Counter-force observation method and system for bistable permanent magnet circuit breaker
Through the method of combining neural network and sliding mode variable structure algorithm, a sliding mode reaction force observation model is constructed, solving the problem of difficult to obtain the reaction force parameters of bistable permanent magnet circuit breakers, and achieving high-precision reaction force observation and control.
Patent Information
- Application Number
- CN202411799117.0
- Authority / Receiving Office
- CN · China
- Patent Type
- Applications(China)
- Current Assignee / Owner
- Filing Date
- 2024-12-09
- Publication Date
- 2025-04-04
AI Technical Summary
The reaction force parameters of bistable permanent magnet circuit breakers are difficult to obtain, and traditional direct measurement methods are not applicable, resulting in a decrease in control accuracy.
A neural network is used to combine a static finite element simulation data collector to build a suction parameter observer, a mechanical motion sub-model is constructed based on a sliding mode variable structure algorithm, and a sliding mode controller with an exponential approach law function is combined to build a sliding mode reaction force observation model.
Accurate observation and calculation of the reaction force of the bistable permanent magnet circuit breaker is achieved, control accuracy is improved, and the vibration and robustness of the system are reduced.
Smart Images
Figure CN119758714A_ABST
Abstract
Description
Technical Field
[0001] The present invention relates to the field of electrical control technology, and in particular to a reaction force observation method and system for a bistable permanent magnet circuit breaker. Background Art
[0002] In the control strategy of electromagnetic switches, setting reference curves for specific mechanism parameters and accurately tracking and controlling them is an important method to improve system performance. Since process parameters such as magnetic flux and suction and reaction force during the mechanism action are difficult to measure directly, using observers to track and control these real-time electromechanical parameters can achieve more accurate control of the electromagnetic mechanism action. A large number of scholars have used voltage closed-loop chopping and current flow slope outer loop control to achieve intelligent control of the operating mechanism. By tracking and controlling the coil current feedback, it has functions such as closed-loop DC starting, closed-loop DC holding, and voltage drop resistance, and realizes full-process dynamic control of the AC contactor. However, these methods do not directly use the suction and reaction force that determines the displacement change of the moving iron core as a control reference. When the mechanism coil current becomes 0, the above intelligent control scheme will not work.
[0003] In the operating mechanism of the switch, the spring reaction force greatly affects the performance of the entire switch. The reaction force characteristics of the circuit breaker operating mechanism are complex. It is composed of multiple reaction springs and disc springs through the action of levers and buffer devices, and the reaction force curve is nonlinear. The reaction force mechanism is difficult to disassemble, and its spring force exceeding 1000N also increases the difficulty of direct measurement. These reasons make it difficult to obtain the reaction force parameters of the bistable permanent magnet circuit breaker, and the traditional direct measurement method is not applicable here. Summary of the invention
[0004] In order to solve the above problems existing in the prior art, the present invention proposes a reaction force observation method and system for a bistable permanent magnetic circuit breaker.
[0005] The technical solution of the present invention is as follows:
[0006] On the one hand, the present invention provides a reaction force observation method of a bistable permanent magnetic circuit breaker, and the specific steps include:
[0007] A suction parameter observer is built by using a neural network combined with a static finite element simulation data collector, a mechanical motion sub-model is constructed based on a sliding mode variable structure algorithm, and a sliding mode reaction force observation model is constructed by combining a sliding mode controller based on an exponential reaching law function.
[0008] The closing coil current, opening coil current and moving iron core displacement of the first sampling point of the bistable permanent magnet operating mechanism are collected by using the suction parameter observer, and the instantaneous suction at this moment is calculated by using the neural network.
[0009] The deviation is calculated by using the displacement of the first sampling point of the bistable permanent magnetic actuator and the initial displacement of the moving iron core, the sliding mode parameters are calculated based on the instantaneous suction force and the deviation, and then the sliding mode parameters are input into the sliding mode controller to calculate the reaction force of the bistable permanent magnetic actuator;
[0010] The suction parameter observer is used again to collect the closing coil current, opening coil current and moving iron core displacement at the second sampling point when the bistable permanent magnetic operating mechanism is in motion, and the instantaneous suction force and mechanism reaction force calculated at the first sampling point are input into the mechanical motion sub-model to calculate the theoretical displacement of the moving iron core, and the new deviation is calculated using the theoretical displacement at the first sampling point and the moving iron core displacement at the second sampling point.
