the angle curve.

[0039] Preferably, before constructing the smoothing vector of the angle simulation curve according to the matching relationship with the total position point of the angle curve, the following steps are included:

[0040] Calculate the convexity value of the corresponding convex point;

[0041]

[0042] Where Y01 represents the vertical coordinate value of the corresponding convex point; Y0 represents the vertical coordinate value of the curve segment corresponding to the convex point after smoothing, which is consistent with the horizontal coordinate of the convex point; yz represents the left value of the corresponding curve segment; yy represents the right value of the corresponding curve segment; ln represents the logarithmic function symbol; and T1 represents the convex value of the corresponding convex point.

[0043] Preferably, before constructing the smoothing vector of the angle simulation curve according to the matching relationship with the total position point of the angle curve, the following steps are included:

[0044] Calculate the concavity value of the corresponding concave point;

[0045]

[0046] Where X01 represents the vertical coordinate value of the corresponding concave point; X0 represents the vertical coordinate value of the curve segment corresponding to the concave point after smoothing, which is consistent with the horizontal coordinate of the concave point; Xz represents the left value of the corresponding curve segment; Xy represents the right value of the corresponding curve segment; and ln represents the logarithmic function symbol.

[0047] Other features and advantages of the invention will be set forth in the description which follows, and will be apparent in part from the description, or may be learned by practicing the invention. The objects and other advantages of the invention may be realized and obtained by means of the structures particularly pointed out in the written description, claims, and drawings.

[0048] The technical solution of the present invention will be further described in detail below with reference to the accompanying drawings and embodiments. Attached Figure Description

[0049] The accompanying drawings are provided to further illustrate the invention and form part of the specification. They are used in conjunction with embodiments of the invention to explain the invention and do not constitute a limitation thereof. In the drawings:

[0050] Figure 1 This is a flowchart of a method for suppressing vibration during the opening and closing of an isolating switch based on a fuzzy PID control algorithm, as described in an embodiment of the present invention.

[0051] Figure 2 This is a physical model diagram of a 500KV isolating switch in an embodiment of the present invention;

[0052] Figure 3 This is a simulation diagram of the angle before any control is applied in this embodiment of the invention;

[0053] Figure 4 This is a simulation diagram of the angular velocity before any control is applied in this embodiment of the invention;

[0054] Figure 5 This is a structural diagram of the fuzzy PID controller in an embodiment of the present invention;

[0055] Figure 6 This is a membership function graph in an embodiment of the present invention;

[0056] Figure 7 This is a structural diagram of the closed-loop control system in an embodiment of the present invention;

[0057] Figure 8 This is a simulation diagram of the angle after adding control in an embodiment of the present invention;

[0058] Figure 9 This is a simulation diagram of the angular velocity after control is added in an embodiment of the present invention;

[0059] Figure 10 This is a diagram showing the rotation angle of the folding arm in an embodiment of the present invention;

[0060] Figure 11 This is a diagram showing the rotational angular velocity of the folding frame arm in an embodiment of the present invention. Detailed Implementation

[0061] The preferred embodiments of the present invention will be described below with reference to the accompanying drawings. It should be understood that the preferred embodiments described herein are for illustration and explanation only and are not intended to limit the present invention.

[0062] This invention provides a method for suppressing vibration during the opening and closing of isolating switches based on a fuzzy PID control algorithm, such as... Figure 1 As shown, it includes:

[0063] Step 1: Build a physical model of a 500KV disconnector and combine the fuzzy PID controller with the physical model of the 500KV disconnector to obtain a closed-loop control system;

[0064] Step 2: Simulate the closed-loop control system based on the fuzzy PID control algorithm to obtain the simulation curves of the first angle and the first angular velocity of the corresponding node when it is opening or closing.

[0065] Step 3: Perform a first comparison between the first angle simulation curve and the initial angle simulation curve before the fuzzy PID controller is combined, and perform a second comparison between the first angular velocity simulation curve and the initial angular velocity simulation curve before the fuzzy PID controller is combined.

[0066] Step 4: Based on the first comparison result and the second comparison result, continuously optimize the control constraints in the simulation process until the first comparison result and the second comparison result meet the vibration suppression standard.

