Tracking control method for contact motion trail of circuit breaker

Abstract

The embodiment of the invention discloses a circuit breaker contact motion trail tracking control method, which comprises the following steps: determining a contact motion feature vector at a Tth moment according to a contact motion characterization signal at the Tth moment and before the Tth moment, and determining a contact motion trail of a circuit breaker according to the contact motion feature vector at the Tth moment and before the Tth moment, determining a self-adaptive output signal of PID control at the Tth moment according to the self-adaptive output signal and the control deviation signal at the Tth moment and the contact motion characteristic vector at the Tth moment and before the Tth moment, and finally determining the PID control at the Tth moment according to the self-adaptive output signal and the control deviation signal at the Tth moment and the contact motion characteristic vector at the Tth moment and before the Tth moment. Determining the contact movement track position of the target circuit breaker at the Tth moment according to the contact movement characterization signals at the Tth moment and before the Tth moment, the (T + 1) th moment being the current moment; the technical problems in the prior art are effectively solved by dynamically calculating the self-adaptive output signal.

Description

Technical Field

[0001] The invention relates to the field of power equipment control and automation, and in particular to a tracking control method for a contact motion trajectory of a circuit breaker. Background Art

[0002] In the context of green and low-carbon development, promoting the construction of new power systems is a key measure to achieve energy transformation and sustainable development. High-voltage circuit breakers are key components of power systems, and their performance directly affects the stable operation of the power grid and the safety of operators. The reliability assessment of high-voltage circuit breakers by the International Conference on Large Electric Systems showed that 64.8% of the main faults of circuit breakers were operating mechanical failures. Measuring the motion characteristic parameters of the circuit breaker moving contact can evaluate the circuit breaker operating performance and is an important technical means to detect mechanical failures of circuit breakers.

[0003] As the core component of the circuit breaker, the contact plays a vital role in performing opening and closing operations. Due to the complexity of the circuit breaker structure and the limitations of hydraulic or pneumatic operation technology, achieving precise control of the contacts faces certain challenges. The mechanical characteristic parameters of the circuit breaker are closely related to the movement of the moving contact. In essence, it is to study the movement state of the moving and static contacts when they are separated or closed. Accurately tracking the movement trajectory of the moving contact is the core link in measuring the mechanical characteristic parameters of the circuit breaker. Therefore, in order to ensure the timeliness of the opening and closing response of the high-voltage circuit breaker, it is of great significance to track and control the contact movement characteristics of the high-voltage circuit breaker.

[0004] In the prior art, each method for tracking and controlling the contact motion characteristics of a high-voltage circuit breaker has certain limitations. For example, nonlinear prediction and model predictive control (MPC) methods use predictive control algorithms to predict the trajectory of a moving target. However, since they cannot be effectively coordinated and controlled, large tracking control deviations may result. An online identification method based on an extended Kalman filter (EKF) can track and control a moving target through the real-time and fitting properties of the EKF. However, since the EKF has a strong dependence on the system model, there is a certain identification error, which may also result in certain tracking control deviations. A PID control method based on a gas insulated switchgear (GIS) determines PID parameters through predictive optimization to achieve tracking control of a moving target. However, this method requires relatively high computing resources and relies on experience and trial and error. Summary of the invention

[0005] Based on this, it is necessary to propose a tracking control method for the contact motion trajectory of a circuit breaker to address the above problems, and to effectively solve the technical problems existing in the prior art by dynamically calculating the adaptive output signal.

[0006] To achieve the above object, the present invention provides, in a first aspect, a method for tracking and controlling a contact motion trajectory of a circuit breaker, the method comprising:

[0007] Acquire a contact motion characterization signal at and before the Tth moment, a contact motion characteristic vector before the Tth moment, and a control deviation signal of a PID-controlled PID controller at the Tth moment;

[0008] Determine the contact motion characteristic vector at the Tth moment according to the contact motion characterization signal at the Tth moment and before the Tth moment;

[0009] Determining the adaptive output signal of the PID control at the Tth moment according to the contact motion characteristic vector at and before the Tth moment, and the contact motion characterization signal at and before the Tth moment;

[0010] Determine the contact motion trajectory position of the target circuit breaker at the Tth moment according to the adaptive output signal and the control deviation signal at the Tth moment, the contact motion characteristic vector at and before the Tth moment, and the contact motion characterization signal at and before the Tth moment;

[0011] Among them, the Tth moment is the current moment.

[0012] Optionally, determining the contact motion feature vector at the Tth moment according to the contact motion characterization signal at and before the Tth moment includes:

[0013] Determine the energy entropy at the T moment according to the contact motion characterization signal at and before the T moment;

[0014] The contact motion characteristic vector at the Tth moment is determined according to the energy entropy at the Tth moment and the contact motion characterization signal at the Tth moment.

[0015] Optionally, determining the energy entropy at the Tth moment according to the contact motion characterization signal at the Tth moment and before the Tth moment includes:

[0016] Using the formula Determine the energy entropy at time T;

[0017] Among them, Y(T) is the energy entropy at the Tth moment, and x(t) is the contact motion characterization signal at the tth moment.

