Closing control method and device of high-voltage circuit breaker, equipment and storage medium

Abstract

The embodiment of the invention discloses a closing control method and device for a high-voltage circuit breaker, equipment and a storage medium. The method comprises the steps that the actual closing speed of the high-voltage circuit breaker in the current state and the actual stored energy of a closing spring of the high-voltage circuit breaker in the current state are collected; performing difference calculation according to the actual closing speed and a preset rated closing speed to obtain a closing speed error of the high-voltage circuit breaker; calculating a control signal of a closing spring according to the actual stored energy and the closing speed error by utilizing double-closed-loop PID control; and adjusting the compression displacement of the closing spring based on the control signal. The current closing speed of the high-voltage circuit breaker is monitored, the difference value between the actual closing speed and the rated closing speed is calculated, and the control signal of the closing spring is obtained through analysis based on the difference value, so that the compression displacement of the closing spring is adjusted based on the control signal; therefore, the stress of the closing spring in use can reach an ideal effect, and the performance and reliability of the spring are ensured.

Description

Technical Field

[0001] The present invention relates to the technical field of circuit breaker control, and in particular to a closing control method and device, equipment and storage medium for a high-voltage circuit breaker. Background Art

[0002] In the context of China's vigorous construction of the power system to meet the rapid development of society, the country's investment in power infrastructure continues to increase, and the level of the power system is also constantly improving. The trend of high-voltage grading and intelligence of the power grid has made the requirements for the safety, reliability and efficiency of power equipment more stringent. Power equipment must not only meet basic operating requirements, but also have higher technical standards and more stable performance requirements. As an important part of the high-voltage switchgear of the power system, the spring effectively stores the energy released by the motor and releases it quickly when needed, ensuring that the high-voltage circuit breaker can respond in time for operation, which directly affects the stability and safety of the entire power system. With the growing demand for power grid security, the performance and reliability of the spring are particularly important.

[0003] However, the high-voltage circuit breaker spring will experience stress relaxation under long-term compression and energy storage, causing the spring pressure to slowly decrease. The opening and closing springs of the high-voltage circuit breaker may experience stress relaxation during long-term use, which may bring many safety hazards, such as reducing the opening and closing speed of the circuit breaker, affecting the rapid response of the circuit breaker; reducing the spring storage energy, which may cause the circuit breaker to be unable to open and close completely; increasing the frequency of equipment maintenance and overhaul, and increasing operating costs, etc. Therefore, there is currently no reliable method to ensure the performance and reliability of the spring. Summary of the invention

[0004] Based on this, it is necessary to propose a closing control method and device, equipment and storage medium for a high-voltage circuit breaker to address the above problems, so as to ensure the performance and reliability of the spring when working.

[0005] To achieve the above-mentioned object, the first aspect of the present application provides a closing control method for a high-voltage circuit breaker, the method comprising:

[0006] Collecting the actual closing speed of the high-voltage circuit breaker in the current state and the actual energy storage of the closing spring of the high-voltage circuit breaker in the current state;

[0007] Calculating the difference between the actual closing speed and the preset rated closing speed to obtain a closing speed error of the high-voltage circuit breaker;

[0008] Using double closed-loop PID control, a control signal of the closing spring is calculated according to the actual energy storage and the closing speed error;

[0009] The compression displacement of the closing spring is adjusted based on the control signal.

[0010] Furthermore, the double closed-loop PID control is used to calculate the control signal of the closing spring according to the actual energy storage and the closing speed error, specifically including:

[0011] The closing speed error is input into the outer loop PID controller in the double closed loop PID control, and the outer loop PID controller outputs the rated energy storage signal of the closing spring;

[0012] The rated energy storage signal and the actual energy storage are input into an inner loop PID controller in the double closed-loop PID control, and the inner loop PID controller outputs a control signal of the closing spring.

