Breaker multi-stage co-simulation method and device, computer equipment and storage medium

Abstract

The invention relates to a circuit breaker multi-stage collaborative simulation method and device, computer equipment and a storage medium. The method comprises the steps that a simulation model corresponding to an operating mechanism in a circuit breaker is established; in a preset time period, according to the initial boundary condition and the initial excitation parameter value of the preset parameter in each simulation model, respectively initializing each simulation model to obtain an initial simulation model; for each initial simulation model, performing bidirectional transmission on coupling parameters between the initial simulation model and other initial simulation models with the interaction relationship to obtain the transmitted coupling parameters; based on the transmitted coupling parameters, determining convergence of key parameters between the initial simulation model and other initial simulation models with an interaction relationship; and under the condition that the convergence of the key parameters in each initial simulation model meets a convergence completion condition, simulating each simulation model based on the transmitted coupling parameters to obtain a target simulation result corresponding to each initial simulation model.

Description

Technical Field

[0001] The present application relates to the technical field of circuit breaker simulation, and in particular to a circuit breaker multi-level collaborative simulation method, apparatus, computer equipment, storage medium and computer program product. Background Art

[0002] High-voltage circuit breakers are the most important control and protection actuators in AC power systems. The operating mechanism is the device in the high-voltage AC circuit breaker that drives the movable motor to move and realize the opening and closing operations. The motion characteristics of the operating mechanism have a decisive influence on the performance of the circuit breaker. In order to ensure the practicality and safety of high-voltage circuit breakers, technicians can design and control the servo motor operating mechanism through simulation technology.

[0003] However, at present, the servo motor in the servo motor operating mechanism and the transmission system in the servo motor operating mechanism are generally simulated separately. At this time, the load of the transmission system cannot be accurately loaded as the motor load by the servo motor, and the electromagnetic drive characteristics of the servo motor cannot be accurately reflected in the transmission system, resulting in an increase in the error of the simulated servo motor operating mechanism and a reduction in the accuracy of the simulated servo motor operating mechanism. Summary of the invention

[0004] Based on this, it is necessary to provide a circuit breaker multi-level collaborative simulation method, device, computer equipment, computer readable storage medium and computer program product that can improve the simulation accuracy of the servo motor operating mechanism in order to solve the above technical problems.

[0005] In a first aspect, the present application provides a circuit breaker multi-level collaborative simulation method. The method comprises:

[0006] Establish a simulation model corresponding to the operating mechanism in the circuit breaker; the operating mechanism includes a drive control system, a servo motor body, a transmission system and vulnerable parts; the simulation model includes a lumped parameter simulation model of the drive control system, an electromagnetic thermal coupling simulation model of the servo motor body, a rigid body dynamics simulation model of the transmission system, and a transient dynamics simulation model of the vulnerable parts. Four modules;

[0007] Initializing each of the simulation models within a preset time period according to the initial boundary conditions and initial excitation parameter values ​​of the preset parameters in each of the simulation models to obtain an initial simulation model;

[0008] For each of the initial simulation models, bidirectionally transfer coupling parameters between the initial simulation model and other initial simulation models having an interactive relationship to obtain the transferred coupling parameters; the coupling parameters are determined based on the two initial simulation models having an interactive relationship and the preset parameters;

[0009] Determining convergence of key parameters between the initial simulation model and other initial simulation models having an interactive relationship based on the transferred coupling parameters;

[0010] When the convergence of the key parameters in each of the initial simulation models meets the convergence completion condition, each of the initial simulation models is simulated based on the transferred coupling parameters to obtain the target simulation results corresponding to each of the initial simulation models.

[0011] In one embodiment, the field quantity transfer relationship between the four-level modules includes a first transfer relationship between the drive control system and the servo motor body, a second transfer relationship between the servo motor body and the transmission system, and a third transfer relationship between the transmission system and the vulnerable component; the coupling parameters after the transfer include an updated excitation parameter value and an updated boundary condition;

[0012] The bidirectionally transferring the coupling parameters between the initial simulation model and other initial simulation models having an interactive relationship to obtain the transferred coupling parameters includes:

[0013] If the field quantity transfer relationship is the first transfer relationship, at least one of the voltage amplitude and the voltage duty cycle in the lumped parameter simulation model is sent to the electromagnetic-thermal coupling simulation model, and is determined as an updated excitation parameter value of the electromagnetic-thermal coupling simulation model;

[0014] At least one of the back electromotive force, current, motor speed, rotation angle and torque in the electromagnetic thermal coupling simulation model is sent to the lumped parameter simulation model and determined as an updated boundary condition of the lumped parameter simulation model.

[0015] In one embodiment, the bidirectionally transferring the coupling parameters between the initial simulation model and other initial simulation models having an interactive relationship to obtain the transferred coupling parameters includes:

[0016] If the field quantity transfer relationship is the second transfer relationship, the torque in the electromagnetic-thermal coupling simulation model is sent to the rigid body dynamics simulation model, and is determined as an updated excitation parameter value of the rigid body dynamics simulation model;

[0017] At least one of the moment of inertia and the load torque in the rigid body dynamics simulation model is sent to the electromagnetic-thermal coupling simulation model and determined as an updated boundary condition of the electromagnetic-thermal coupling simulation model.

[0018] In one embodiment, the bidirectionally transferring the coupling parameters between the initial simulation model and other initial simulation models having an interactive relationship to obtain the transferred coupling parameters includes:

[0019] If the field quantity transfer relationship is the third transfer relationship, the component forces in the rigid body dynamics simulation model are sent to the transient dynamics simulation model and determined as update boundary conditions of the transient dynamics simulation model;

[0020] The total strain in the transient dynamics simulation model is sent to the rigid body dynamics simulation model and determined as an updated excitation parameter value of the transient dynamics simulation model.

[0021] In one embodiment, the convergence includes a first convergence between the drive control system and the servo motor body, a second convergence between the servo motor body and the transmission system, and a third convergence between the transmission system and the vulnerable component; the key parameters include motor current, the rotation angle of the motor output spindle, and the component position;

[0022] Determining the convergence of key parameters between the initial simulation model and other initial simulation models having an interactive relationship based on the transferred coupling parameters includes:

[0023] Determining the motor current according to the transferred coupling parameters corresponding to the lumped parameter simulation model and the electromagnetic thermal coupling simulation model;

[0024] Determining the rotation angle of the motor output spindle according to the transferred coupling parameters corresponding to the electromagnetic thermal coupling simulation model and the rigid body dynamics simulation model;

[0025] Determining the component position according to the transferred coupling parameters corresponding to the rigid body dynamics simulation model and the transient dynamics simulation model;

[0026] Determining a first residual value corresponding to the motor current, and determining a first convergence corresponding to the first residual value;

[0027] Determine a second residual value corresponding to the rotation angle of the motor output main shaft, and determine a second convergence corresponding to the second residual value;

[0028] A third residual value corresponding to the component position quantity is determined, and a third convergence corresponding to the third residual value is determined.

[0029] In one embodiment, after determining the convergence of key parameters between the initial simulation model and other initial simulation models having an interactive relationship based on the transferred coupling parameters, the method further includes:

[0030] When the convergence of the key parameters in each of the initial simulation models does not satisfy the convergence completion condition, adjusting the preset parameters corresponding to each of the initial simulation models to obtain adjusted preset parameters;

[0031] Return to executing the step of initializing each simulation model according to the initial boundary conditions and initial excitation parameter values ​​of the preset parameters in each simulation model within a preset time period to obtain the initial simulation model, until the convergence of the key parameters meets the convergence completion condition, thereby obtaining an updated initial simulation model.