[0067] In this embodiment, the physical model of the 500KV isolating switch is as follows: Figure 2 As shown, the simulation results before any control measures were applied were obtained by performing a simulation on this model. Figure 3 and 4 As shown, the former refers to the rotation angle, while the latter refers to the angular velocity.

[0068] In this embodiment, fuzzy PID control is developed from the traditional PID control algorithm. Traditional PID control struggles to balance settling time and overshoot. To address this, parameter-adaptive PID control, also known as fuzzy PID control, can be introduced. This adjusts the PID characteristic parameters based on different errors and error rates of change. Since this adjustment is often based on experience or testing to obtain the corresponding fuzzy rule table, it is called fuzzy PID control. Essentially, a fuzzy PID controller is composed of a traditional PID controller and a fuzzy controller, such as... Figure 5 As shown.

[0069] By comparing the deviation E input to the PID controller with the rate of change of deviation E c Simultaneously, the input is fed into the fuzzy controller, and after fuzzification, approximate inference, and defuzzification, the correction amount ΔK is... p ΔKi ΔK d The inputs are respectively fed into the PID controller, and K is used to control the K. p K i K d The three parameters are corrected, and the finally tuned control parameters are output as the system's control input to achieve precise system control and improve the system's dynamic and static performance. The fuzzy PID control formula is as follows:

[0070]

[0071] Where: K p0 K i0 K d0 For K p K i K d The initial value, ΔK p ΔK i ΔK d This is the correction value output by the fuzzy controller.

[0072] First, define the deviation E and the rate of change E. c and output quantity ΔK p ΔK i ΔK d The fuzzy sets and domains are as follows: E, E c ΔK p ΔK i ΔK d The fuzzy set is {NB, NM, NS, ZO, PS, PM, PB}, corresponding to {negative large, negative medium, negative small, zero, positive small, positive medium, positive large}, respectively, with deviations E and ΔK. p The universe of discourse is [-6,6], and the rate of change of the deviation is E. c With ΔK i and ΔK d The universe of discourse is [-3, 3]. Taking the deviation E as a representative, a membership function is established, such as... Figure 6 As shown.

[0073] In this embodiment, the deviation E and the rate of change of deviation E are derived through theoretical analysis and empirical induction. c The three parameters K of the PID controller p K i K d The relationship between them is as follows:

[0074] When |E| is large, K should be chosen to achieve better tracking performance. p and smaller K d Meanwhile, to avoid large overshoot, the integral K i It is usually taken as 0.

[0075] When |E| is of moderate magnitude, in order to prevent the system from generating a large overshoot, K p It should be smaller; at this point, K d The value of K has a significant impact on the system. d It should be smaller, K i Appropriate is sufficient.

[0076] When |E| is small, in order to make the system have better stability, K p K i It should be larger. To avoid system oscillations and considering the system's anti-interference performance, when |E c When | is large, K d Smaller values ​​are preferable, otherwise K d A larger size is preferable.

[0077] The beneficial effects of the above technical solution are: by setting a fuzzy PID control algorithm, the stability of the isolating switch during the opening and closing process is improved, and the vibration suppression of the isolating switch is effectively achieved.

[0078] This invention provides a method for suppressing vibration during the opening and closing of isolating switches based on a fuzzy PID control algorithm. The method combines a fuzzy PID controller with a physical model of a 500kV isolating switch to obtain a closed-loop control system, comprising:

[0079] A fuzzy PID controller is connected in series after each of the two signal terminals of the 500KV isolating switch physical model to obtain a closed-loop control system.

[0080] In this embodiment, such as Figure 7 As shown, this is the closed-loop control system after adding the controller. After the control algorithm is built, the simulation results after adding the fuzzy PID controller and the 500KV isolating switch to the control algorithm are as follows: The left figure shows the rotation angle and angular velocity of the first folding arm when it is closed. The right figure shows the rotation angle and angular velocity of the second folding arm when it is closed, and the corresponding vibration will obviously disappear.

[0081] The simulation results after adding control are as follows Figure 8 and 9 As shown.

[0082] Comparing the results before and after, it can be seen that before vibration suppression, the isolating switch exhibited a significant angular vibration deviation during closing. After implementing control suppression, the vibration significantly disappeared and became more stable. This effectively suppressed residual vibration during closing, reducing the risk of arcing and high temperatures that could damage equipment due to vibration. Specifically... Figure 10 and 11 As shown.