[0013] Furthermore, the control algorithm in the outer loop PID controller is:

[0014]

[0015] In the formula, u outer (t) is the rated energy storage signal output by the outer loop PID controller, K p2 , K i2 , K d2 are the proportional, integral and differential gains of the outer loop PID controller, e v (t) is the closing speed error, e v (τ) is the instantaneous closing speed error.

[0016] Further, the rated energy storage signal and the actual energy storage are input into the inner loop PID controller in the double closed-loop PID control, and the inner loop PID controller outputs the control signal of the closing spring, specifically including:

[0017] Calculating an energy storage difference between the rated energy storage signal and the actual energy storage;

[0018] The energy storage difference is input into the inner loop PID controller, and the inner loop PID controller outputs a control signal of the closing spring.

[0019] Furthermore, the control algorithm in the inner loop PID controller is:

[0020]

[0021] In the formula, u inner (t) is the control signal of the closing spring output by the inner loop PID controller, K p1 , K i1 , K d1 are the proportional, integral and differential gains of the inner loop PID controller, e w (t) is the energy storage difference, ew (τ) is the instantaneous energy storage difference.

[0022] Further, collecting the actual stored energy of the closing spring of the high-voltage circuit breaker in the current state specifically includes:

[0023] Obtaining the pressure and compression displacement of the closing spring under different states;

[0024] Determining the elastic force curve of the closing spring according to the pressure and compression displacement of the closing spring in different states;

[0025] Collecting the target compression displacement of the closing spring in the current state;

[0026] The actual stored energy of the closing spring of the high-voltage circuit breaker in the current state is calculated based on the elastic force curve of the closing spring and the target compression displacement.

[0027] Furthermore, the actual energy storage of the closing spring is calculated by the following formula:

[0028]

[0029] Wherein, W(t) is the actual stored energy of the closing spring in the current state, F(H) is the elastic force curve of the closing spring; H1 is the rated compression displacement of the closing spring under the preload state when the circuit breaker is not closed; H2 is the rated compression displacement of the closing spring under the energy storage state.

[0030] To achieve the above-mentioned object, the second aspect of the present application provides a closing control device for a high-voltage circuit breaker, the device comprising a data acquisition unit, a data processing unit and a displacement adjustment unit;

[0031] The data acquisition unit is used to collect the actual closing speed of the high-voltage circuit breaker in the current state, and the actual energy storage of the closing spring of the high-voltage circuit breaker in the current state;

[0032] The data processing unit is used to calculate the difference between the actual closing speed and the preset rated closing speed to obtain the closing speed error of the high-voltage circuit breaker;

[0033] Using double closed-loop PID control, a control signal of the closing spring is calculated according to the actual energy storage and the closing speed error;

[0034] The displacement adjustment unit is used to adjust the compression displacement of the closing spring based on the control signal.

[0035] To achieve the above-mentioned purpose, the third aspect of the present application provides a computer-readable storage medium storing a computer program, characterized in that when the computer program is executed by a processor, the processor executes the steps of the method described in the first aspect.

[0036] To achieve the above-mentioned purpose, the fourth aspect of the present application provides a computer device, including a memory and a processor, characterized in that the memory stores a computer program, and when the computer program is executed by the processor, the processor executes the steps of the method described in the first aspect.

[0037] The embodiments of the present invention have the following beneficial effects:

[0038] The embodiment of the present invention proposes a closing control method for a high-voltage circuit breaker, the method comprising: collecting the actual closing speed of the high-voltage circuit breaker in the current state, and the actual energy storage of the closing spring of the high-voltage circuit breaker in the current state; calculating the difference between the actual closing speed and the preset rated closing speed to obtain the closing speed error of the high-voltage circuit breaker; using double closed-loop PID control to calculate the control signal of the closing spring according to the actual energy storage and the closing speed error; adjusting the compression displacement of the closing spring based on the control signal. By monitoring the closing speed of the current high-voltage circuit breaker, calculating the difference between the actual closing speed and the rated closing speed, and analyzing the difference to obtain the control signal of the closing spring, so as to adjust the compression displacement of the closing spring based on the control signal, so that the stress of the closing spring during use can achieve an ideal effect, ensuring the performance and reliability of the spring. BRIEF DESCRIPTION OF THE DRAWINGS