[0011] Calculating new sliding mode parameters using the new deviation at the second sampling point, and inputting the new sliding mode parameters into the sliding mode controller again to calculate the reaction force of the bistable permanent magnetic actuator at the second sampling point;
[0012] The steps at the second sampling point are repeated until a preset sampling period, and the mechanism reaction force at each displacement of the moving iron core in the bistable permanent magnetic actuator is obtained.
[0013] As a preferred implementation, the static finite element simulation data collector is a collection module based on a permanent magnetic actuator body.
[0014] As a preferred implementation, the mechanical motion sub-model constructed based on the sliding mode variable structure algorithm is specifically as follows:
[0015] The sliding mode system is constructed based on the mechanical motion equation. The specific formula is as follows:
[0016]
[0017] Where, m is the mass of the moving iron part in the bistable permanent magnet actuator; F x is the electromagnetic force including the permanent magnetic force, F f To counteract the organization;
[0018] And design the sliding mode function, the specific calculation formula is as follows:
[0019]
[0020] In the formula, c is the coefficient, e(t) and is the tracking error function and its derivative. The specific calculation formula is as follows:
[0021]
[0022] Where x(t) is the tracking displacement of the sliding mode system, x d (t) is the ideal displacement;
[0023] Substitute the derivative of the tracking error function and its second-order derivative into the sliding mode function to obtain the state equation of the sliding mode function:
[0024]
[0025] Define the Lyapunov function:
[0026]
[0027] Where s is the sliding mode function.
[0028] As a preferred implementation, the sliding mode controller based on the exponential reaching law function is specifically:
[0029] The exponential reaching law formula is as follows:
[0030]
[0031] In the formula, is the exponential approach term;
[0032] The sliding mode controller based on the exponential reaching law formula is as follows:
[0033]
[0034] In the formula, is the derivative of the tracking displacement of the sliding mode system, is the derivative of the ideal displacement.
[0035] On the other hand, the present invention provides a reaction force observation system for a bistable permanent magnetic circuit breaker, comprising:
[0036] A suction parameter observation module is built by using a neural network combined with a static finite element simulation data collector, a mechanical motion submodule is constructed based on a sliding mode variable structure algorithm, and a sliding mode controller module is constructed based on an exponential reaching law function;
[0037] The suction parameter observation module is used to collect the closing coil current, opening coil current and moving iron core displacement of the first sampling point when the bistable permanent magnetic operating mechanism is in motion, and the instantaneous suction at this moment is calculated through the neural network.
[0038] The sliding mode controller module is used to calculate the reaction force of the bistable permanent magnetic actuator at the first sampling point;
[0039] The mechanical motion submodule is used to calculate the theoretical displacement of the moving iron core, and a new deviation is calculated based on the theoretical displacement of the moving iron core;
[0040] Using the new deviation to calculate new sliding mode parameters, the new sliding mode parameters are input into the sliding mode controller module again to calculate the reaction force of the bistable permanent magnetic actuator at the second sampling point;
[0041] The steps at the second sampling point are repeated until a preset sampling period, and the mechanism reaction force at each displacement of the moving iron core in the bistable permanent magnetic actuator is obtained.
[0042] As a preferred implementation, the static finite element simulation data collector is a collection module based on a permanent magnetic actuator body.
[0043] As a preferred implementation, the mechanical motion sub-model constructed based on the sliding mode variable structure algorithm is specifically as follows:
[0044] The sliding mode system is constructed based on the mechanical motion equation. The specific formula is as follows:
[0045]
[0046] Where, m is the mass of the moving iron part in the bistable permanent magnet actuator; F x is the electromagnetic force including the permanent magnetic force, F f To counteract the organization;
[0047] And design the sliding mode function, the specific calculation formula is as follows:
[0048]
[0049] In the formula, c is the coefficient, e(t) and is the tracking error function and its derivative. The specific calculation formula is as follows:
[0050]
[0051] Where x(t) is the tracking displacement of the sliding mode system, x d (t) is the ideal displacement;
[0052] Substitute the derivative of the tracking error function and its second-order derivative into the sliding mode function to obtain the state equation of the sliding mode function:
[0053]
[0054] Define the Lyapunov function:
[0055]
[0056] Where s is the sliding mode function.