[0083] The beneficial effect of the above technical solution is that by supplementing the controller, vibration suppression can be effectively achieved.

[0084] This invention provides a method for suppressing vibration during the opening and closing of isolating disconnectors based on a fuzzy PID control algorithm. The method involves simulating the closed-loop control system using the fuzzy PID control algorithm to obtain the simulated curves of the first rotation angle and the first angular velocity during the opening and closing of corresponding nodes.

[0085] Based on the simulation platform, and using the fuzzy PID control algorithm to simulate the closed-loop control system, the simulation diagram of the current frame is obtained.

[0086] The simulation diagram of the current frame is analyzed to obtain the simulation curve of the first angle and the simulation curve of the first angular velocity of the corresponding node when it is opened or closed.

[0087] The beneficial effects of the above technical solution are: by performing simulation, the angle and angular velocity of the current frame simulation image can be obtained, providing a basis for subsequent vibration suppression analysis.

[0088] This invention provides a method for suppressing vibration during the opening and closing of isolating switches based on a fuzzy PID control algorithm. Based on a first comparison result and a second comparison result, the control constraints during the simulation process are continuously optimized, including:

[0089] Obtain the first difference between the first angle simulation curve and the initial angle simulation curve; at the same time, obtain the second difference between the first angular velocity simulation curve and the initial angular velocity simulation curve.

[0090] Based on the current frame simulation image, several frames of first simulation images are continuously acquired, and the first angle simulation curve and the first angular velocity simulation curve in each frame of the first simulation image are extracted and averaged to obtain the first average angle simulation curve and the first average angular velocity simulation curve.

[0091] Obtain the first average curve of the first angle simulation curve and the first average angle simulation curve, and obtain the second average curve of the first angular velocity simulation curve and the first average angular velocity simulation curve;

[0092] Obtain the third difference between the first average curve and the initial angle simulation curve; at the same time, obtain the fourth difference between the second average curve and the initial angular velocity simulation curve.

[0093] The final angle simulation curve is determined based on the first and third differences, and the final angular velocity simulation curve is determined based on the second and fourth differences.

[0094] Obtain the smoothness of the angle curve in each frame of the simulation image and construct the smoothness vector of the angle simulation curve. At the same time, obtain the smoothness of the angular velocity curve in each frame of the simulation image and construct the smoothness vector of the angular velocity simulation curve.

[0095] If the final angle simulation curve, the final angular velocity simulation curve, the smoothed vector of the angle simulation curve, and the smoothed vector of the angular velocity simulation curve all satisfy the control constraints, then it is determined that no further optimization is needed.

[0096] Otherwise, it is determined that continuous optimization of the fuzzy PID controller is required.

[0097] In this embodiment, the first difference, the second difference, the third difference, and the fourth difference are obtained by subtracting the vertical coordinate values ​​of points on the same curve.

[0098] In this embodiment, the averaging process also refers to the average calculation of the vertical coordinate values ​​of points on the same curve.

[0099] In this embodiment, if it is a smooth curve, the smoothness of each curve point is considered to be 0.

[0100] In this embodiment, the control constraint condition refers to whether the curve obtained by the final simulation is smooth, that is, whether the abnormality caused by vibration is effectively eliminated.

[0101] The beneficial effects of the above technical solution are: by comparing curve differences and averaging, the final simulation curve is determined, and by combining the smoothing vectors of different curves, it is determined whether the control constraints are met, thus providing a basis for whether to continue to suppress vibration.

[0102] This invention provides a method for suppressing vibration during the opening and closing of isolating switches based on a fuzzy PID control algorithm, which determines the final angle simulation curve based on a first difference and a third difference, including:

[0103] The points on the same curve in the first and third differences are filtered according to min(x1,x2), where x1 represents the first difference of the points on the same curve and x2 represents the third difference of the points on the same curve.

[0104] If both x1 and x2 are less than 0, then according to The screening results were optimized and adjusted first.

[0105] If one of x1 and x2 is greater than 0 and the other is less than 0, then The screening results were then further optimized and adjusted.

[0106] If both x1 and x2 are greater than 0, then according to The screening results were then optimized and adjusted a third time.

[0107] Based on the optimization results, the corresponding curve points on the first angle simulation curve are adjusted to construct the final angle simulation curve.