[0039] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0040] in:

[0041] Figure 1 A schematic flow chart of a closing control method for a high-voltage circuit breaker according to an embodiment of the present invention;

[0042] Figure 2 It is a structural diagram of a double closed-loop PID controller in an embodiment of the present invention;

[0043] Figure 3 is a structural block diagram of a closing control device for a high-voltage circuit breaker according to an embodiment of the present invention;

[0044] Figure 41 is a diagram showing the internal structure of a computer device in an embodiment of the present invention. DETAILED DESCRIPTION

[0045] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0046] The springs in high-voltage circuit breakers need to withstand great stress during operation to ensure that the high-voltage circuit breaker has sufficient mechanical energy during the opening and closing operations. This high-load working state makes the springs prone to stress relaxation during long-term use, which in turn affects the performance of the circuit breaker. The spring will be in a compressed state for a long time. Over time, the lattice structure inside the spring material will slowly reorganize and adjust, resulting in a weakening of the elastic restoring force of the spring, that is, stress relaxation of the spring.

[0047] Based on this, a closing control method of a high-voltage circuit breaker is proposed in an embodiment of the present invention, which can be referred to Figure 1 , Figure 1 The figure is a flow chart of a closing control method of a high-voltage circuit breaker in an embodiment of the present invention, and the method comprises:

[0048] Step 110: collecting the actual closing speed of the high-voltage circuit breaker in the current state and the actual energy storage of the closing spring of the high-voltage circuit breaker in the current state.

[0049] High-voltage circuit breakers are also high-voltage switches, which are used to cut off or connect loaded or unloaded circuits, as well as high-voltage electrical appliances in faulty circuits. High-voltage circuit breakers contain at least moving contacts, stationary contacts, and spring operating mechanisms, which together constitute a switch system. The operating mechanism controls the energy storage and release of the spring to achieve the movement of the moving contact, thereby controlling the on and off of the circuit. For example, during the closing process of the high-voltage circuit breaker, the closing spring releases energy, pushing the moving contact toward the stationary contact, achieving closing, and allowing current to pass; during the opening process of the high-voltage circuit breaker, the opening spring releases energy, pulling the moving contact and the stationary contact apart, achieving opening, thereby protecting the equipment and lines in the power system.

[0050] In an embodiment of the present invention, a displacement sensor is installed on the moving contact of the high-voltage circuit breaker, and the movement of the high-voltage circuit breaker during operation is tracked by the displacement sensor. For example, the displacement sensor measures the displacement of the moving contact in real time, and then determines the closing speed of the high-voltage circuit breaker based on the displacement size and displacement time. Specifically, the signal collected by the displacement sensor is filtered, amplified and analog-to-digital converted to obtain the displacement size.

[0051] In one embodiment of the present invention, the actual closing speed is the average closing speed of the high-voltage circuit breaker, which refers to the average speed of the moving contact from the contact point where the moving contact and the static contact just come into contact to a certain distance before the contact during the opening process.

[0052] In the embodiment of the present invention, a pressure sensor and a displacement sensor are installed on the closing spring, and the energy storage of the closing spring is measured by the pressure sensor and the displacement sensor. For example, the pressure of the closing spring during the compression process is measured by the pressure sensor, and the displacement sensor is used to measure the displacement of the closing spring during the compression process, and the energy storage of the closing spring in different states is determined according to the pressure and the displacement.

[0053] Based on the above data acquisition method, the actual closing speed of the high-voltage circuit breaker and the actual energy storage of the closing spring in the current state can be obtained.

[0054] Step 120: Calculate the difference between the actual closing speed and the preset rated closing speed to obtain a closing speed error of the high-voltage circuit breaker.