[0018] Optionally, determining the contact motion characteristic vector at the Tth moment according to the energy entropy at the Tth moment and the contact motion characterization signal at the Tth moment includes:

[0019] Using the formula Determine the contact motion characteristic vector at the Tth moment;

[0020] Among them, n(T) is the contact motion characteristic vector at the Tth moment, x(T) is the contact motion characterization signal at the Tth moment, and Y(T) is the energy entropy at the Tth moment.

[0021] Optionally, determining the adaptive output signal of the PID control at the Tth moment according to the contact motion characteristic vector at and before the Tth moment, and the contact motion characterization signal at and before the Tth moment, comprises:

[0022] Obtaining the associated control signal output by the differential control module of the PID control at time T-1, and the proportional coefficient of the PID control;

[0023] The adaptive output signal at the Tth moment is determined according to the associated control signal at the T-1th moment, the proportional coefficient, the contact motion characteristic vector at the Tth moment and before the Tth moment, and the contact motion characterization signal at the Tth moment and before the Tth moment.

[0024] Optionally, determining the adaptive output signal at the Tth moment according to the associated control signal at the T-1th moment, the proportional coefficient, the contact motion feature vector at the Tth moment and before the Tth moment, and the contact motion characterization signal at the Tth moment and before the Tth moment includes:

[0025] Using the formula Determine the adaptive output signal at time T;

[0026] Among them, M(T) is the adaptive output signal at the Tth moment, v(T-1) is the associated control signal at the T-1th moment, K is the proportional coefficient, n(t) is the contact motion characteristic vector at the tth moment, and x(t) is the contact motion characterization signal at the tth moment.

[0027] Optionally, determining the contact motion trajectory position of the target circuit breaker at the T+1th moment according to the adaptive output signal and the control deviation signal at the Tth moment, the contact motion feature vector at and before the Tth moment, and the contact motion characterization signal at and before the Tth moment includes:

[0028] Obtaining a preset control deviation of the PID control;

[0029] The contact motion trajectory position at the T+1th moment is determined according to the preset control deviation, the energy entropy at the Tth moment, the adaptive output signal and the control deviation signal at the Tth moment, the contact motion characteristic vector at the Tth moment and before the Tth moment, and the contact motion characterization signal at the Tth moment and before the Tth moment.

[0030] Optionally, determining the contact motion trajectory position at the T+1th moment according to the preset control deviation, the energy entropy at the Tth moment, the adaptive output signal and the control deviation signal at the Tth moment, the contact motion feature vector at and before the Tth moment, and the contact motion characterization signal at and before the Tth moment includes:

[0031] Using the formula Determine the contact movement trajectory position at the T+1th moment;

[0032] Among them, η(T) is the contact motion trajectory position at the Tth moment, ε(T) is the control deviation signal at the Tth moment, M(T) is the adaptive output signal at the Tth moment, n(t) is the contact motion characteristic vector at the tth moment, x(t) is the contact motion characterization signal at the tth moment, Y(T) is the energy entropy at the Tth moment, and C is the preset control deviation.

[0033] Optionally, the step of obtaining the contact motion characterization signal at and before the Tth moment includes:

[0034] Acquiring a contact movement signal of the target circuit breaker;

[0035] The contact motion signal is processed in sections according to time to obtain a contact motion characterization signal at the Tth time and before the Tth time.

[0036] Optionally, the method further comprises:

[0037] adjusting the adaptive signal of the PID control at the Tth moment according to the adaptive output signal at the Tth moment;

[0038] The contact movement control signal of the target circuit breaker at the T+1th moment is adjusted according to the adaptive signal at the Tth moment.

[0039] To achieve the above object, the present invention provides, in a second aspect, a tracking control device for a contact motion trajectory of a circuit breaker, the device comprising:

[0040] An acquisition module, used to acquire a contact motion characterization signal at and before the Tth moment, a contact motion characteristic vector before the Tth moment, and a control deviation signal of a PID controller of a PID control at the Tth moment;

[0041] A vector determination module, used to determine a contact motion characteristic vector at the Tth moment according to a contact motion characterization signal at and before the Tth moment;

[0042] A signal determination module, used to determine the adaptive output signal of the PID control at the Tth moment according to the contact motion characteristic vector at and before the Tth moment, and the contact motion characterization signal at and before the Tth moment;

[0043] A trajectory position determination module, used to determine the contact motion trajectory position of the target circuit breaker at the Tth moment according to the adaptive output signal and the control deviation signal at the Tth moment, the contact motion characteristic vector at the Tth moment and before the Tth moment, and the contact motion characterization signal at the Tth moment and before the Tth moment;

[0044] Among them, the Tth moment is the current moment.

[0045] To achieve the above-mentioned object, the present invention provides in a third aspect a computer-readable storage medium storing a computer program, wherein when the computer program is executed by a processor, the processor executes the method as described in any one of the first aspects.