[0032] In one embodiment, the preset time period is a unit time period; and the simulating each of the initial simulation models based on the transferred coupling parameters to obtain a target simulation result corresponding to each of the initial simulation models includes:

[0033] Simulating each of the initial simulation models based on the transferred coupling parameters to obtain an initial simulation result of each of the initial simulation models within the unit time period;

[0034] In a next unit time period corresponding to the unit time period, obtaining an initial simulation result of each of the initial simulation models in the next unit time period;

[0035] When the time range corresponding to the multiple unit time periods exceeds the preset time range, multiple initial simulation results of each of the initial simulation models within the preset time range are obtained, and the multiple initial simulation results are determined to be the target simulation results.

[0036] In a second aspect, the present application also provides a circuit breaker multi-level collaborative simulation device. The device comprises:

[0037] A model building module, used to build a simulation model corresponding to an operating mechanism in a circuit breaker; the operating mechanism includes a drive control system, a servo motor body, a transmission system and vulnerable parts; the simulation model includes a lumped parameter simulation model of the drive control system, an electromagnetic thermal coupling simulation model of the servo motor body, a rigid body dynamics simulation model of the transmission system, and a transient dynamics simulation model of the vulnerable parts. The four-level module;

[0038] A model initialization module, used to initialize each of the simulation models within a preset time period according to the initial boundary conditions and initial excitation parameter values ​​of the preset parameters in each of the simulation models to obtain an initial simulation model;

[0039] A parameter transfer module, for each of the initial simulation models, bidirectionally transferring coupling parameters between the initial simulation model and other initial simulation models having an interactive relationship, to obtain the transferred coupling parameters; the coupling parameters are determined based on the two initial simulation models having an interactive relationship and the preset parameters;

[0040] A convergence determination module, used for determining the convergence of key parameters between the initial simulation model and other initial simulation models having an interactive relationship based on the transferred coupling parameters;

[0041] The simulation module is used to simulate each of the initial simulation models based on the transferred coupling parameters when the convergence of the key parameters in each of the initial simulation models meets the convergence completion condition, so as to obtain the target simulation results corresponding to each of the initial simulation models.

[0042] In a third aspect, the present application further provides a computer device, wherein the computer device comprises a memory and a processor, wherein the memory stores a computer program, and when the processor executes the computer program, the steps of the method described in the first aspect are implemented.

[0043] In a fourth aspect, the present application further provides a computer-readable storage medium having a computer program stored thereon, and when the computer program is executed by a processor, the steps of the method described in the first aspect are implemented.

[0044] In a fifth aspect, the present application further provides a computer program product, wherein the computer program product comprises a computer program, and when the computer program is executed by a processor, the steps of the method described in the first aspect are implemented.

[0045] In a fifth aspect, the present application further provides a computer program product, including a computer program, which implements the following steps when executed by a processor:

[0046] The above-mentioned multi-level collaborative simulation method, device, computer equipment, storage medium and computer program product of the circuit breaker, by establishing multiple simulation models corresponding to the operating mechanism in the circuit breaker, such as the lumped parameter simulation model of the drive control system, the electromagnetic thermal coupling simulation model of the servo motor body, the rigid body dynamics simulation model of the transmission system, and the transient dynamics simulation model of the vulnerable parts, and the above four models can constitute a four-level module with an associated relationship, and initialize each simulation model respectively through the initial boundary conditions and initial excitation parameter values ​​corresponding to the preset parameters of the simulation model to obtain the initial simulation model. Based on this, the server can determine the coupling parameters between the initial simulation model and other initial simulation models that have an interactive relationship with the initial simulation model, and transfer the coupling parameters in both directions, so that the multi-level initial simulation models can complete the parameter interaction, so that the initial simulation models can be collaboratively simulated. Afterwards, the server determines the convergence of the key parameters between the initial simulation model and the other initial simulation models based on the transferred coupling parameters. When the convergence meets the convergence completion condition, each initial simulation model completes the internal collaboration, reduces the error caused by the data interaction between the initial simulation models, and reduces the simulation accuracy of the initial simulation model. Afterwards, by simulating each initial simulation model separately to obtain the target simulation result corresponding to each initial simulation model, the accuracy of the multi-level simulation model can be improved. BRIEF DESCRIPTION OF THE DRAWINGS

[0047] In order to more clearly illustrate the technical solutions in the embodiments of the present application or the related technologies, the drawings required for use in the embodiments or the related technical descriptions are briefly introduced below. Obviously, the drawings described below are only some embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0048] FIG1 is an application environment diagram of a multi-level collaborative simulation method for a circuit breaker in one embodiment;

[0049] FIG2 is a schematic diagram of a flow chart of a multi-level collaborative simulation method for a circuit breaker in one embodiment;

[0050] FIG3 is a schematic flow chart of a step of determining convergence of key parameters in one embodiment;

[0051] FIG4 is a structural block diagram of a circuit breaker multi-level collaborative simulation device in one embodiment;

[0052] FIG. 5 is a diagram showing the internal structure of a computer device in one embodiment. DETAILED DESCRIPTION

[0053] In order to make the purpose, technical solution and advantages of the present application more clearly understood, the present application is further described in detail below in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the present application and are not used to limit the present application.

[0054] The multi-level collaborative simulation method for circuit breakers provided in the embodiment of the present application can be applied in the application environment shown in Figure 1. Among them, the terminal 102 communicates with the server 104 through the network. The data storage system can store the data that the server 104 needs to process. The data storage system can be integrated on the server 104, or it can be placed on the cloud or other network servers. The terminal 102 can establish multiple simulation models corresponding to the operating mechanism in the high-voltage circuit breaker on the server 104. The operating mechanism is a device in the high-voltage AC circuit breaker that is responsible for driving the movable motor to move and then realize the opening and closing operations. The operating mechanism includes a drive control system, a servo motor body, a transmission system and vulnerable parts. The simulation model includes a lumped parameter simulation model of the drive control system, an electromagnetic thermal coupling simulation model of the servo motor body, a rigid body dynamics simulation model of the transmission system, and a transient dynamics simulation model of the vulnerable parts. The four-level module. Based on this, the terminal 102 can call the server 104 to initialize the simulation model by assigning values ​​to preset parameters to obtain an initial simulation model, and the server 104 can bidirectionally transfer coupling parameters to each initial simulation model, and determine the convergence of key parameters between each initial simulation model based on the transferred coupling parameters, so that when the convergence meets the convergence completion conditions, each initial simulation model is simulated separately to obtain the final target simulation result.

[0055] The terminal 102 may be, but is not limited to, various personal computers, laptops, smart phones, tablet computers, IoT devices, and portable wearable devices. The server 104 may be implemented as an independent server or a server cluster consisting of multiple servers.

[0056] In an exemplary embodiment, as shown in FIG2 , a circuit breaker multi-level collaborative simulation method is provided, which is described by taking the method applied to the server in FIG1 as an example, and includes the following steps S202 to S210. Among them:

[0057] Step S202, establishing a simulation model corresponding to the operating mechanism in the circuit breaker.

[0058] The operating mechanism includes a drive control system, a servo motor body, a transmission system and vulnerable parts; the simulation model includes a four-level module consisting of a lumped parameter simulation model of the drive control system, an electromagnetic thermal coupling simulation model of the servo motor body, a rigid body dynamics simulation model of the transmission system, and a transient dynamics simulation model of vulnerable parts. The circuit breaker can be a high-voltage circuit breaker.