[0055] In the embodiment of the present invention, the rated closing speed of the high-voltage circuit breaker is set according to the closing operation requirements of the high-voltage circuit breaker, and the rated closing speed represents the performance of the closing process of the high-voltage circuit breaker under an ideal state.

[0056] By calculating the difference between the actual closing speed and the rated closing speed, the difference between the actual closing process and the ideal closing process can be obtained, so that the high-voltage circuit breaker can be adjusted based on the difference between the two, so that the adjusted closing process is closer to the ideal state.

[0057] Step 130: Utilize double closed-loop PID control to calculate the control signal of the closing spring according to the actual energy storage and the closing speed error.

[0058] Double closed-loop PID control consists of two PID controllers: an outer loop PID controller and an inner loop PID controller. The outer loop PID controller is usually responsible for controlling a relatively macroscopic physical quantity, such as speed, acceleration, etc., while the inner loop PID controller is responsible for controlling a more microscopic and more directly controllable physical quantity, such as displacement, angle, etc.

[0059] In an embodiment of the present invention, the closing speed is controlled by an outer loop PID controller, the compression displacement of the closing spring is controlled by an inner loop, the signal output by the outer loop PID controller is input into the inner loop PID controller, and the inner loop PID controller outputs a control signal. The fast response and precise control of the inner loop PID controller help to suppress disturbances and unstable factors in the closing movement, and the adjustment of the outer loop PID controller can make the closing reach a stable state faster. By nesting the two control loops in the double closed-loop PID control, the two cooperate with each other to achieve more precise control of the closing spring.

[0060] Step 140: Adjust the compression displacement of the closing spring based on the control signal.

[0061] The present invention adjusts the movement state of the closing spring during the closing process by outputting a control signal through a double closed-loop PID control. Specifically, the control signal is transmitted to an operating mechanism. The control signal determines the force or torque applied by the operating mechanism to adjust the compression displacement of the closing spring, so that the movement state of the closing spring is closer to an ideal state, thereby avoiding the situation where the performance of the closing spring is reduced due to relaxation of the spring stress.

[0062] In one embodiment of the present invention, a specific structure of a double closed-loop PID controller is proposed, which can be referred to as Figure 2 , Figure 2 1 is a structural diagram of a double closed-loop PID controller in an embodiment of the present invention. Based on the structural step 130, a double closed-loop PID control is used to calculate a control signal of a closing spring according to actual energy storage and closing speed error, specifically including:

[0063] Step 310, input the closing speed error into the outer loop PID controller in the double closed-loop PID control, and the outer loop PID controller outputs the rated energy storage signal of the closing spring.

[0064] In an embodiment of the present invention, the closing speed error in the current state is input into the outer loop PID controller for calculation to obtain a rated energy storage signal output by the outer loop PID controller. The rated energy storage signal indicates the energy storage size required for the closing spring to adjust from the actual closing speed to the rated closing speed in the current state.

[0065] In one embodiment of the present invention, the calculated closing speed error is input into the outer loop PID controller, and the outer loop PID controller outputs a spring rated energy storage signal according to the closing speed error to the inner loop PID controller as the input signal of the inner loop PID controller.

[0066] The control algorithm in the outer loop PID controller can be:

[0067]

[0068] In the formula, uouter (t) is the rated energy storage signal output by the outer loop PID controller, K p2 , K i2 , K d2 are the proportional, integral and differential gains of the outer loop PID controller, e v (t) is the closing speed error, e v (τ) is the instantaneous closing speed error, that is, any instantaneous closing speed error of the closing spring from the start time to the end time during the closing process.

[0069] Step 320, input the rated energy storage signal and the actual energy storage into the inner loop PID controller in the double closed-loop PID control, and the inner loop PID controller outputs the control signal of the closing spring.

[0070] In an embodiment of the present invention, a rated energy storage signal is calculated based on the closing speed error, and the rated energy storage signal is input into an inner loop PID controller to guide energy storage adjustment of a closing spring.