[0046] To achieve the above-mentioned purpose, the present invention provides a computer device in a fourth aspect, comprising a memory and a processor, wherein the memory stores a computer program, and when the computer program is executed by the processor, the processor executes the method as described in any one of the first aspects.

[0047] The embodiment of the present invention has the following beneficial effects: the method obtains the contact motion characterization signal at and before the Tth moment, the contact motion characteristic vector at and before the Tth moment, and the control deviation signal of the PID controller controlled by the PID at the Tth moment, and then determines the contact motion characteristic vector at the Tth moment according to the contact motion characterization signal at and before the Tth moment, and then determines the PID controller according to the contact motion characteristic vector at and before the Tth moment and the contact motion characterization signal at and before the Tth moment. The ID control outputs an adaptive signal at the Tth moment, and finally determines the contact motion trajectory position of the target circuit breaker at the Tth moment according to the adaptive output signal and the control deviation signal at the Tth moment, the contact motion characteristic vector at and before the Tth moment, and the contact motion characterization signal at and before the Tth moment, wherein the T+1th moment is the current moment; that is, by calculating the adaptive output signal, the motion trajectory of the control contact can be tracked more accurately, and the tracking control deviation can be reduced. Compared with the nonlinear prediction and MPC methods, it has a better coordinated control effect. Compared with the EKF method, it reduces the dependence on the system model and reduces the identification error. Moreover, by acquiring the contact motion characterization signal and the characteristic vector in real time, as well as the control deviation signal of the PID control, the adaptive output signal can be dynamically calculated, thereby overcoming the limitations of the GIS-based PID control that relies on experience and trial and error and requires higher computing resources. Therefore, the method of the present application can effectively solve the technical problems existing in the prior art. BRIEF DESCRIPTION OF THE DRAWINGS

[0048] 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.

[0049] in:

[0050] Figure 1 A schematic diagram of a method for tracking and controlling the movement trajectory of contacts of a circuit breaker in an embodiment of the present application;

[0051] Figure 2 A schematic diagram of the contact movement trajectory tracked and controlled during simulation in an embodiment of the present application;

[0052] Figure 3 A schematic diagram of the tracking error of the contact motion trajectory tracked and controlled during simulation in an embodiment of the present application;

[0053] Figure 4 A schematic diagram of a tracking control device for a contact motion trajectory of a circuit breaker in an embodiment of the present application;

[0054] Figure 5 1 is a diagram of the internal structure of a computer device in some embodiments. DETAILED DESCRIPTION

[0055] 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.

[0056] In the context of green and low-carbon development, promoting the construction of new power systems is a key measure to achieve energy transformation and sustainable development. High-voltage circuit breakers are key components of power systems, and their performance directly affects the stable operation of the power grid and the safety of operators. The reliability assessment of high-voltage circuit breakers by the International Conference on Large Electric Systems showed that 64.8% of the main faults of circuit breakers were operating mechanical failures. Measuring the motion characteristic parameters of the circuit breaker moving contact can evaluate the circuit breaker operating performance and is an important technical means to detect mechanical failures of circuit breakers.

[0057] As the core component of the circuit breaker, the contact plays a vital role in performing opening and closing operations. Due to the complexity of the circuit breaker structure and the limitations of hydraulic or pneumatic operation technology, achieving precise control of the contacts faces certain challenges. The mechanical characteristic parameters of the circuit breaker are closely related to the movement of the moving contact. In essence, it is to study the movement state of the moving and static contacts when they are separated or closed. Accurately tracking the movement trajectory of the moving contact is the core link in measuring the mechanical characteristic parameters of the circuit breaker. Therefore, in order to ensure the timeliness of the opening and closing response of the high-voltage circuit breaker, it is of great significance to track and control the contact movement characteristics of the high-voltage circuit breaker.

[0058] In the prior art, each method for tracking and controlling the contact motion characteristics of a high-voltage circuit breaker has certain limitations. For example, nonlinear prediction and model predictive control (MPC) methods use predictive control algorithms to predict the trajectory of a moving target. However, since they cannot be effectively coordinated and controlled, large tracking control deviations may result. An online identification method based on an extended Kalman filter (EKF) can track and control a moving target through the real-time and fitting properties of the EKF. However, since the EKF has a strong dependence on the system model, there is a certain identification error, which may also result in certain tracking control deviations. A PID control method based on a gas insulated switchgear (GIS) determines PID parameters through predictive optimization to achieve tracking control of a moving target. However, this method requires relatively high computing resources and relies on experience and trial and error.

[0059] In view of the above problems, the present application proposes a tracking control method for the contact motion trajectory of a circuit breaker, which effectively solves the technical problems existing in the prior art by dynamically calculating an adaptive output signal. The specific implementation principle will be described in detail in the following embodiments.

[0060] In a first aspect, the present application provides a method for tracking and controlling a movement trajectory of a contact of a circuit breaker.

[0061] See also Figure 1 , is a schematic diagram of a method for tracking and controlling the contact motion trajectory of a circuit breaker in an embodiment of the present application, the method comprising:

[0062] Step 110: Acquire the contact motion characterization signal at and before the Tth moment, the contact motion characteristic vector before the Tth moment, and the control deviation signal of the PID controller of the PID control at the Tth moment.