[0059] Specifically, for the drive control system, the server can model the resistors, capacitors, IGBT (Insulated Gate Bipolar Transistor) and other components in the drive control system to obtain a lumped parameter simulation model. The lumped parameter model can calculate the output voltage, current and other parameters of the output drive control system. For the servo motor body, the server can model the stator, rotor, coil and other components of the servo motor body to obtain an electromagnetic thermal coupling simulation model. The electro-thermal coupling simulation model can calculate the torque, back electromotive force and other parameters of the motor output. For the transmission system, the server can model the crank arm, connecting rod and other components of the transmission system to obtain a rigid body dynamics simulation model. The rigid body dynamics simulation model can calculate parameters such as load inertia and stroke characteristics. For the transmission system, the server can also model the key vulnerable components and components with deformation in the transmission system, such as the main shaft, insulating pull rod and other components, to obtain a transient dynamics simulation model. The transient dynamics simulation model can calculate the deformation of the components, stress distribution and other parameters.

[0060] Step S204 , within a preset time period, each simulation model is initialized according to the initial boundary conditions and initial excitation parameter values ​​of the preset parameters in each simulation model to obtain an initial simulation model.

[0061] Among them, preset parameters refer to parameters pre-configured for different simulation models; in one example, the lumped parameter simulation model, electromagnetic thermal coupling simulation model, rigid body dynamics simulation model and transient dynamics simulation model are all pre-configured with their own preset parameters. The preset parameters of different simulation models can be transferred between different simulation models. Boundary conditions are used to define the state or behavior of the simulation model on a specific boundary. Boundary conditions can determine the working environment and constraints of the simulation model; excitation parameters are input or driving signals applied to the model during the simulation process. Excitation parameters can be various forms of external forces or influences, which are usually used to simulate the response of the system.

[0062] Specifically, the server obtains the preset parameters of each pre-configured simulation model, and determines the initial boundary conditions and initial excitation parameter values ​​corresponding to the preset parameters. For the current simulation model, the server can initialize the current simulation model according to the initial boundary conditions and initial excitation parameter values ​​corresponding to the current simulation model to obtain the initialized initial simulation model. The initial simulation model can be any one of the lumped parameter simulation model, electromagnetic thermal coupling simulation model, rigid body dynamics simulation model and transient dynamics simulation model.

[0063] In one example, the server can simulate the above current simulation model with a preset time period as the simulation time, and with the initial boundary conditions and initial excitation parameter values ​​corresponding to the preset parameters as the simulation conditions, to obtain an initial simulation model. At this time, the parameters inside the initial simulation model may change due to the simulation process, and different initial simulation models may output different simulation results. It should be understood that the simulation results of the initial simulation model can be used as boundary conditions or excitation function values ​​of other initial simulation models. For example, the simulation results of the lumped parameter simulation model can be the excitation parameter values ​​of the electromagnetic thermal coupling simulation model, and the simulation results of the electromagnetic thermal coupling simulation model can be the boundary conditions of the lumped parameter simulation model.

[0064] Step S206 , for each initial simulation model, bidirectionally transfer coupling parameters between the initial simulation model and other initial simulation models having an interactive relationship to obtain transferred coupling parameters.

[0065] The coupling parameter is determined based on two initial simulation models and preset parameters that have an interactive relationship; the coupling parameter can be a part of the preset parameters, and the coupling parameter can be an interactive parameter between two initial simulation models that have an interactive relationship. For example, the first initial simulation model can obtain a first parameter through simulation, and the first parameter can be used as a boundary condition or an excitation parameter value of the second initial simulation model, and the first parameter can be determined as a coupling parameter. Correspondingly, the second initial simulation model can obtain a second parameter through simulation, and the second parameter can be used as a boundary condition or an excitation parameter value of the first initial simulation model, and the second parameter can be determined as a coupling parameter.

[0066] Specifically, the server traverses each initial simulation model, determines the current simulation model and other initial simulation models that have an interactive relationship with the current simulation model, and obtains the coupling parameters between the current simulation model and the other initial simulation models. At this time, the coupling parameters include first-class coupling parameters and second-class coupling parameters, wherein the first-class coupling parameters are determined by the current simulation model, and the second-class coupling parameters are determined by other initial simulation models. The server sends the first-class coupling parameters from the current simulation model to other initial simulation models, and sends the second-class coupling parameters from other initial simulation models to the current simulation model according to the pre-configured transfer relationship, and the two-way transfer is completed at this time. For different initial simulation models, the coupling parameters after the transfer are contained therein.

[0067] Step S208: determining the convergence of key parameters between the initial simulation model and other initial simulation models having an interactive relationship based on the transferred coupling parameters.

[0068] Among them, the key parameter can be a parameter for judging the simulation error between the initial simulation model and other initial simulation models with interactive relationships, and the key parameter can be determined by calculating the coupling parameter and the simulation result of the initial simulation model. Convergence is used to characterize the difference between the predicted key parameter and the actual key parameter, and the difference is usually inversely proportional to the convergence.

[0069] Specifically, after the bidirectional transmission, the server can calculate the coupling parameters after the transmission, determine the key parameters between the initial simulation model and other initial simulation models with interactive relationships, and determine the convergence of the key parameters according to the values ​​of the key parameters, thereby determining the convergence of each key parameter. In an example, the server can determine the key parameters between the lumped parameter simulation model and the electromagnetic thermal coupling simulation model according to the coupling parameters after the transmission, and determine the convergence of the key parameters according to the preset value range corresponding to the key parameters.

[0070] Step S210, when the convergence of key parameters in each initial simulation model meets the convergence completion condition, each initial simulation model is simulated based on the transferred coupling parameters to obtain the target simulation results corresponding to each initial simulation model.

[0071] Among them, the target simulation result is the simulation result obtained after the joint training of each initial simulation model when the convergence meets the convergence condition.

[0072] Specifically, the convergence of key parameters in each initial simulation model is determined, and it is determined whether each convergence satisfies the convergence completion condition. When the convergence satisfies the convergence completion condition, it can be determined that each initial simulation model completes multi-level collaboration and obtains a trained multi-level simulation model. Based on this, the server can simulate each initial simulation model in the multi-level simulation model respectively, obtain the simulation results generated by each initial simulation model, and determine them as the target simulation results. For different simulation models, the output simulation results are different. For example, for the lumped parameter simulation model of the drive control system, parameters such as voltage and current can be output. For the electromagnetic thermal coupling simulation model of the servo motor body, the torque, back electromotive force and other adopted numbers can be output. For the rigid body dynamics simulation model of the transmission system, parameters such as load inertia and stroke characteristics can be output. For the transient dynamics simulation model of the vulnerable parts, parameters such as component deformation and stress distribution can be output. In addition, the server can merge the outputs of the above-mentioned different simulation models according to the preset output logic to obtain multi-dimensional simulation results.

[0073] Optionally, the server may obtain a target simulation result, which may be a stroke characteristic curve output by the operating mechanism. The stroke characteristic curve is used to represent the stroke characteristics of the servo motor during the simulation process within a certain period of time, and the stroke characteristics may be characteristics such as speed, acceleration, and force. In one example, the target simulation result may be the transient stress distribution in a key vulnerable component during the opening and closing process.

[0074] Optionally, when the convergence of key parameters in each initial simulation model meets the convergence completion condition, the server can configure specific parameters in each initial simulation model based on the fault simulation strategy, and simulate each initial simulation model to obtain a target simulation result. The server can perform fault diagnosis on the operating mechanism through the target simulation result.