[0071] Specifically, in Step 320, the rated energy storage signal and the actual energy storage are input into the inner loop PID controller in the double closed-loop PID control, and the inner loop PID controller outputs the control signal of the closing spring, specifically including:

[0072] Step 321, calculate the energy storage difference between the rated energy storage signal and the actual energy storage.

[0073] Step 322, input the energy storage difference into the inner loop PID controller, and the inner loop PID controller outputs the control signal of the closing spring.

[0074] Specifically, the rated energy storage signal is used as an input signal, the energy storage difference between the rated energy storage signal and the actual energy storage is calculated, the energy storage difference is used as a feedback signal, and the feedback signal is input into the inner loop PID controller to obtain a control signal output by the inner loop PID controller, so that the operating structure adjusts the compression displacement of the closing spring according to the control signal, so that the energy storage of the closing spring reaches the rated state.

[0075] In one embodiment of the present invention, the control algorithm in the inner loop PID controller may be:

[0076]

[0077] In the formula, u inner (t) is the control signal of the closing spring output by the inner loop PID controller, K p1 , K i1 , K d1 are the proportional, integral and differential gains of the inner loop PID controller, e w (t) is the energy storage difference, e w(τ) is the instantaneous energy storage difference, that is, any instantaneous energy storage difference of the closing spring from the start time to the end time during the closing process.

[0078] Proportional gain K p The control system responds directly to the error by increasing the proportional gain K p It will improve the response speed of the system, but too large a value may cause system oscillation or even instability; integral gain K i Used to eliminate the steady-state error of the system, the integral gain K i If the setting is too large, it may cause system overshoot and oscillation, while if it is too small, it will affect the error correction speed; differential gain K d Used to predict the changing trend of the error, suppress the rapidly changing error, and increase the differential gain K d The stability of the system can be improved, but setting it too high will introduce noise sensitivity. Therefore, the selection of proportional, integral and differential gains will directly affect the accuracy of the output signal. In one embodiment of the present invention, a method for adjusting the proportional, integral and differential gains is proposed to determine the appropriate proportional, integral and differential gains. The adjustment steps include:

[0079] 1. Initial setting: From the preset minimum proportional gain K p Initially, the integral gain K i and differential gain K d Set to zero.

[0080] 2. Adjust the proportional gain K p : Gradually increase the proportional gain K p Until the system output begins to oscillate within a preset range, for example, a smaller amplitude oscillation begins to appear, at this time, the proportional gain K is determined. p size.

[0081] 3. Increase the integral gain K i : Start from 0 and increase the integral gain K appropriately i To eliminate the steady-state error, observe whether the system has overshoot or oscillation. If so, slightly reduce K i , until it is adjusted to a relatively stable state, and determine the integral gain K under the stable state i size.

[0082] 4. Adjust the differential gain K d : Increase K within an appropriate range d To reduce overshoot and oscillation, smooth the system response until the system reaches an ideal balance between response speed and stability.

[0083] In the embodiment of the present invention, during the tuning process, only one gain parameter is adjusted at a time to observe the response of the system, avoiding the uncertain effects caused by adjusting multiple parameters at the same time. Since the inner loop PID control will directly affect the behavior and response of the outer loop PID control, it is necessary to adjust the parameters of the inner loop PID controller first, and then adjust the parameters of the outer loop PID controller. During the outer loop adjustment process, ensure that the response of the inner loop PID control is stable and can meet the control requirements of the outer loop. The outer loop adjustment may require multiple iterations of the inner loop parameter settings to ensure the coordination and optimal performance of the overall system.

[0084] In one embodiment of the present invention, collecting the actual stored energy of the closing spring of the high-voltage circuit breaker in the current state specifically includes:

[0085] A. Obtain the pressure and compression displacement of the closing spring under different conditions.

[0086] In the embodiment of the present invention, the pressure magnitudes corresponding to different compression displacements of the closing spring are measured based on a displacement sensor and a pressure sensor on the closing spring.

[0087] B. Determine the elastic force curve of the closing spring based on the pressure and compression displacement of the closing spring under different conditions.