[0063] Among them, the Tth moment refers to the current moment; the contact movement characterization signal refers to the movement state of the contact during the opening and closing operation of the circuit breaker; the contact movement characteristic vector refers to the characteristic vector of the contact movement characterization signal; the control deviation signal refers to the error signal between the actual output signal of the PID controller and the preset output signal.

[0064] In some embodiments, the movement state of the contacts during the opening and closing operations of the circuit breaker can be collected in real time by sensors to obtain contact movement characterization signals.

[0065] In some embodiments, the contact motion characteristic vector may be determined based on the contact motion characterization signal, that is, the contact motion characterization signal is analyzed and mined to extract characteristic values ​​reflecting the contact motion state, thereby obtaining the contact motion characteristic vector.

[0066] Step 120: Determine a contact motion characteristic vector at the Tth moment according to the contact motion characterization signal at and before the Tth moment.

[0067] It should be noted that by extracting the contact motion feature vector of the circuit breaker and applying the contact motion feature vector to the subsequent adaptive output signal and contact motion trajectory position, the influence of nonlinear factors on the tracking control accuracy can be eliminated.

[0068] In some embodiments, the contact motion characterization signals at the Tth moment and all previous moments can be analyzed and mined to extract characteristic values ​​reflecting the contact motion state at the Tth moment, thereby obtaining the contact motion characteristic vector at the Tth moment.

[0069] Step 130: Determine the adaptive output signal of the PID control at the Tth moment according to the contact motion characteristic vector at and before the Tth moment and the contact motion characterization signal at and before the Tth moment.

[0070] It should be noted that in order to achieve precise tracking control of the circuit breaker contacts, in the present application, after extracting the contact motion feature vector reflecting the contact motion state, the adaptive output signal can be dynamically calculated in combination with the contact motion characterization signal of the contact motion state.

[0071] Step 140: Determine the contact motion trajectory position of the target circuit breaker at time T according to the adaptive output signal and control deviation signal at time T, the contact motion feature vector at time T and before, and the contact motion characterization signal at time T and before.

[0072] It should be noted that after the current adaptive output signal is obtained through dynamic calculation, it is combined with the current control deviation signal and the previously obtained contact motion characteristic vector reflecting the contact motion state, as well as the contact motion characterization signal of the contact motion state, so that the current contact motion trajectory position can be tracked and predicted according to the actual adaptive output adjustment, so as to realize precise tracking and control of the circuit breaker contacts.

[0073] In the embodiment of the present application, by calculating the adaptive output signal, the motion trajectory of the control contact can be tracked more accurately and the tracking control deviation can be reduced. Compared with the nonlinear prediction and MPC methods, it has a better coordinated control effect. Compared with the EKF method, it reduces the dependence on the system model and reduces the identification error. By acquiring the contact motion characterization signal and characteristic vector in real time, as well as the control deviation signal of PID control, the adaptive output signal can be dynamically calculated, thereby overcoming the limitations of GI S-based PID control that relies on experience and trial and error and requires higher computing resources. Therefore, this method of the present application can effectively solve the technical problems existing in the prior art.

[0074] In addition, the present application dynamically calculates the adaptive output signal by combining the real-time acquired contact motion characterization signal and characteristic vector, and the control deviation signal of the PID controller, which can not only improve the accuracy and effect of tracking control, but also simplify the control strategy, improve the response speed and reliability, and enhance its practical application value and wide applicability.

[0075] In a feasible implementation, step 120 in the above embodiment determines the contact motion characteristic vector at the Tth moment based on the contact motion characterization signal at the Tth moment and before the Tth moment, including: determining the energy entropy at the Tth moment based on the contact motion characterization signal at the Tth moment and before the Tth moment; determining the contact motion characteristic vector at the Tth moment based on the energy entropy at the Tth moment and the contact motion characterization signal at the Tth moment.

[0076] In the embodiment of the present application, by calculating the energy entropy at the Tth moment based on the contact motion characterization signal, the amount of information and state complexity of the contact motion characterization signal can be fully reflected, providing a richer data basis for the generation of feature vectors.

[0077] Furthermore, by combining the contact motion characterization signal with energy entropy, the quality of the contact motion feature vector can be effectively improved, providing more accurate data support for the subsequent adaptive output signal calculation, thereby further improving the tracking control performance of the tracking control system.

[0078] In addition, combining energy entropy can simplify the feature calculation process, reduce the complexity of feature selection, and make the generation of feature vectors more efficient and concise, which helps to speed up the response speed of the tracking control system and reduce the consumption of computing resources.

[0079] In a feasible implementation, determining the energy entropy at time T according to the contact motion characterization signal at time T and before time T in the above embodiment includes:

[0080] Using the formula Determine the energy entropy at time T;

[0081] Among them, Y(T) is the energy entropy at the Tth moment, and x(t) is the contact motion characterization signal at the tth moment.