[0075] The above-mentioned multi-level collaborative simulation method for circuit breakers establishes multiple simulation models corresponding to the operating mechanism in the circuit breaker, such as the lumped parameter simulation model of the drive control system, the electromagnetic thermal coupling simulation model of the servo motor body, the rigid body dynamics simulation model of the transmission system, and the transient dynamics simulation model of the vulnerable parts, and the above-mentioned four models can constitute a four-level module with an associated relationship, and initialize each simulation model respectively through the initial boundary conditions and initial excitation parameter values ​​corresponding to the preset parameters of the simulation model to obtain the initial simulation model. Based on this, the server can determine the coupling parameters between the initial simulation model and other initial simulation models that have an interactive relationship with the initial simulation model, and transfer the coupling parameters in both directions, so that the multi-level initial simulation models can complete the parameter interaction, so that the initial simulation models can be collaboratively simulated. Afterwards, the server determines the convergence of the key parameters between the initial simulation model and the other initial simulation models based on the transferred coupling parameters. When the convergence meets the convergence completion condition, each initial simulation model completes the internal collaboration, reduces the error caused by the data interaction between the initial simulation models, and reduces the simulation accuracy of the initial simulation model. Afterwards, by simulating each initial simulation model separately to obtain the target simulation result corresponding to each initial simulation model, the accuracy of the multi-level simulation model can be improved.

[0076] In an exemplary embodiment, the field quantity transfer relationship between the four-level modules includes a first transfer relationship between the drive control system and the servo motor body, a second transfer relationship between the servo motor body and the transmission system, and a third transfer relationship between the transmission system and the vulnerable parts; the coupling parameters after the transfer include updated excitation parameter values ​​and updated boundary conditions. The updated excitation parameter values ​​can merge or update the original initial excitation parameter values, and the updated boundary conditions can merge or update the original initial boundary conditions. The initial simulation model can be simulated together according to the initial excitation parameter values ​​and the updated excitation parameter values. Similarly, the initial simulation model can be simulated together according to the initial boundary conditions and the updated boundary conditions.

[0077] The specific implementation process of the step of "bidirectionally transferring coupling parameters between the initial simulation model and other initial simulation models having an interactive relationship to obtain the transferred coupling parameters" includes:

[0078] If the field quantity transfer relationship is the first transfer relationship, at least one of the voltage amplitude and the voltage duty cycle in the lumped parameter simulation model is sent to the electromagnetic-thermal coupling simulation model and determined as the updated excitation parameter value of the electromagnetic-thermal coupling simulation model; at least one of the back electromotive force, current, motor speed, angle and torque in the electromagnetic-thermal coupling simulation model is sent to the lumped parameter simulation model and determined as the updated boundary condition of the lumped parameter simulation model.

[0079] Among them, there is a field quantity transfer relationship between two modules between the four-level modules, and the coupling parameters after the transfer include two types: updating the excitation parameter value and updating the boundary conditions. For the lumped parameter simulation model, the coupling parameters can be the back electromotive force, current, motor speed, angle and torque output by the electromagnetic thermal coupling simulation model; for the electromagnetic thermal coupling simulation model, the coupling parameters can be the voltage amplitude and voltage duty cycle output by the lumped parameter simulation model.

[0080] Specifically, the server can determine the field quantity transfer relationship between the initial simulation model and other initial simulation models with an interactive relationship. If the field quantity transfer relationship is the first transfer relationship, the initial simulation model is determined to be a lumped parameter simulation model, and the other initial simulation models are electromagnetic thermal coupling simulation models. The server controls the lumped parameter simulation model to send at least one of the voltage amplitude and the voltage duty cycle to the electromagnetic thermal coupling simulation model, and uses it as an updated excitation parameter value of the electromagnetic thermal coupling simulation model. The server also controls the electromagnetic thermal coupling simulation model to send at least one of the back electromotive force, current, motor speed, angle and torque to the lumped parameter simulation model, and uses it as an updated boundary condition of the lumped parameter simulation model.

[0081] In this embodiment, by bidirectionally transferring the coupling parameters of the lumped parameter simulation model and the electromagnetic thermal coupling simulation model, the transferred coupling parameters are obtained, and the lumped parameter simulation model and the electromagnetic thermal coupling simulation model can be associated, thereby reducing the simulation error between the drive control system and the servo motor body, and improving the accuracy of the association between the drive control system and the servo motor body.

[0082] In an exemplary embodiment, the specific implementation process of the step of "bidirectionally transferring coupling parameters between the initial simulation model and other initial simulation models having an interactive relationship to obtain the transferred coupling parameters" includes:

[0083] If the field quantity transfer relationship is the second transfer relationship, the torque in the electromagnetic-thermal coupling simulation model is sent to the rigid body dynamics simulation model and determined as the updated excitation parameter value of the rigid body dynamics simulation model; at least one of the moment of inertia and the load torque in the rigid body dynamics simulation model is sent to the electromagnetic-thermal coupling simulation model and determined as the updated boundary condition of the electromagnetic-thermal coupling simulation model.

[0084] Among them, for the electromagnetic-thermal coupling simulation model, the coupling parameters can also be parameters such as the moment of inertia and load torque output by the rigid body dynamics simulation model; for the rigid body dynamics simulation model, the coupling parameters can be the torque output by the electromagnetic-thermal coupling simulation model.

[0085] Specifically, the server can determine the field quantity transfer relationship between the initial simulation model and other initial simulation models with an interactive relationship. If the field quantity transfer relationship is the second transfer relationship, the initial simulation model is determined to be an electromagnetic thermal coupling simulation model, and the other initial simulation models are rigid body dynamics simulation models. The server controls the electromagnetic thermal coupling simulation model to send the torque to the rigid body dynamics simulation model, and uses it as an updated excitation parameter value of the rigid body dynamics simulation model. The server also controls the rigid body dynamics simulation model to send at least one of the moment of inertia and the load torque to the electromagnetic thermal coupling simulation model, and uses it as an updated boundary condition of the electromagnetic thermal coupling simulation model.

[0086] In this embodiment, by bidirectionally transferring the coupling parameters of the electromagnetic thermal coupling simulation model and the rigid body dynamics simulation model, the transferred coupling parameters are obtained, and the electromagnetic thermal coupling simulation model and the rigid body dynamics simulation model can be associated, thereby reducing the simulation error between the servo motor body and the transmission system, and improving the accuracy of the association between the servo motor body and the transmission system.

[0087] In an exemplary embodiment, the specific implementation process of the step of "bidirectionally transferring coupling parameters between the initial simulation model and other initial simulation models having an interactive relationship to obtain the transferred coupling parameters" includes:

[0088] If the field quantity transfer relationship is the third transfer relationship, the component forces in the rigid body dynamics simulation model are sent to the transient dynamics simulation model and determined as the updated boundary conditions of the transient dynamics simulation model; the total strain in the transient dynamics simulation model is sent to the rigid body dynamics simulation model and determined as the updated excitation parameter value of the transient dynamics simulation model.

[0089] Among them, for the rigid body dynamics simulation model, the coupling parameter can also be parameters such as the total strain output by the transient dynamics simulation model; for the transient dynamics simulation model, the coupling parameter can be the component force output by the rigid body dynamics simulation model.

[0090] Specifically, the server can determine the field quantity transfer relationship between the initial simulation model and other initial simulation models with interactive relationships. If the field quantity transfer relationship is the third transfer relationship, the initial simulation model is determined to be a rigid body dynamics simulation model, and the other initial simulation models are transient dynamics simulation models. The server controls the rigid body dynamics simulation model to send the component force to the transient dynamics simulation model, and uses it as an updated boundary condition for the transient dynamics simulation model. The server also controls the transient dynamics simulation model to send the total strain to the rigid body dynamics simulation model, and uses it as an updated excitation parameter value for the rigid body dynamics simulation model.

[0091] In this embodiment, by bidirectionally transferring the coupling parameters of the rigid body dynamics simulation model and the transient dynamics simulation model, the transferred coupling parameters are obtained, so that the rigid body dynamics simulation model and the transient dynamics simulation model can be associated, thereby reducing the simulation error between the transmission system and the vulnerable parts, and improving the accuracy of the association between the transmission system and the vulnerable parts.