[0088] Specifically, the elastic force curve of the closing spring is determined according to the pressure magnitudes under different compression displacements.

[0089] C. Collect the target compression displacement of the closing spring in the current state.

[0090] Specifically, the target compression displacement of the closing spring is collected in real time based on a displacement sensor on the closing spring.

[0091] D. Calculate the actual energy storage of the closing spring of the high-voltage circuit breaker in the current state based on the elastic force curve and target displacement of the closing spring.

[0092] Specifically, the actual energy storage of the closing spring in the current state is obtained according to the target compression displacement size and the elastic force curve analysis.

[0093] In one embodiment of the present invention, the actual energy storage of the closing spring can be calculated by the following formula:

[0094]

[0095] Where W(t) is the actual energy storage of the closing spring in the current state, F(H) is the elastic force curve of the closing spring; H1 is the rated compression displacement of the closing spring under the preload state when the circuit breaker is not closed; H2 is the rated compression displacement of the closing spring under the energy storage state.

[0096] The embodiment of the present invention also provides a closing control device for a high voltage circuit breaker, which can be referred to Figure 3, Figure 3 The invention is a closing control device for a high-voltage circuit breaker according to an embodiment of the present invention. The device comprises a data acquisition unit 301 , a data processing unit 302 and a displacement adjustment unit 303 .

[0097] The data acquisition unit 301 is used to acquire the actual closing speed of the high-voltage circuit breaker in the current state and the actual energy storage of the closing spring of the high-voltage circuit breaker in the current state.

[0098] The data processing unit 302 is used to calculate the difference between the actual closing speed and the preset rated closing speed to obtain the closing speed error of the high-voltage circuit breaker.

[0099] Using double closed-loop PID control, the control signal of the closing spring is calculated according to the actual energy storage and closing speed error.

[0100] The displacement adjustment unit 303 is used to adjust the compression displacement of the closing spring based on the control signal.

[0101] The closing control device for a high-voltage circuit breaker proposed in the present invention monitors the closing speed of the current high-voltage circuit breaker, calculates the difference between the actual closing speed and the rated closing speed, and obtains a control signal of a closing spring based on the analysis of the difference, so as to adjust the compression displacement of the closing spring based on the control signal, so that the stress of the closing spring during use can achieve an ideal effect, thereby ensuring the performance and reliability of the spring.

[0102] Figure 4 FIG. 1 shows an internal structure diagram of a computer device in one embodiment of the present invention. The computer device may be a terminal or a system. Figure 4 As shown, the computer device includes a processor, a memory and a network interface connected via a system bus. The memory includes a non-volatile storage medium and an internal memory. The non-volatile storage medium of the computer device stores an operating system and may also store a computer program. When the computer program is executed by the processor, the processor may implement each step in the above method embodiment. The internal memory may also store a computer program. When the computer program is executed by the processor, the processor may implement each step in the above method embodiment. Those skilled in the art will understand that Figure 4 The structure shown in the figure is only a block diagram of a part of the structure related to the solution of the present application, and does not constitute a limitation on the computer device to which the solution of the present application is applied. The specific computer device may include more or fewer components than those shown in the figure, or combine certain components, or have a different arrangement of components.

[0103] In one embodiment, a computer device is provided, including a memory and a processor, wherein the memory stores a computer program, and when the computer program is executed by the processor, the processor performs the following steps:

[0104] A closing control method for a high voltage circuit breaker, the method comprising:

[0105] Collect the actual closing speed of the high-voltage circuit breaker in the current state, and the actual energy storage of the closing spring of the high-voltage circuit breaker in the current state;

[0106] The difference between the actual closing speed and the preset rated closing speed is calculated to obtain the closing speed error of the high-voltage circuit breaker;

[0107] Using double closed-loop PID control, the control signal of the closing spring is calculated according to the actual energy storage and closing speed error;

[0108] The displacement of the closing spring is adjusted based on the control signal.