[0082] In the embodiments of the present application, a rigorous energy entropy calculation formula is provided from a mathematical perspective. The accuracy of the calculated energy entropy can be ensured from the rigor of mathematical logic, and the above calculation formula is preferably shown to provide reference, understanding and calculation for technical personnel; in addition, by adopting the energy entropy quantification calculation formula preferably provided in the above application, a more accurate energy entropy can be obtained, which helps to more accurately track and predict the contact motion trajectory, thereby improving the tracking control accuracy and the performance of the tracking control system.

[0083] In a feasible implementation, the method of determining the contact motion characteristic vector at the Tth moment according to the energy entropy at the Tth moment and the contact motion characterization signal at the Tth moment in the above embodiment includes:

[0084] Using the formula Determine the contact motion characteristic vector at the Tth moment;

[0085] Among them, n(T) is the contact motion characteristic vector at the Tth moment, x(T) is the contact motion characterization signal at the Tth moment, and Y(T) is the energy entropy at the Tth moment.

[0086] In the embodiments of the present application, a rigorous calculation formula for the contact motion characteristic vector is provided from a mathematical perspective. The accuracy of the calculated contact motion characteristic vector can be ensured from the rigor of mathematical logic, and the above calculation formula is preferably shown to provide reference, understanding and calculation for technical personnel; in addition, by adopting the calculation formula for the contact motion characteristic vector preferably provided in the present application, the contact motion characteristic vector can be calculated efficiently and concisely, which helps to improve the accuracy and effect of the circuit breaker contact motion trajectory tracking control, simplify the calculation steps, and enhance the reliability and response speed of the tracking control system.

[0087] In a feasible implementation, step 130 in the above embodiment determines the adaptive output signal of the PID control at the Tth moment based on the contact motion characteristic vector at the Tth moment and before the Tth moment, and the contact motion characterization signal at the Tth moment and before the Tth moment, including: obtaining the associated control signal output by the differential control module of the PID control at the T-1th moment, and the proportional coefficient of the PID control; determining the adaptive output signal at the Tth moment based on the associated control signal at the T-1th moment, the proportional coefficient, the contact motion characteristic vector at the Tth moment and before the Tth moment, and the contact motion characterization signal at the Tth moment and before the Tth moment.

[0088] In an embodiment of the present application, by utilizing the differential term of PID control, i.e., the associated control signal at the previous moment and the contact movement information at the current moment, the ability to predict the dynamic behavior of the tracking control system can be enhanced, so that even when there is uncertainty in the system, more accurate predictions can be made, thereby reducing tracking errors.

[0089] Furthermore, by dynamically acquiring the associated control signal and proportional coefficient of the differential control module of the PID control at the previous moment, and combining the contact motion characteristics and characteristic vectors at the current moment and before and the contact motion characterization signal, the tracking performance and efficiency of the PID control can be further improved to achieve more accurate tracking control of the circuit breaker contacts.

[0090] In a feasible implementation, the above embodiment determines the adaptive output signal at the Tth moment according to the associated control signal at the T-1th moment, the proportional coefficient, the contact motion feature vector at the Tth moment and before the Tth moment, and the contact motion characterization signal at the Tth moment and before the Tth moment, including:

[0091] Using the formula Determine the adaptive output signal at time T;

[0092] Among them, M(T) is the adaptive output signal at the Tth moment, v(T-1) is the associated control signal at the T-1th moment, K is the proportional coefficient, n(t) is the contact motion characteristic vector at the tth moment, and x(t) is the contact motion characterization signal at the tth moment.

[0093] In the embodiments of the present application, a rigorous calculation formula for the adaptive output signal is provided from a mathematical perspective. The accuracy of the calculated adaptive output signal can be ensured from the rigor of mathematical logic, and the above calculation formula is preferably shown to provide reference, understanding and calculation for technical personnel; in addition, by adopting the calculation formula for the adaptive output signal preferably provided in the above application, the adaptive output signal can be dynamically adjusted, thereby improving the tracking accuracy of the circuit breaker contacts and effectively reducing the tracking deviation.

[0094] In a feasible implementation, step 140 in the above embodiment determines the contact motion trajectory position of the target circuit breaker at the T+1th moment according to the adaptive output signal and the control deviation signal at the Tth moment, the contact motion characteristic vector at the Tth moment and before the Tth moment, and the contact motion characterization signal at the Tth moment and before the Tth moment, including: obtaining a preset control deviation of PID control; determining the contact motion trajectory position at the T+1th moment according to the preset control deviation, the energy entropy at the Tth moment, the adaptive output signal and the control deviation signal at the Tth moment, the contact motion characteristic vector at the Tth moment and before the Tth moment, and the contact motion characterization signal at the Tth moment and before the Tth moment.

[0095] The preset control deviation may be obtained by the operator based on a large amount of experience, statistics or experiments, and of course, may also be set in advance by the operator based on actual needs.