[0108] In this embodiment, the first optimization adjustment is as follows:

[0109] Second optimization adjustment:

[0110] Third optimization and adjustment:

[0111] The beneficial effects of the above technical solution are: by optimizing and adjusting the corresponding points on the curve in sequence through three adjustment methods, the reliability of the final angle simulation curve is ensured, and vibration suppression is effectively achieved.

[0112] This invention provides a method for suppressing vibration during the opening and closing of isolating disconnectors based on a fuzzy PID control algorithm. The method involves obtaining the smoothness of the angle curve in each frame of the simulation image and constructing a smoothing vector for the angle simulation curve, including:

[0113] Lock the convex points, concave points, and smooth points of the angle curve in each frame of the simulation image;

[0114] Based on the convex point location and convex value of the convex point, the concave point location and concave value of the concave point, and the smooth point location and smooth value of the smooth point, a smooth vector of the angle simulation curve is constructed according to the matching relationship with the total position point of the angle curve.

[0115] Preferably, before constructing the smoothing vector of the angle simulation curve according to the matching relationship with the total position point of the angle curve, the following steps are included:

[0116] Calculate the convexity value of the corresponding convex point;

[0117]

[0118] Where Y01 represents the vertical coordinate value of the corresponding convex point; Y0 represents the vertical coordinate value of the curve segment corresponding to the convex point after smoothing, which is consistent with the horizontal coordinate of the convex point; yz represents the left value of the corresponding curve segment; yy represents the right value of the corresponding curve segment; ln represents the logarithmic function symbol; and T1 represents the convex value of the corresponding convex point.

[0119] Preferably, before constructing the smoothing vector of the angle simulation curve according to the matching relationship with the total position point of the angle curve, the following steps are included:

[0120] Calculate the concavity value of the corresponding concave point;

[0121]

[0122] Where X01 represents the vertical coordinate value of the corresponding concave point; X0 represents the vertical coordinate value of the curve segment corresponding to the concave point after smoothing, which is consistent with the horizontal coordinate of the concave point; Xz represents the left value of the corresponding curve segment; Xy represents the right value of the corresponding curve segment; and ln represents the logarithmic function symbol.

[0123] In this embodiment, the angle simulation curve smoothing vector = {the value corresponding to curve point 1, the value corresponding to curve point 2, ...}.

[0124] The beneficial effects of the above technical solution are: by calculating the convex and concave values ​​on the curve, a curve smoothing vector can be effectively constructed, providing an accurate basis for subsequent judgment on whether the control constraints are met.

[0125] Obviously, those skilled in the art can make various modifications and variations to this invention without departing from its spirit and scope. Therefore, if these modifications and variations fall within the scope of the claims of this invention and their equivalents, this invention also intends to include these modifications and variations.

Claims

1. A method for suppressing vibration during the opening and closing of isolating switches based on a fuzzy PID control algorithm, characterized in that, include: Step 1: Build a physical model of a 500KV disconnector and combine the fuzzy PID controller with the physical model of the 500KV disconnector to obtain a closed-loop control system; Step 2: Simulate the closed-loop control system based on the fuzzy PID control algorithm to obtain the simulation curves of the first angle and the first angular velocity of the corresponding node when it is opening or closing. Step 3: Perform a first comparison between the first angle simulation curve and the initial angle simulation curve before the fuzzy PID controller is combined, and perform a second comparison between the first angular velocity simulation curve and the initial angular velocity simulation curve before the fuzzy PID controller is combined. Step 4: Obtain the first difference between the first angle simulation curve and the initial angle simulation curve, and at the same time, obtain the second difference between the first angular velocity simulation curve and the initial angular velocity simulation curve. Based on the current frame simulation image, several frames of the first simulation image are continuously acquired, and the first angle simulation curve and the first angular velocity simulation curve in each frame are extracted and averaged to obtain the first average angle simulation curve and the first average angular velocity simulation curve. The first average curve of the first angle simulation curve and the first average angle simulation curve, and the second average curve of the first angular velocity simulation curve and the first average angular velocity simulation curve are obtained. The third difference between the first average curve and the initial angle simulation curve, and the fourth difference between the second average curve and the initial angular velocity simulation curve are obtained. The final angle simulation curve is determined based on the first and third differences, and the final angular velocity simulation curve is determined based on the second and fourth differences. The smoothness of the angle curve in each frame simulation image is obtained, and a smoothing vector for the angle simulation curve is constructed. Similarly, the smoothness of the angular velocity curve in each frame simulation image is obtained, and a smoothing vector for the angular velocity simulation curve is constructed. If the final angle simulation curve, the final angular velocity simulation curve, the smoothing vector for the angle simulation curve, and the smoothing vector for the angular velocity simulation curve all satisfy the control constraints, then continuous optimization is not required; otherwise, continuous optimization of the fuzzy PID controller is required.