[0092] In an exemplary embodiment, as shown in FIG3 , the convergence includes a first convergence between the drive control system and the servo motor body, a second convergence between the servo motor body and the transmission system, and a third convergence between the transmission system and the vulnerable parts; the key parameters include the motor current, the rotation angle of the motor output spindle, and the component position, and the step of “determining the convergence of the key parameters between the initial simulation model and other initial simulation models with interactive relationships based on the transferred coupling parameters” includes steps S302 to S312. Among them:

[0093] Step S302, determining the motor current according to the transferred coupling parameters corresponding to the lumped parameter simulation model and the electromagnetic thermal coupling simulation model.

[0094] Specifically, the server simulates the lumped parameter simulation model and the electromagnetic thermal coupling simulation model according to the transferred coupling parameters corresponding to the lumped parameter simulation model and the electromagnetic thermal coupling simulation model, and obtains simulation results, that is, obtains the field values ​​corresponding to the lumped parameter simulation model and the electromagnetic thermal coupling simulation model. The server determines the corresponding key parameters according to the field values, that is, determines the motor current according to the voltage and resistance.

[0095] Step S304, determining the rotation angle of the motor output spindle according to the transferred coupling parameters corresponding to the electromagnetic thermal coupling simulation model and the rigid body dynamics simulation model.

[0096] Specifically, the server simulates the electromagnetic thermal coupling simulation model and the rigid body dynamics simulation model according to the transferred coupling parameters corresponding to the electromagnetic thermal coupling simulation model and the rigid body dynamics simulation model, and obtains simulation results, that is, obtains the field values ​​corresponding to the electromagnetic thermal coupling simulation model and the rigid body dynamics simulation model. The server determines the corresponding key parameters according to the field values, that is, determines the angle of the motor output spindle according to the motor speed, angle, torque, moment of inertia, and load torque.

[0097] Step S306, determining the component position value according to the transferred coupling parameters corresponding to the rigid body dynamics simulation model and the transient dynamics simulation model.

[0098] Specifically, the server simulates the rigid body dynamics simulation model and the transient dynamics simulation model according to the transferred coupling parameters corresponding to the rigid body dynamics simulation model and the transient dynamics simulation model, and obtains simulation results, that is, obtains the field values ​​corresponding to the rigid body dynamics simulation model and the transient dynamics simulation model. The server determines the corresponding key parameters according to the field values, that is, determines the component position according to the force and total strain of the component.

[0099] Step S308, determining a first residual value corresponding to the motor current, and determining a first convergence corresponding to the first residual value.

[0100] Specifically, the server processes the motor current obtained by actual simulation and the estimated motor current to determine a first residual value. According to the size of the first residual value and a preset first judgment condition, a first convergence of the first residual value is determined. In one example, the first convergence can be converged or not converged.

[0101] Step S310, determining a second residual value corresponding to the rotation angle of the motor output main shaft, and determining a second convergence corresponding to the second residual value.

[0102] Specifically, the server processes the rotation angle of the motor output spindle obtained by actual simulation and the rotation angle of the motor output spindle estimated to determine a second residual value. According to the size of the second residual value and a preset second judgment condition, a second convergence of the second residual value is determined. In one example, the second convergence can be converged or not converged.

[0103] Step S312, determining a third residual value corresponding to the component position value, and determining a third convergence corresponding to the third residual value.

[0104] Specifically, the server processes the component position quantity obtained by the actual simulation and the estimated component position quantity to determine a third residual value. According to the size of the third residual value and a preset third judgment condition, a third convergence of the third residual value is determined. In one example, the third convergence can be converged or not converged.

[0105] In this embodiment, by determining the first convergence, the second convergence and the third convergence according to the key parameters and the field quantity values ​​after simulation, respectively, the accuracy of determining the convergence can be improved.

[0106] In an exemplary embodiment, after the step of “determining the convergence of key parameters between the initial simulation model and other initial simulation models having an interactive relationship based on the transferred coupling parameters”, the method further includes:

[0107] When the convergence of key parameters in each initial simulation model does not meet the convergence completion condition, the preset parameters corresponding to each initial simulation model are adjusted to obtain the adjusted preset parameters; the step of returning to execution within the preset time period, initializing each simulation model according to the initial boundary conditions and initial excitation parameter values ​​of the preset parameters in each simulation model, and obtaining the initial simulation model, until the convergence of key parameters meets the convergence completion condition, and the updated initial simulation model is obtained.

[0108] The convergence completion condition may be that the convergence is converged.

[0109] Specifically, within a preset time period, when the convergence of the key parameters corresponding to at least one initial simulation model does not meet the convergence completion condition, the server can adjust the preset parameters of each initial simulation model according to the preset convergence control algorithm, and return to the initialization step according to the adjusted preset parameters, that is, initialize each simulation model again according to the initial boundary conditions and initial excitation parameter values ​​of the adjusted preset parameters to obtain the initial simulation model. In addition, the server continues to iterate, bidirectionally transfers the coupling parameters corresponding to the initial simulation model, and determines the convergence of the key parameters between the initial simulation models, thereby completing multiple updates of the convergence. When the convergence of the key parameters in each initial simulation model meets the convergence completion condition, the iteration is exited to obtain the final initial simulation model.

[0110] Optionally, when the convergence control algorithm is iteratively updating preset parameters of the initial simulation model, if the number of iterations within a preset time period is greater than a preset maximum value, the iteration is exited, the simulation is terminated, and an error message is output.

[0111] In this embodiment, the preset parameters of the initial simulation model are adjusted through the convergence control algorithm, so as to repeat the simulation and determine whether the convergence of key parameters meets the convergence completion conditions. The key parameters can be converged quickly, thereby improving the efficiency of multi-level simulation model collaboration.

[0112] In an exemplary embodiment, the preset time period is a unit time period, and the specific implementation process of the step of "simulating each initial simulation model based on the transferred coupling parameters to obtain the target simulation results corresponding to each initial simulation model" includes:

[0113] Based on the transferred coupling parameters, each initial simulation model is simulated respectively to obtain the initial simulation result of each initial simulation model within a unit time period; in the next unit time period corresponding to the unit time period, the initial simulation result of each initial simulation model within the next unit time period is obtained; when the time range corresponding to multiple unit time periods exceeds the preset time range, multiple initial simulation results of each initial simulation model within the preset time range are obtained, and the multiple initial simulation results are determined as the target simulation results.

[0114] Specifically, in the current unit time period, and when the convergence of key parameters in each initial simulation model meets the convergence completion condition, the server can simulate each initial simulation model according to the transmitted coupling parameters, as well as the initial boundary conditions and initial excitation parameter values ​​of the preset parameters, to obtain the initial simulation results of the initial simulation model in the unit time period. After completing the simulation of the current unit time period, the server needs to determine whether the convergence of key parameters in the initial simulation model meets the convergence completion condition in the next unit time period, and when the convergence of key parameters in each initial simulation model meets the convergence completion condition, the server can simulate each initial simulation model according to the transmitted coupling parameters, as well as the initial boundary conditions and initial excitation parameter values ​​of the preset parameters, to obtain the initial simulation results of the initial simulation model in the next unit time period. The server can iterate in each unit time period to determine the initial simulation results in each unit time period. If the time range formed by each unit time period exceeds the preset time range, the iteration is stopped, and the initial simulation results corresponding to each unit time period are merged to obtain the target simulation result.

[0115] In this embodiment, simulation results within a time range consisting of multiple unit time periods can be obtained through iteration. By simulating the simulation models of the unit time periods respectively, the simulation accuracy can be increased, thereby improving the accuracy of the target simulation results.

[0116] The specific execution process of the above-mentioned circuit breaker multi-level collaborative simulation is described in detail below in conjunction with a specific embodiment.