[0096] In an embodiment of the present application, by further introducing preset control deviations and energy entropy, and comprehensively combining multiple signals such as adaptive output signals and control deviation signals, contact motion characteristic vectors, and contact motion characterization signals, the contact motion trajectory position can be tracked and predicted more accurately, thereby improving the tracking control accuracy.

[0097] In a feasible implementation, the above embodiment determines the contact motion trajectory position at the T+1th moment according to the preset control deviation, the energy entropy at the Tth moment, the adaptive output signal and the control deviation signal at the Tth moment, the contact motion feature vector at the Tth moment and before the Tth moment, and the contact motion characterization signal at the Tth moment and before the Tth moment, including:

[0098] Using the formula Determine the contact movement trajectory position at the T+1th moment;

[0099] Among them, η(T) is the contact motion trajectory position at the Tth moment, ε(T) is the control deviation signal at the Tth moment, M(T) is the adaptive output signal at the Tth moment, n(t) is the contact motion characteristic vector at the tth moment, x(t) is the contact motion characterization signal at the tth moment, Y(T) is the energy entropy at the Tth moment, and C is the preset control deviation.

[0100] It should be noted that the contact motion trajectory position calculated in the present application refers to the speed that changes with time. The horizontal axis can be the time point, the vertical axis can be the speed, and (time point, speed) can be used as the contact motion trajectory position.

[0101] In some embodiments, as time changes, the speed corresponding to the time is continuously calculated to form a contact motion trajectory, that is, the contact motion trajectory positions at various times are connected to form the contact motion trajectory.

[0102] In an embodiment of the present application, a rigorous calculation formula for the contact motion trajectory position is provided from a mathematical perspective. The accuracy of the calculated contact motion trajectory position can be ensured from the rigor of mathematical logic, and the above calculation formula is preferably shown to provide reference, understanding and calculation for technical personnel; in addition, by adopting the above-mentioned calculation formula for the contact motion trajectory position preferably provided in the present application, the contact motion trajectory position can be tracked and predicted more accurately, thereby improving the tracking control accuracy.

[0103] In a feasible implementation, step 110 in the above embodiment, obtaining the contact motion characterization signal at and before the Tth moment, includes: obtaining the contact motion signal of the target circuit breaker; segmenting the contact motion signal according to the moment to obtain the contact motion characterization signal at and before the Tth moment.

[0104] In the embodiment of the present application, by processing the contact motion signal in segments according to time, the motion characteristics of the contact can be analyzed in each time period, thereby avoiding tracking deviations caused by insufficient data at a single time point and improving the analysis accuracy of the contact motion state.

[0105] In a feasible implementation, the method in the above embodiment further includes: adjusting the adaptive signal of the PID control at the Tth moment according to the adaptive output signal at the Tth moment; and adjusting the contact movement control signal of the target circuit breaker at the T+1th moment according to the adaptive signal at the Tth moment.

[0106] The adaptive signal refers to the output signal of the adaptive mechanism of the PID control; the contact movement control signal refers to the control signal for driving the contact movement.

[0107] In an embodiment of the present application, by utilizing an adaptive output signal to dynamically adjust the adaptive signal in the adaptive mechanism of PID control to adjust the contact motion control signal, the PID control can maintain a good tracking control effect under constantly changing working conditions. This dynamic adjustment can reduce control deviations and improve the stability and response speed of the tracking control system.

[0108] In order to better reflect the technical effect brought about by this method of the present application, the present application is explained in conjunction with the simulation diagrams obtained through simulation.

[0109] This application uses ZF10-110 high-voltage vacuum circuit breaker for simulation test. A yellow auxiliary marker is pasted on the contact position of the circuit breaker, and the ink dots on the marker are used as the mark of contact movement to reduce the influence of similar marks on control accuracy. Please refer to Figure 2 , which is a schematic diagram of the contact movement trajectory tracked and controlled during simulation in the embodiment of the present application, please refer to Figure 3 , which is a schematic diagram of the tracking error of the contact motion trajectory tracked and controlled during simulation in an embodiment of the present application.

[0110] Figure 3 In the closed state shown, the contact movement speed (that is, the contact movement trajectory position) begins to slow down after reaching a tracking time of 25 milliseconds, and the speed previously continued to rise. 25 milliseconds is the adaptation node of the tracking control, and 0 to 25 milliseconds is the adaptation stage of the PID control. In the open state, the contact movement speed begins to decrease after reaching a tracking time of 15 milliseconds, and the speed previously also continued to rise. 15 milliseconds is the adaptation node of the tracking control, and 0 to 15 milliseconds is the adaptation stage of the PID control.

[0111] When the tracking time is between 5 and 25 milliseconds, the contact movement speed keeps rising. After exceeding 25 milliseconds, the speed gradually decreases to 0. This tracking control ensures that the contact movement is precisely controlled at an optimal speed and reduces the deviation in the control process. That is, it can be understood that the lower the contact tracking control speed, the higher the control accuracy, thus achieving efficient and precise control of the contact movement.

[0112] Figure 4 The change of the tracking error over time can prove that the tracking control of the present application effectively reduces the deviation in the control process and improves the accuracy and reliability of contact movement tracking.