[0057] As a preferred implementation, the sliding mode controller based on the exponential reaching law function is specifically:
[0058] The exponential reaching law formula is as follows:
[0059]
[0060] In the formula, is the exponential approach term;
[0061] The sliding mode controller based on the exponential reaching law formula is as follows:
[0062]
[0063] In the formula, is the derivative of the tracking displacement of the sliding mode system, is the derivative of the ideal displacement.
[0064] On the other hand, the present invention proposes an electronic device, comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein when the processor executes the program, a reaction force observation method for a bistable permanent magnet circuit breaker as described in any embodiment of the present invention is implemented.
[0065] On the other hand, the present invention provides a computer-readable storage medium having a computer program stored thereon, which, when executed by a processor, implements a reaction force observation method for a bistable permanent magnetic circuit breaker described in any embodiment of the present invention.
[0066] The present invention has the following beneficial effects:
[0067] 1. The reaction force observer of the present invention uses an error reverse iteration method consistent with the neural network. When the mechanism is in a static state, the actual displacement input is used as a reference value, and the difference between it and the calculated displacement at the previous moment is 0; when the movement starts, the deviation is not 0, and its partial derivative is exactly the direction of displacement tracking, that is, the direction of reaction force change. Due to the inertia of the system, the partial derivative cannot increase all the time, which makes the output F f Fluctuate up and down to adjust the partial derivative parameters.
[0068] 2. The present invention adds a quasi-sliding mode controller to adjust the F within a certain range of fluctuations. f The neighborhood changes with the electromechanical parameters and the chattering is reduced in time.
[0069] 3. The reaction force calculation model of the present invention is only affected by the input electromechanical parameters during operation and has good robustness. BRIEF DESCRIPTION OF THE DRAWINGS
[0070] Figure 1 is a flow chart of the steps of the present invention;
[0071] Figure 2 This is the structural principle diagram of the sliding reaction force observation model. DETAILED DESCRIPTION
[0072] 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.
[0073] It should be understood that the step numbers used in this document are only for convenience of description and are not intended to limit the order in which the steps are executed.
[0074] It should be understood that the terms used in the present specification are only for the purpose of describing specific embodiments and are not intended to limit the present invention. As used in the present specification and the appended claims, unless the context clearly indicates otherwise, the singular forms "a", "an" and "the" are intended to include plural forms.
[0075] The terms “include” and “comprising” indicate the presence of described features, integers, steps, operations, elements and / or components, but do not exclude the presence or addition of one or more other features, integers, steps, operations, elements, components and / or combinations thereof.
[0076] The term "and / or" means and includes any and all possible combinations of one or more of the associated listed items.
[0077] Embodiment 1:
[0078] See also Figure 1 , a reaction force observation method for a bistable permanent magnetic circuit breaker, the specific steps comprising:
[0079] A suction parameter observer is built by using a neural network combined with a static finite element simulation data collector, a mechanical motion sub-model is constructed based on a sliding mode variable structure algorithm, and a sliding mode reaction force observation model is constructed by combining a sliding mode controller based on an exponential reaching law function.
[0080] The closing coil current, opening coil current and moving iron core displacement of the first sampling point of the bistable permanent magnet operating mechanism are collected by using the suction parameter observer, and the instantaneous suction at this moment is calculated by using the neural network.