[0109] Furthermore, a double closed-loop PID control is used to calculate the control signal of the closing spring according to the actual energy storage and the closing speed error, specifically including:

[0110] The closing speed error is input into the outer loop PID controller in the double closed loop PID control, and the outer loop PID controller outputs the rated energy storage signal of the closing spring;

[0111] The rated energy storage signal and the actual energy storage are input into the inner loop PID controller in the double closed loop PID control, and the inner loop PID controller outputs the control signal of the closing spring.

[0112] Furthermore, the control algorithm in the outer loop PID controller is:

[0113]

[0114] In the formula, u outer (t) is the rated energy storage signal output by the outer loop PID controller, K p2 , K i2 , K d2 are the proportional, integral and differential gains of the outer loop PID controller, e v (t) is the closing speed error, e v (τ) is the instantaneous closing speed error.

[0115] Furthermore, the rated energy storage signal and the actual energy storage are input into the inner loop PID controller in the double closed-loop PID control, and the inner loop PID controller outputs the control signal of the closing spring, specifically including:

[0116] Calculate the energy storage difference between the rated energy storage signal and the actual energy storage;

[0117] The energy storage difference is input into the inner loop PID controller, and the inner loop PID controller outputs a control signal for the closing spring.

[0118] Furthermore, the control algorithm in the inner loop PID controller is:

[0119]

[0120] In the formula, u inner (t) is the control signal of the closing spring output by the inner loop PID controller, K p1 , K i1 , K d1 are the proportional, integral and differential gains of the inner loop PID controller, e w (t) is the energy storage difference, e w (τ) is the instantaneous energy storage difference.

[0121] Furthermore, the actual energy storage of the closing spring of the high-voltage circuit breaker in the current state is collected, specifically including:

[0122] Obtain the pressure and compression displacement of the closing spring under different states;

[0123] Determine the elastic force curve of the closing spring according to the pressure and compression displacement of the closing spring under different states;

[0124] Collect the target compression displacement of the closing spring in the current state;

[0125] The actual energy storage of the closing spring of the high-voltage circuit breaker in the current state is calculated based on the elastic force curve and target compression displacement of the closing spring.

[0126] Furthermore, the actual energy storage of the closing spring is calculated by the following formula:

[0127]

[0128] Where W(t) is the actual energy storage of the closing spring in the current state, F(H) is the elastic force curve of the closing spring; H1 is the rated compression displacement of the closing spring under the preload state when the circuit breaker is not closed; H2 is the rated compression displacement of the closing spring under the energy storage state.

[0129] In one embodiment, a computer-readable storage medium is proposed, which stores a computer program. When the computer program is executed by a processor, the processor executes each step in the above method embodiment. A person of ordinary skill in the art can understand that all or part of the processes in the above embodiment method can be completed by instructing the relevant hardware through a computer program. The program can be stored in a non-volatile computer-readable storage medium, and the program can include the processes of the embodiments of the above methods when executed. Among them, any reference to memory, storage, database or other media used in the embodiments provided in this application may include non-volatile and / or volatile memory. Non-volatile memory may include read-only memory (ROM), programmable ROM (PROM), electrically programmable ROM (EPROM), electrically erasable programmable ROM (EEPROM) or flash memory. Volatile memory may include random access memory (RAM) or external cache memory. By way of illustration and not limitation, RAM is available in many forms, such as static RAM (SRAM), dynamic RAM (DRAM), synchronous DRAM (SDRAM), double data rate SDRAM (DDRSDRAM), enhanced SDRAM (ESDRAM), synchronous link (Synchlink) DRAM (SLDRAM), memory bus (Rambus) direct RAM (RDRAM), direct memory bus dynamic RAM (DRDRAM), and memory bus dynamic RAM (RDRAM), etc.

[0130] The technical features of the above embodiments may be combined arbitrarily. To make the description concise, not all possible combinations of the technical features in the above embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this specification.