[0113] In a second aspect, the present application provides a tracking control device for a contact movement trajectory of a circuit breaker.

[0114] See also Figure 4 , is a schematic diagram of a tracking control device for a contact motion trajectory of a circuit breaker in an embodiment of the present application, the device 410 includes:

[0115] An acquisition module 411 is used to acquire a contact motion characterization signal at or before the Tth moment, a contact motion characteristic vector before the Tth moment, and a control deviation signal of a PID-controlled PID controller at the Tth moment;

[0116] A vector determination module 412, configured to determine a contact motion characteristic vector at the Tth moment according to a contact motion characterization signal at and before the Tth moment;

[0117] A signal determination module 413, configured to determine an adaptive output signal of the PID control at the Tth moment according to the contact motion characteristic vector at and before the Tth moment and the contact motion characterization signal at and before the Tth moment;

[0118] A trajectory position determination module 414 is used to determine the contact motion trajectory position of the target circuit breaker at the Tth moment according to the adaptive output signal and the control deviation signal at the Tth moment, the contact motion feature vector at and before the Tth moment, and the contact motion characterization signal at and before the Tth moment;

[0119] Among them, the Tth moment is the current moment.

[0120] In the embodiment of the present application, the relevant contents of the acquisition module 411, the vector determination module 412, the signal determination module 413 and the trajectory position determination module 414 can be referred to in Figure 1 The contents in the illustrated embodiment will not be described in detail here.

[0121] It should be noted that the device 410 of the present application also includes some other modules. It can be understood that the method of the present application and the device 410 have a one-to-one correspondence. Therefore, some other modules of the device 410 of the present application are the contents corresponding to the method of the present application in the above-mentioned embodiment.

[0122] In the embodiment of the present application, by calculating the adaptive output signal, the motion trajectory of the control contact can be tracked more accurately and the tracking control deviation can be reduced. Compared with the nonlinear prediction and MPC methods, it has a better coordinated control effect. Compared with the EKF method, it reduces the dependence on the system model and reduces the identification error. By acquiring the contact motion characterization signal and characteristic vector in real time, as well as the control deviation signal of PID control, the adaptive output signal can be dynamically calculated, thereby overcoming the limitations of GI S-based PID control that relies on experience and trial and error and requires higher computing resources. Therefore, this method of the present application can effectively solve the technical problems existing in the prior art.

[0123] In addition, the present application dynamically calculates the adaptive output signal by combining the real-time acquired contact motion characterization signal and characteristic vector, and the control deviation signal of the PID controller, which can not only improve the accuracy and effect of tracking control, but also simplify the control strategy, improve the response speed and reliability, and enhance its practical application value and wide applicability.

[0124] In a third aspect, the present application further provides a computer-readable storage medium storing a computer program. When the computer program is executed by a processor, the processor executes a method for tracking and controlling the movement trajectory of a contact of a circuit breaker in the above method embodiment.

[0125] In a fourth aspect, the present application further provides a computer device, including a memory and a processor, wherein the memory stores a computer program, and when the computer program is executed by the processor, the processor executes a method for tracking and controlling a contact motion trajectory of a circuit breaker in the above method embodiment.

[0126] Figure 5 The internal structure diagram of a computer device in some embodiments is shown. The computer device may be a terminal, a server, or a gateway. Figure 5 As shown, the computer device includes a processor, a memory and a network interface connected through a system bus.

[0127] The memory includes a non-volatile storage medium and an internal memory. The non-volatile storage medium of the computer device stores an operating system and may also store a computer program. When the computer program is executed by the processor, the processor can implement each step in the above method embodiment. The internal memory may also store a computer program. When the computer program is executed by the processor, the processor can implement each step in the above method embodiment. Those skilled in the art can understand that Figure 5 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.

[0128] A person skilled in the art can understand that all or part of the processes in the above-mentioned embodiment methods can be implemented by instructing related hardware through a computer program. The program can be stored in a non-volatile computer-readable storage medium. When the program is executed, it can include the processes of the embodiments of the above-mentioned methods.

[0129] Among them, any reference to memory, storage, database or other media used in the embodiments provided in the present application may include non-volatile and / or volatile memory. Non-volatile memory may include read-only memory (ROM), programmable ROM (PROM), electrically programmable ROM (EPROM), electrically erasable programmable ROM (EEPROM) or flash memory. Volatile memory may include random access memory (RAM) or external cache memory. As an illustration and not limitation, RAM is available in various forms, such as static RAM (SRAM), dynamic RAM (DRAM), synchronous DRAM (SDRAM), double data rate SDRAM (DDRSDRAM), enhanced SDRAM (ESDRAM), synchronous link (Synch li nk) DRAM (SLDRAM), memory bus (Rambus) direct RAM (RDRAM), direct memory bus dynamic RAM (DRDRAM), and memory bus dynamic RAM (RDRAM).