[0117] When simulating the operating mechanism of high-voltage circuit breakers, the field quantity transfer method between the four-level modules of drive control system lumped parameter simulation - servo motor body electromagnetic thermal coupling simulation - transmission system multi-body dynamics simulation - vulnerable parts transient dynamics simulation can be used to coordinate multiple simulation modules, which can improve the simulation calculation accuracy of the servo motor operating mechanism for high-voltage circuit breakers and provide key technical support for the design and performance evaluation of high-voltage switches.

[0118] The key to establishing a multi-level collaborative simulation model of the servo motor actuator for high-voltage circuit breakers is to clarify the main simulation content of each level of modules, the parameter coupling and transfer relationship between modules, and the calculation steps of the joint simulation.

[0119] 1. The main simulation contents of each module are as follows:

[0120] Lumped parameter simulation of drive control system: mainly models the resistors, capacitors, IGBTs and other components in the drive controller, and calculates the output voltage, current and other parameters of the drive control system through circuit simulation.

[0121] Servo motor body electromagnetic thermal coupling simulation: mainly models the stator, rotor, coil and other components of the servo motor body, and calculates the motor output torque, back electromotive force and other parameters through finite element simulation.

[0122] Multi-body dynamics simulation of the transmission system: mainly models the crank arm, connecting rod and other components of the transmission system, and calculates parameters such as load inertia and stroke characteristics through multi-body dynamics simulation.

[0123] Transient dynamic simulation of vulnerable parts: mainly models key vulnerable parts in the transmission system and parts that may have large deformations, such as main shafts, insulating rods, etc.; through transient dynamic simulation, calculate parameters such as component deformation and stress distribution.

[0124] 2. The field quantity transfer relationship between modules is as follows:

[0125] Between the drive control system and the servo motor body, the drive control system sends specific waveform parameters such as voltage amplitude and duty cycle to the servo motor body as excitation parameter conditions for servo motor simulation; the servo motor feeds back parameters such as back electromotive force, current, motor speed, angle, torque, etc. to the drive control system as control input parameters of the drive control system.

[0126] Between the servo motor body and the transmission system, the servo motor transmits the output torque to the transmission system as the excitation parameter for the transmission system simulation; the transmission system feeds back parameters such as the moment of inertia and load torque to the motor body as the boundary conditions for the servo motor simulation.

[0127] Between the transmission system and the vulnerable parts, the transmission system transfers the component forces to the vulnerable parts as the boundary conditions of the component simulation; the vulnerable parts transfer parameters such as the total strain to the transmission system as the input parameters of the transmission system simulation.

[0128] 3. Calculation steps of joint simulation calculation:

[0129] Step 1: Establish a lumped parameter simulation model of the drive control system, an electromagnetic thermal coupling simulation model of the servo motor body, a rigid body dynamics simulation model of the transmission system, and a transient dynamics simulation model of vulnerable parts.

[0130] Step 2: For the preset parameters that need to be transferred between models at all levels, complete the variable name definition and initial value assignment, and define the boundaries or incentives corresponding to each parameter in the models at all levels;

[0131] Step 3, under the current boundary and excitation parameter values, the four-level models are calculated independently for one time step to obtain the initial values ​​of all field quantities and the initialized models of each level;

[0132] Step 4, complete a coupling parameter transfer, and perform convergence check on some key parameters, such as the convergence of the motor current between the drive control system and the servo motor body, the rotation angle of the motor output spindle between the servo motor body and the transmission system, and the position of the components between the transmission system and the vulnerable parts. If the convergence does not meet the requirements, jump to step 5, otherwise jump to step 6.

[0133] Step 5: According to the preset convergence control algorithm, adjust the corresponding parameters of each level of simulation, and perform a simulation calculation for each level again. If the number of iterations in the current time step exceeds the preset maximum value, the simulation is terminated and an error message is output; otherwise, jump to step 4.

[0134] Step 6: Move forward one time step. If the preset calculation time range is exceeded, the simulation calculation is terminated, otherwise jump to step 3.

[0135] Optionally, by performing multi-machine collaborative simulation calculation of the servo motor actuator through the above steps, the stroke characteristic curve output by the actuator can be accurately obtained. Application scenarios include:

[0136] 1. Servo motor control algorithm optimization. Through joint simulation, the whole process from control algorithm to output stroke characteristics can be realized. After the control algorithm is adjusted, the change of output stroke characteristics can be observed intuitively. With the goal of minimizing the average deviation and maximum deviation between the stroke characteristic curve of the simulated output and the planned stroke characteristic curve, the key control parameters of the control algorithm are iteratively optimized.

[0137] 2. Verification and optimization of mechanical strength of vulnerable parts. Through joint simulation, the transient stress distribution in key vulnerable parts during the opening and closing process can be observed, so that strength verification can be performed by comparing with the material yield stress. On this basis, the shape parameters of key parts are optimized with the goal of minimizing transient stress. Furthermore, the load spectrum can be extracted based on the transient stress distribution to evaluate and optimize the life of vulnerable parts.

[0138] 3. Multi-scenario fault simulation. In the joint simulation, the fault is simulated by setting specific parameters in the simulation, which directly reflects the characteristics of each component of the servo motor operating mechanism under fault conditions, thus providing a basis for fault diagnosis and early detection during operation.

[0139] The embodiment of the present application avoids errors caused by steps such as equivalence and conversion through multi-stage joint simulation of drive control-servo motor-transmission system-wearable parts, and realizes the cumulative error caused by multi-stage transmission through convergence control within each time step, thereby improving the simulation accuracy.

[0140] It should be understood that, although the steps in the flowcharts involved in the above embodiments are displayed in sequence according to the indication of the arrows, these steps are not necessarily executed in sequence according to the order indicated by the arrows. Unless there is a clear explanation in this article, the execution of these steps is not strictly limited in order, and these steps can be executed in other orders. Moreover, at least a part of the steps in the flowcharts involved in the above embodiments may include multiple steps or multiple stages, and these steps or stages are not necessarily executed at the same time, but can be executed at different times, and the execution order of these steps or stages is not necessarily carried out in sequence, but can be executed in turn or alternately with other steps or at least a part of the steps or stages in other steps.

[0141] Based on the same inventive concept, the embodiment of the present application also provides a circuit breaker multi-level collaborative simulation device for implementing the circuit breaker multi-level collaborative simulation method involved above. The implementation scheme for solving the problem provided by the device is similar to the implementation scheme recorded in the above method, so the specific limitations in one or more circuit breaker multi-level collaborative simulation device embodiments provided below can refer to the limitations of the circuit breaker multi-level collaborative simulation method above, and will not be repeated here.

[0142] In an exemplary embodiment, as shown in FIG4 , a circuit breaker multi-level collaborative simulation device 400 is provided, comprising: a model building module 401, a model initialization module 402, a parameter transfer module 403, a convergence determination module 404 and a simulation module 405, wherein:

[0143] The model building module 401 is used to build a simulation model corresponding to the operating mechanism in the circuit breaker; the operating mechanism includes a drive control system, a servo motor body, a transmission system and vulnerable parts; the simulation model includes a lumped parameter simulation model of the drive control system, an electromagnetic thermal coupling simulation model of the servo motor body, a rigid body dynamics simulation model of the transmission system, and a transient dynamics simulation model of the vulnerable parts. The four-level module;

[0144] The model initialization module 402 is used to initialize each simulation model according to the initial boundary conditions and initial excitation parameter values ​​of the preset parameters in each simulation model within a preset time period to obtain an initial simulation model;

[0145] The parameter transfer module 403 is used for bidirectionally transferring coupling parameters between the initial simulation model and other initial simulation models having an interactive relationship for each initial simulation model, so as to obtain the transferred coupling parameters; the coupling parameters are determined based on the two initial simulation models having an interactive relationship and the preset parameters;

[0146] A convergence determination module 404 is used to determine the convergence of key parameters between the initial simulation model and other initial simulation models having an interactive relationship based on the transferred coupling parameters;

[0147] The simulation module 405 is used to simulate each initial simulation model based on the transferred coupling parameters when the convergence of the key parameters in each initial simulation model meets the convergence completion condition, so as to obtain the target simulation results corresponding to each initial simulation model.