[0081] The deviation is calculated by using the displacement of the first sampling point of the bistable permanent magnetic actuator and the initial displacement of the moving iron core, the sliding mode parameters are calculated based on the instantaneous suction force and the deviation, and then the sliding mode parameters are input into the sliding mode controller to calculate the reaction force of the bistable permanent magnetic actuator;
[0082] The suction parameter observer is used again to collect the closing coil current, opening coil current and moving iron core displacement at the second sampling point when the bistable permanent magnetic operating mechanism is in motion, and the instantaneous suction force and mechanism reaction force calculated at the first sampling point are input into the mechanical motion sub-model to calculate the theoretical displacement of the moving iron core, and the new deviation is calculated using the theoretical displacement at the first sampling point and the moving iron core displacement at the second sampling point.
[0083] Calculating new sliding mode parameters using the new deviation at the second sampling point, and inputting the new sliding mode parameters into the sliding mode controller again to calculate the reaction force of the bistable permanent magnetic actuator at the second sampling point;
[0084] The steps at the second sampling point are repeated until a preset sampling period, and the mechanism reaction force at each displacement of the moving iron core in the bistable permanent magnetic actuator is obtained.
[0085] In this embodiment, the structural principle diagram of the sliding reaction force observation model is as follows: Figure 2 As shown in the figure, based on the structural principle diagram, the specific operation steps of the sliding reaction force observation model are as follows:
[0086] The sliding mode reaction force observation first needs to collect the closing coil current i when the bistable permanent magnetic actuator moves. coil2 , opening coil current i coil1 and the motion curve of the moving iron core displacement x, and input the reaction force calculation model in the order of data acquisition. Assume that the current time is t0, and the current of the permanent magnet mechanism opening coil at this time is i 10 , the closing coil current is i 20 , the displacement of the moving iron core is x d0 The data is first passed through the neural network suction observation model to obtain the instantaneous suction F at that moment x0 . Displace x d0 The difference between the displacement x and the initial value is used to obtain the deviation e. d0 Perform double differential calculation to obtain the second-order partial differential of displacement with respect to sampling time t Differentiation with deviation e The sliding mode controller is input together. In this way, the sliding mode controller has obtained the second-order partial differential of displacement Numerical differentiation of displacement deviation and suction force F x0 data.
[0087] From the sliding mode function, we can see that the displacement deviation value e and its differential Calculate the sliding mode parameter s. After the sliding mode parameter is input into the sliding mode controller, the controller calculates the mechanism reaction force F at that moment f .
[0088] At this time, the first round of calculation is completed, and the calculation model inputs the next sampling point data i in chronological order 11 、i 21 and x d1 Before the neural network suction observer outputs the second round of calculation results, the suction F of the previous round x0 Entering the closed-loop program, the reaction force calculation result F obtained by the first round of calculation is f , enter the mechanical motion sub-model together, and obtain the theoretical displacement x0 of the model under the reaction force parameter, and compare it with the input second round actual sampling displacement x d1 After subtraction, the new deviation e1 is obtained, which is differentiated with respect to the sampling time t and replaced with the initial value Complete a full iteration cycle.
[0089] The calculation is repeated continuously within a sampling period to obtain the mechanism reaction force F within the entire sampling period. f .
[0090] As a preferred implementation of this embodiment, the static finite element simulation data collector is a collection module based on the permanent magnetic actuator body.
[0091] As a preferred implementation of this embodiment, the construction of the mechanical motion sub-model based on the sliding mode variable structure algorithm is specifically as follows:
[0092] The sliding mode system is constructed based on the mechanical motion equation. The specific formula is as follows:
[0093]
[0094] Where, m is the mass of the moving iron part in the bistable permanent magnet actuator; F x is the electromagnetic force including the permanent magnetic force, F f To counteract the organization;
[0095] And design the sliding mode function, the specific calculation formula is as follows:
[0096]
[0097] In the formula, c is the coefficient, e(t) and is the tracking error function and its derivative. The specific calculation formula is as follows:
[0098]
[0099] Where x(t) is the tracking displacement of the sliding mode system, x d (t) is the ideal displacement;
[0100] Substitute the derivative of the tracking error function and its second-order derivative into the sliding mode function to obtain the state equation of the sliding mode function:
[0101]
[0102] Define the Lyapunov function:
[0103]
[0104] Where s is the sliding mode function.