2. The method for suppressing vibration during the opening and closing of isolating switches based on fuzzy PID control algorithm according to claim 1, characterized in that, By combining the fuzzy PID controller with the physical model of a 500kV isolating switch, a closed-loop control system is obtained, including: A fuzzy PID controller is connected in series after each of the two signal terminals of the 500KV isolating switch physical model to obtain a closed-loop control system.

3. The method for suppressing vibration during the opening and closing of isolating switches based on fuzzy PID control algorithm according to claim 1, characterized in that, The closed-loop control system was simulated based on the fuzzy PID control algorithm to obtain the simulation curves of the first angle and the first angular velocity of the corresponding node during opening and closing, including: Based on the simulation platform, and using the fuzzy PID control algorithm to simulate the closed-loop control system, the simulation diagram of the current frame is obtained. The simulation diagram of the current frame is analyzed to obtain the simulation curve of the first angle and the simulation curve of the first angular velocity of the corresponding node when it is opened or closed.

4. The method for suppressing vibration during the opening and closing of isolating switches based on fuzzy PID control algorithm according to claim 1, characterized in that, The final angle simulation curve is determined based on the first and third differences, including: The points on the same curve in the first and third differences are filtered according to min(x1,x2), where x1 represents the first difference of the points on the same curve and x2 represents the third difference of the points on the same curve. If both x1 and x2 are less than 0, then according to The screening results were optimized and adjusted first. If one of x1 and x2 is greater than 0 and the other is less than 0, then The screening results were then further optimized and adjusted. If both x1 and x2 are greater than 0, then according to The screening results were then optimized and adjusted a third time. Based on the optimization results, the corresponding curve points on the first angle simulation curve are adjusted to construct the final angle simulation curve.

5. The method for suppressing vibration during the opening and closing of isolating switches based on fuzzy PID control algorithm according to claim 1, characterized in that, Obtain the smoothness of the angle curve in each frame of the simulation image, and construct the smoothness vector of the angle simulation curve, including: Lock the convex points, concave points, and smooth points of the angle curve in each frame of the simulation image; Based on the convex point location and convex value of the convex point, the concave point location and concave value of the concave point, and the smooth point location and smooth value of the smooth point, a smooth vector of the angle simulation curve is constructed according to the matching relationship with the total position point of the angle curve.

6. The method for suppressing vibration during the opening and closing of isolating switches based on fuzzy PID control algorithm according to claim 5, characterized in that, Before constructing the smoothing vector of the angle simulation curve according to the matching relationship with the total position point of the angle curve, the following steps are included: Calculate the convexity value of the corresponding convex point; in, This represents the vertical coordinate value of the corresponding convex point; This represents the vertical coordinate value of the curve segment corresponding to the convex point after smoothing, which is consistent with the horizontal coordinate of the convex point. This indicates the left-hand value of the corresponding curve segment; represents the right-hand side value of the corresponding curve segment; ln represents the logarithmic function symbol; T1 represents the convex value of the corresponding convex point.

7. The method for suppressing vibration during the opening and closing of isolating switches based on fuzzy PID control algorithm according to claim 5, characterized in that, Before constructing the smoothing vector of the angle simulation curve according to the matching relationship with the total position point of the angle curve, the following steps are included: Calculate the concavity value of the corresponding concave point; in, This represents the vertical coordinate value of the corresponding concave point; This represents the vertical coordinate value of the curve segment corresponding to the concave point after smoothing, which is consistent with the horizontal coordinate of the concave point. This indicates the left-hand value of the corresponding curve segment; represents the right-hand side value of the corresponding curve segment; ln represents the logarithmic function symbol.

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