[0148] Furthermore, the field quantity transfer relationship between the four-level modules includes a first transfer relationship between the drive control system and the servo motor body, a second transfer relationship between the servo motor body and the transmission system, and a third transfer relationship between the transmission system and the vulnerable parts; the coupling parameters after transfer include updated excitation parameter values ​​and updated boundary conditions; the parameter transfer module 403 is specifically used for: if the field quantity transfer relationship is the first transfer relationship, then at least one of the voltage amplitude and the voltage duty cycle in the lumped parameter simulation model is sent to the electromagnetic thermal coupling simulation model, and is determined as the updated excitation parameter value of the electromagnetic thermal coupling simulation model; at least one of the back electromotive force, current, motor speed, angle and torque in the electromagnetic thermal coupling simulation model is sent to the lumped parameter simulation model, and is determined as the updated boundary condition of the lumped parameter simulation model.

[0149] Furthermore, the parameter transfer module 403 is specifically used for: if the field quantity transfer relationship is the second transfer relationship, sending the torque in the electromagnetic-thermal coupling simulation model to the rigid body dynamics simulation model, and determining it as the updated excitation parameter value of the rigid body dynamics simulation model; sending at least one of the moment of inertia and the load torque in the rigid body dynamics simulation model to the electromagnetic-thermal coupling simulation model, and determining it as the updated boundary condition of the electromagnetic-thermal coupling simulation model.

[0150] Furthermore, the parameter transfer module 403 is specifically used for: if the field quantity transfer relationship is the third transfer relationship, the component force in the rigid body dynamics simulation model is sent to the transient dynamics simulation model, and determined as the updated boundary condition of the transient dynamics simulation model; the total strain in the transient dynamics simulation model is sent to the rigid body dynamics simulation model, and determined as the updated excitation parameter value of the transient dynamics simulation model.

[0151] Furthermore, the convergence includes a first convergence between the drive control system and the servo motor body, a second convergence between the servo motor body and the transmission system, and a third convergence between the transmission system and the vulnerable parts; key parameters include motor current, the rotation angle of the motor output spindle, and the component position; the convergence determination module 404 is specifically used to: determine the motor current according to the coupling parameters after transfer corresponding to the lumped parameter simulation model and the electromagnetic thermal coupling simulation model; determine the rotation angle of the motor output spindle according to the coupling parameters after transfer corresponding to the electromagnetic thermal coupling simulation model and the rigid body dynamics simulation model; determine the component position according to the coupling parameters after transfer corresponding to the rigid body dynamics simulation model and the transient dynamics simulation model; determine the first residual value corresponding to the motor current, and determine the first convergence corresponding to the first residual value; determine the second residual value corresponding to the rotation angle of the motor output spindle, and determine the second convergence corresponding to the second residual value; determine the third residual value corresponding to the component position, and determine the third convergence corresponding to the third residual value.

[0152] Furthermore, the device also includes a model updating module, which is specifically used to: when the convergence of key parameters in each initial simulation model does not meet the convergence completion condition, adjust the preset parameters corresponding to each initial simulation model to obtain the adjusted preset parameters; return to the step of initializing each simulation model according to the initial boundary conditions and initial excitation parameter values ​​of the preset parameters in each simulation model within a preset time period to obtain the initial simulation model, until the convergence of key parameters meets the convergence completion condition, and obtain the updated initial simulation model.

[0153] Furthermore, the preset time period is a unit time period, and the simulation module 405 is specifically used to: simulate each initial simulation model based on the transmitted coupling parameters to obtain the initial simulation results of each initial simulation model within the unit time period; in the next unit time period corresponding to the unit time period, obtain the initial simulation results of each initial simulation model within the next unit time period; when the time range corresponding to multiple unit time periods exceeds the preset time range, obtain multiple initial simulation results of each initial simulation model within the preset time range, and determine the multiple initial simulation results as the target simulation results.

[0154] Each module in the above-mentioned circuit breaker multi-level collaborative simulation device can be implemented in whole or in part by software, hardware and their combination. Each of the above-mentioned modules can be embedded in or independent of the processor in the computer device in the form of hardware, or can be stored in the memory of the computer device in the form of software, so that the processor can call and execute the corresponding operations of each of the above modules.

[0155] In an exemplary embodiment, a computer device is provided, which may be a server, and its internal structure diagram may be shown in FIG5. The computer device includes a processor, a memory, an input / output interface (Input / Output, referred to as I / O) and a communication interface. The processor, the memory and the input / output interface are connected via a system bus, and the communication interface is connected to the system bus via the input / output interface. The processor of the computer device is used to provide computing and control capabilities. The memory of the computer device includes a non-volatile storage medium and an internal memory. The non-volatile storage medium stores an operating system, a computer program and a database. The internal memory provides an environment for the operation of the operating system and the computer program in the non-volatile storage medium. The database of the computer device is used to store simulation results after the circuit breaker is simulated. The input / output interface of the computer device is used to exchange information between the processor and an external device. The communication interface of the computer device is used to communicate with an external terminal through a network connection. When the computer program is executed by the processor, a multi-level collaborative simulation method of a circuit breaker is implemented.

[0156] Those skilled in the art will understand that the structure shown in FIG. 5 is merely a block diagram of a partial structure related to the solution of the present application, and does not constitute a limitation on the computer device to which the solution of the present application is applied. The specific computer device may include more or fewer components than those shown in the figure, or combine certain components, or have a different arrangement of components.

[0157] In an exemplary embodiment, a computer device is further provided, including a memory and a processor, wherein a computer program is stored in the memory, and the processor implements the steps in the above-mentioned method embodiments when executing the computer program.

[0158] In one embodiment, a computer-readable storage medium is provided, on which a computer program is stored. When the computer program is executed by a processor, the steps in the above-mentioned method embodiments are implemented.

[0159] In one embodiment, a computer program product is provided, including a computer program, which implements the steps in the above method embodiments when executed by a processor.

[0160] Those skilled in the art can understand that all or part of the processes in the above-mentioned embodiment methods can be completed by instructing the relevant hardware through a computer program, and the computer program can be stored in a non-volatile computer-readable storage medium. When the computer program is executed, it can include the processes of the embodiments of the above-mentioned methods. Among them, any reference to the memory, database or other medium used in the embodiments provided in this application can include at least one of non-volatile and volatile memory. Non-volatile memory can include read-only memory (ROM), magnetic tape, floppy disk, flash memory, optical memory, high-density embedded non-volatile memory, resistive random access memory (ReRAM), magnetoresistive random access memory (MRAM), ferroelectric random access memory (FRAM), phase change memory (PCM), graphene memory, etc. Volatile memory can include random access memory (RAM) or external cache memory, etc. As an illustration and not limitation, RAM can be in various forms, such as static random access memory (SRAM) or dynamic random access memory (DRAM). The database involved in each embodiment provided in this application may include at least one of a relational database and a non-relational database. Non-relational databases may include distributed databases based on blockchains, etc., but are not limited to this. The processor involved in each embodiment provided in this application may be a general-purpose processor, a central processing unit, a graphics processor, a digital signal processor, a programmable logic device, a data processing logic device based on quantum computing, etc., but are not limited to this.