[0105] In this embodiment, according to the basic principle of synovial variable structure, the state equation of the system is constructed using the mechanical motion equation of the moving iron core. Since the double differential of the moving iron core displacement with respect to time is the mechanism suction reaction force F x 、F f is a function of mass m, and the suction force F of the permanent magnet mechanism x It can be calculated by the suction observer. If the moving point of the sliding system always moves near the sliding surface after satisfying the sliding condition, the resultant force of the mechanism motion can be obtained by double differential of the trajectory of the moving point, and then the clamping mechanism reaction force F f .
[0106] To design a sliding mode variable structure control model, we first need to construct a switching surface. Since the bistable permanent magnetic actuator satisfies the mechanical motion equation during the action process:
[0107]
[0108] In the formula, F x is the electromagnetic force including the permanent magnetic force, F f is the reaction force of the mechanism, m is the mass of the movable part, and x is the displacement of the moving iron core. The mass of the movable part m can be calculated through the geometric dimensions of the electromagnetic mechanism.
[0109] Taking the mechanical motion equation as the system state equation and the second-order partial derivative of the moving iron core displacement x with respect to time as the switching surface of the state space, the sliding mode system is constructed as shown in the following equation.
[0110]
[0111] Where m is the mass of the moving part; F x is the electromagnetic force including the permanent magnetic force, F f For the reaction force of the organization.
[0112] The sliding mode function is designed as:
[0113]
[0114] Where c is greater than 0, satisfying the Hurwitz condition. e(t) and is the tracking error function and its derivative:
[0115]
[0116] Where x(t) is the tracking displacement of the sliding mode system, x d (t) is the ideal displacement, that is, the actual displacement of the mechanism. Then the state equation is:
[0117]
[0118] Define the Lyapunov function as:
[0119]
[0120] From the requirements of reachability and existence conditions, it can be seen that the Lyapunov function must satisfy V<0.
[0121] As a preferred implementation of this embodiment, the sliding mode controller based on the exponential reaching law function is specifically:
[0122] The exponential reaching law formula is as follows:
[0123]
[0124] In the formula, is the exponential approach term;
[0125] The sliding mode controller based on the exponential reaching law formula is as follows:
[0126]
[0127] In the formula, is the derivative of the tracking displacement of the sliding mode system, is the derivative of the ideal displacement.
[0128] In this embodiment, in order to limit the trajectory of the approaching motion of the moving point to meet the stability condition, this study uses the sliding mode control of the approaching law to improve the dynamic quality of the approaching motion.
[0129] The sliding mode motion process includes the approaching motion process and the sliding mode motion process. When the system motion point moves from 0 to the sliding surface, the process is called approaching motion. The selection of the optimal approaching law is conducive to improving the trajectory of the approaching motion and shortening the approaching motion time. The approaching law mainly includes constant speed approaching rate, exponential approaching law, power approaching law and general approaching law. Since there is a step response in the process of obtaining the reaction force, this study uses the exponential approaching law for sliding mode control. The approaching law formula is as follows:
[0130]
[0131] In the formula, is an exponential approach.
[0132] At this time there is
[0133]
[0134] For the above formula, when f=0, the solution is:
[0135]
[0136] V(t) converges to zero exponentially. According to the LaSalle invariance principle, the closed-loop system is asymptotically stable. When t→∞, s→∞, and the convergence speed depends on k. At this time, the stability condition of the sliding mode is satisfied and the state equation converges. Substituting the exponential reaching law formula into the state equation of the sliding mode function, it can be deduced that:
[0137]
[0138] Then the sliding mode controller based on the exponential reaching law is:
[0139]
[0140] Embodiment 2:
[0141] A reaction force observation system for a bistable permanent magnetic circuit breaker, comprising:
[0142] A suction parameter observation module is built by using a neural network combined with a static finite element simulation data collector, a mechanical motion submodule is constructed based on a sliding mode variable structure algorithm, and a sliding mode controller module is constructed based on an exponential reaching law function;
[0143] The suction parameter observation module is used to collect the closing coil current, opening coil current and moving iron core displacement of the first sampling point when the bistable permanent magnetic operating mechanism is in motion, and the instantaneous suction at this moment is calculated through the neural network.