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

Claims

1. A tracking control method for the contact motion trajectory of a circuit breaker, characterized in that: The method comprises: Acquire a contact motion characterization signal at and before the Tth moment, a contact motion characteristic vector before the Tth moment, and a control deviation signal of a PID controller of a PID control at the Tth moment; Determine the contact motion characteristic vector at the Tth moment according to the contact motion characterization signal at the Tth moment and before the Tth moment; Determining the adaptive output signal of the PID control at the Tth moment according to the contact motion characteristic vector at and before the Tth moment, and the contact motion characterization signal at and before the Tth moment; Determine the contact motion trajectory position of the target circuit breaker at the Tth moment according to the adaptive output signal and the control deviation signal at the Tth moment, the contact motion characteristic vector at and before the Tth moment, and the contact motion characterization signal at and before the Tth moment; Among them, the Tth moment is the current moment.

2. The method according to claim 1, characterized in that The step of determining the contact motion characteristic vector at the Tth moment according to the contact motion characterization signal at and before the Tth moment comprises: Determine the energy entropy at the T moment according to the contact motion characterization signal at and before the T moment; The contact motion characteristic vector at the Tth moment is determined according to the energy entropy at the Tth moment and the contact motion characterization signal at the Tth moment.

3. The method according to claim 2, characterized in that The step of determining the energy entropy at the Tth moment according to the contact motion characterization signal at and before the Tth moment comprises: Using the formula Determine the energy entropy at time T; Among them, Y(T) is the energy entropy at the Tth moment, and x(t) is the contact motion characterization signal at the tth moment.

4. The method according to claim 2, characterized in that: The step of determining the contact motion characteristic vector at the Tth moment according to the energy entropy at the Tth moment and the contact motion characterization signal at the Tth moment comprises: Using the formula Determine the contact motion characteristic vector at the Tth moment; Among them, n(T) is the contact motion characteristic vector at the Tth moment, x(T) is the contact motion characterization signal at the Tth moment, and Y(T) is the energy entropy at the Tth moment.

5. The method according to claim 1, characterized in that The method of determining the adaptive output signal of the PID control at the Tth moment according to the contact motion characteristic vector at and before the Tth moment and the contact motion characterization signal at and before the Tth moment includes: Obtaining the associated control signal output by the differential control module of the PID control at time T-1, and the proportional coefficient of the PID control; The adaptive output signal at the Tth moment is determined according to the associated control signal at the T-1th moment, the proportional coefficient, the contact motion characteristic vector at the Tth moment and before the Tth moment, and the contact motion characterization signal at the Tth moment and before the Tth moment.

6. The method according to claim 5, characterized in that The step of determining the adaptive output signal at the Tth moment according to the associated control signal at the T-1th moment, the proportional coefficient, the contact motion feature vector at the Tth moment and before the Tth moment, and the contact motion characterization signal at the Tth moment and before the Tth moment comprises: Using the formula Determine the adaptive output signal at time T; Among them, M(T) is the adaptive output signal at the Tth moment, v(T-1) is the associated control signal at the T-1th moment, K is the proportional coefficient, n(t) is the contact motion characteristic vector at the tth moment, and x(t) is the contact motion characterization signal at the tth moment.

7. The method according to claim 2, characterized in that The step of determining the contact motion trajectory position of the target circuit breaker at the T+1th moment according to the adaptive output signal and the control deviation signal at the Tth moment, the contact motion feature vector at and before the Tth moment, and the contact motion characterization signal at and before the Tth moment includes: Obtaining a preset control deviation of the PID control; The contact motion trajectory position at the T+1th moment is determined according to the preset control deviation, the energy entropy at the Tth moment, the adaptive output signal and the control deviation signal at the Tth moment, the contact motion characteristic vector at the Tth moment and before the Tth moment, and the contact motion characterization signal at the Tth moment and before the Tth moment.

8. The method according to claim 7, characterized in that The method of determining the contact motion trajectory position at the T+1th moment according to the preset control deviation, the energy entropy at the Tth moment, the adaptive output signal and the control deviation signal at the Tth moment, the contact motion feature vector at and before the Tth moment, and the contact motion characterization signal at and before the Tth moment includes: Using the formula Determine the contact movement trajectory position at the T+1th moment; Among them, η(T) is the contact motion trajectory position at the Tth moment, ε(T) is the control deviation signal at the Tth moment, M(T) is the adaptive output signal at the Tth moment, n(t) is the contact motion characteristic vector at the tth moment, x(t) is the contact motion characterization signal at the tth moment, Y(T) is the energy entropy at the Tth moment, and C is the preset control deviation.

9. The method according to claim 1, characterized in that: The step of obtaining the contact motion characterization signal at or before the Tth moment includes: Acquiring a contact movement signal of the target circuit breaker; The contact motion signal is processed in sections according to time to obtain a contact motion characterization signal at the Tth time and before the Tth time.

10. The method according to claim 1, characterized in that The method further comprises: adjusting the adaptive signal of the PID control at the Tth moment according to the adaptive output signal at the Tth moment; The contact movement control signal of the target circuit breaker at the T+1th moment is adjusted according to the adaptive signal at the Tth moment.

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