[0161] The technical features of the above embodiments may be arbitrarily combined. To make the description concise, not all possible combinations of the technical features in the above embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this specification.

[0162] The above-described embodiments only express several implementation methods of the present application, and the descriptions thereof are relatively specific and detailed, but they cannot be understood as limiting the scope of the present application. It should be pointed out that, for a person of ordinary skill in the art, several variations and improvements can be made without departing from the concept of the present application, and these all belong to the protection scope of the present application. Therefore, the protection scope of the present application shall be subject to the attached claims.

Claims

1. A multi-level collaborative simulation method for a circuit breaker, characterized in that: The method comprises: Establish a simulation model corresponding to the operating mechanism in the circuit breaker; the operating mechanism includes a drive control system, a servo motor body, a transmission system and vulnerable parts; the simulation model includes a lumped parameter simulation model of the drive control system, an electromagnetic thermal coupling simulation model of the servo motor body, a rigid body dynamics simulation model of the transmission system, and a transient dynamics simulation model of the vulnerable parts. Four modules; Initializing each of the simulation models within a preset time period according to the initial boundary conditions and initial excitation parameter values ​​of the preset parameters in each of the simulation models to obtain an initial simulation model; For each of the initial simulation models, bidirectionally transfer coupling parameters between the initial simulation model and other initial simulation models having an interactive relationship to obtain the transferred coupling parameters; the coupling parameters are determined based on the two initial simulation models having an interactive relationship and the preset parameters; Determining convergence of key parameters between the initial simulation model and other initial simulation models having an interactive relationship based on the transferred coupling parameters; When the convergence of the key parameters in each of the initial simulation models meets the convergence completion condition, each of the initial simulation models is simulated based on the transferred coupling parameters to obtain the target simulation results corresponding to each of the initial simulation models.

2. The method according to claim 1, characterized in that The field quantity transfer relationship between the four-level modules includes a first transfer relationship between the drive control system and the servo motor body, a second transfer relationship between the servo motor body and the transmission system, and a third transfer relationship between the transmission system and the vulnerable parts; the coupling parameters after the transfer include an updated excitation parameter value and an updated boundary condition; The bidirectionally transferring the coupling parameters between the initial simulation model and other initial simulation models having an interactive relationship to obtain the transferred coupling parameters includes: If the field quantity transfer relationship is the first transfer relationship, at least one of the voltage amplitude and the voltage duty cycle in the lumped parameter simulation model is sent to the electromagnetic-thermal coupling simulation model, and is determined as an updated excitation parameter value of the electromagnetic-thermal coupling simulation model; At least one of the back electromotive force, current, motor speed, rotation angle and torque in the electromagnetic thermal coupling simulation model is sent to the lumped parameter simulation model and determined as an updated boundary condition of the lumped parameter simulation model.

3. The method according to claim 2, characterized in that The bidirectionally transferring the coupling parameters between the initial simulation model and other initial simulation models having an interactive relationship to obtain the transferred coupling parameters includes: If the field quantity transfer relationship is the second transfer relationship, the torque in the electromagnetic-thermal coupling simulation model is sent to the rigid body dynamics simulation model, and is determined as an updated excitation parameter value of the rigid body dynamics simulation model; At least one of the moment of inertia and the load torque in the rigid body dynamics simulation model is sent to the electromagnetic-thermal coupling simulation model and determined as an updated boundary condition of the electromagnetic-thermal coupling simulation model.

4. The method according to claim 2, characterized in that: The bidirectionally transferring the coupling parameters between the initial simulation model and other initial simulation models having an interactive relationship to obtain the transferred coupling parameters includes: If the field quantity transfer relationship is the third transfer relationship, the component forces in the rigid body dynamics simulation model are sent to the transient dynamics simulation model and determined as update boundary conditions of the transient dynamics simulation model; The total strain in the transient dynamics simulation model is sent to the rigid body dynamics simulation model and determined as an updated excitation parameter value of the transient dynamics simulation model.

5. The method according to claim 1, characterized in that The convergence includes a first convergence between the drive control system and the servo motor body, a second convergence between the servo motor body and the transmission system, and a third convergence between the transmission system and the vulnerable parts; the key parameters include motor current, the rotation angle of the motor output spindle, and the component position; Determining the convergence of key parameters between the initial simulation model and other initial simulation models having an interactive relationship based on the transferred coupling parameters includes: Determining the motor current according to the transferred coupling parameters corresponding to the lumped parameter simulation model and the electromagnetic thermal coupling simulation model; Determining the rotation angle of the motor output spindle according to the transferred coupling parameters corresponding to the electromagnetic thermal coupling simulation model and the rigid body dynamics simulation model; Determining the component position according to the transferred coupling parameters corresponding to the rigid body dynamics simulation model and the transient dynamics simulation model; Determining a first residual value corresponding to the motor current, and determining a first convergence corresponding to the first residual value; Determine a second residual value corresponding to the rotation angle of the motor output main shaft, and determine a second convergence corresponding to the second residual value; A third residual value corresponding to the component position quantity is determined, and a third convergence corresponding to the third residual value is determined.

6. The method according to claim 1, characterized in that After determining the convergence of key parameters between the initial simulation model and other initial simulation models having an interactive relationship based on the transferred coupling parameters, the method further includes: When the convergence of the key parameters in each of the initial simulation models does not satisfy the convergence completion condition, adjusting the preset parameters corresponding to each of the initial simulation models to obtain adjusted preset parameters; Return to executing the step of initializing each simulation model according to the initial boundary conditions and initial excitation parameter values ​​of the preset parameters in each simulation model within a preset time period to obtain the initial simulation model, until the convergence of the key parameters meets the convergence completion condition, thereby obtaining an updated initial simulation model.

7. The method according to claim 6, characterized in that The preset time period is a unit time period; the initial simulation models are simulated based on the transferred coupling parameters to obtain target simulation results corresponding to the initial simulation models, including: Simulating each of the initial simulation models based on the transferred coupling parameters to obtain an initial simulation result of each of the initial simulation models within the unit time period; In a next unit time period corresponding to the unit time period, obtaining an initial simulation result of each of the initial simulation models in the next unit time period; When the time range corresponding to the multiple unit time periods exceeds the preset time range, multiple initial simulation results of each of the initial simulation models within the preset time range are obtained, and the multiple initial simulation results are determined to be the target simulation results.

8. A circuit breaker multi-level collaborative simulation device, characterized in that: The device comprises: A model building module, used to build a simulation model corresponding to an operating mechanism in a circuit breaker; the operating mechanism includes a drive control system, a servo motor body, a transmission system and vulnerable parts; the simulation model includes a lumped parameter simulation model of the drive control system, an electromagnetic thermal coupling simulation model of the servo motor body, a rigid body dynamics simulation model of the transmission system, and a transient dynamics simulation model of the vulnerable parts. The four-level module; A model initialization module, used to initialize each of the simulation models within a preset time period according to the initial boundary conditions and initial excitation parameter values ​​of the preset parameters in each of the simulation models to obtain an initial simulation model; A parameter transfer module, for each of the initial simulation models, bidirectionally transferring coupling parameters between the initial simulation model and other initial simulation models having an interactive relationship, to obtain the transferred coupling parameters; the coupling parameters are determined based on the two initial simulation models having an interactive relationship and the preset parameters; A convergence determination module, used for determining the convergence of key parameters between the initial simulation model and other initial simulation models having an interactive relationship based on the transferred coupling parameters; The simulation module is used to simulate each of the initial simulation models based on the transferred coupling parameters when the convergence of the key parameters in each of the initial simulation models meets the convergence completion condition, so as to obtain the target simulation results corresponding to each of the initial simulation models.

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

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

Images