[0131] The above 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 modifications 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 closing control method for a high voltage circuit breaker, characterized in that: The method comprises: Collecting the actual closing speed of the high-voltage circuit breaker in the current state and the actual energy storage of the closing spring of the high-voltage circuit breaker in the current state; Calculating the difference between the actual closing speed and the preset rated closing speed to obtain a closing speed error of the high-voltage circuit breaker; Using double closed-loop PID control, a control signal of the closing spring is calculated according to the actual energy storage and the closing speed error; The compression displacement of the closing spring is adjusted based on the control signal.

2. The method according to claim 1, characterized in that The method of using double closed-loop PID control to calculate the control signal of the closing spring according to the actual energy storage and the closing speed error specifically includes: The closing speed error is input into the outer loop PID controller in the double closed loop PID control, and the outer loop PID controller outputs the rated energy storage signal of the closing spring; The rated energy storage signal and the actual energy storage are input into an inner loop PID controller in the double closed-loop PID control, and the inner loop PID controller outputs a control signal of the closing spring.

3. The method according to claim 2, characterized in that The control algorithm in the outer loop PID controller is: In the formula, u outer (t) is the rated energy storage signal output by the outer loop PID controller, K p2 , K i2 , K d2 are the proportional, integral and differential gains of the outer loop PID controller, e v (t) is the closing speed error, e v (τ) is the instantaneous closing speed error.

4. The method according to claim 2, characterized in that The step of inputting the rated energy storage signal and the actual energy storage into an inner loop PID controller in the double closed-loop PID control, wherein the inner loop PID controller outputs a control signal of the closing spring, specifically includes: Calculating an energy storage difference between the rated energy storage signal and the actual energy storage; The energy storage difference is input into the inner loop PID controller, and the inner loop PID controller outputs a control signal of the closing spring.

5. The method according to claim 4, characterized in that The control algorithm in the inner loop PID controller is: In the formula, u inner (t) is the control signal of the closing spring output by the inner loop PID controller, K p1 , K i1 , K d1 are the proportional, integral and differential gains of the inner loop PID controller, e w (t) is the energy storage difference, e w (τ) is the instantaneous energy storage difference.

6. The method according to claim 1, characterized in that The actual stored energy of the closing spring of the high-voltage circuit breaker in the current state is collected, specifically including: Obtaining the pressure and compression displacement of the closing spring under different states; Determining the elastic force curve of the closing spring according to the pressure and compression displacement of the closing spring in different states; Collecting the target compression displacement of the closing spring in the current state; The actual stored energy of the closing spring of the high-voltage circuit breaker in the current state is calculated based on the elastic force curve of the closing spring and the target compression displacement.

7. The method according to claim 6, characterized in that The actual energy storage of the closing spring is calculated by the following formula: Wherein, W(t) is the actual stored energy of the closing spring in the current state, F(H) is the elastic force curve of the closing spring; H1 is the rated compression displacement of the closing spring under the preload state when the circuit breaker is not closed; H2 is the rated compression displacement of the closing spring under the energy storage state.

8. A closing control device for a high voltage circuit breaker, characterized in that: The device comprises a data acquisition unit, a data processing unit and a displacement adjustment unit; The data acquisition unit is used to collect the actual closing speed of the high-voltage circuit breaker in the current state, and the actual energy storage of the closing spring of the high-voltage circuit breaker in the current state; The data processing unit is used to calculate the difference between the actual closing speed and the preset rated closing speed to obtain the closing speed error of the high-voltage circuit breaker; Using double closed-loop PID control, a control signal of the closing spring is calculated according to the actual energy storage and the closing speed error; The displacement adjustment unit is used to adjust the compression displacement of the closing spring based on the control signal.

9. A computer-readable storage medium storing a computer program, characterized in that: When the computer program is executed by a processor, the processor is caused to perform the steps of the method according to any one of claims 1 to 7.

10. A computer device comprising a memory and a processor, characterized in that: The memory stores a computer program, and when the computer program is executed by the processor, the processor is caused to perform the steps of the method according to any one of claims 1 to 7.

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