[0144] The sliding mode controller module is used to calculate the reaction force of the bistable permanent magnetic actuator at the first sampling point;
[0145] The mechanical motion submodule is used to calculate the theoretical displacement of the moving iron core, and a new deviation is calculated based on the theoretical displacement of the moving iron core;
[0146] Using the new deviation to calculate new sliding mode parameters, the new sliding mode parameters are input into the sliding mode controller module again to calculate the reaction force of the bistable permanent magnetic actuator at the second sampling point;
[0147] The steps at the second sampling point are repeated until a preset sampling period, and the mechanism reaction force at each displacement of the moving iron core in the bistable permanent magnetic actuator is obtained.
[0148] As a preferred implementation of this embodiment, the static finite element simulation data collector is a collection module based on the permanent magnetic actuator body.
[0149] As a preferred implementation of this embodiment, the construction of the mechanical motion sub-model based on the sliding mode variable structure algorithm is specifically as follows:
[0150] The sliding mode system is constructed based on the mechanical motion equation. The specific formula is as follows:
[0151]
[0152] Where m is the mass of the moving part of the moving iron core in the bistable permanent magnet actuator; F x is the electromagnetic force including the permanent magnetic force, F f To counteract the organization;
[0153] And design the sliding mode function, the specific calculation formula is as follows:
[0154]
[0155] In the formula, c is the coefficient, e(t) and is the tracking error function and its derivative. The specific calculation formula is as follows:
[0156]
[0157] Where x(t) is the tracking displacement of the sliding mode system, x d (t) is the ideal displacement;
[0158] Substitute the derivative of the tracking error function and its second-order derivative into the sliding mode function to obtain the state equation of the sliding mode function:
[0159]
[0160] Define the Lyapunov function:
[0161]
[0162] Where s is the sliding mode function.
[0163] As a preferred implementation of this embodiment, the sliding mode controller based on the exponential reaching law function is specifically:
[0164] The exponential reaching law formula is as follows:
[0165]
[0166] In the formula, is the exponential approach term;
[0167] The sliding mode controller based on the exponential reaching law formula is as follows:
[0168]
[0169] In the formula, is the derivative of the tracking displacement of the sliding mode system, is the derivative of the ideal displacement.
[0170] The above descriptions are merely embodiments of the present invention and are not intended to limit the patent scope of the present invention. Any equivalent structure or equivalent process transformation made using the contents of the present invention specification and drawings, or directly or indirectly applied in other related technical fields, are also included in the patent protection scope of the present invention.
Claims
1. A reaction force observation method for a bistable permanent magnetic circuit breaker, characterized in that: The specific steps include: A suction parameter observer is built by using a neural network combined with a static finite element simulation data collector, a mechanical motion sub-model is constructed based on a sliding mode variable structure algorithm, and a sliding mode reaction force observation model is constructed by combining a sliding mode controller based on an exponential reaching law function. The closing coil current, opening coil current and moving iron core displacement of the first sampling point of the bistable permanent magnet operating mechanism are collected by using the suction parameter observer, and the instantaneous suction at this moment is calculated by using the neural network. The deviation is calculated by using the displacement of the first sampling point of the bistable permanent magnetic actuator and the initial displacement of the moving iron core, the sliding mode parameters are calculated based on the instantaneous suction force and the deviation, and then the sliding mode parameters are input into the sliding mode controller to calculate the reaction force of the bistable permanent magnetic actuator; The suction parameter observer is used again to collect the closing coil current, opening coil current and moving iron core displacement at the second sampling point when the bistable permanent magnetic operating mechanism is in motion, and the instantaneous suction force and mechanism reaction force calculated at the first sampling point are input into the mechanical motion sub-model to calculate the theoretical displacement of the moving iron core, and the new deviation is calculated using the theoretical displacement at the first sampling point and the moving iron core displacement at the second sampling point. Calculating new sliding mode parameters using the new deviation at the second sampling point, and inputting the new sliding mode parameters into the sliding mode controller again to calculate the reaction force of the bistable permanent magnetic actuator at the second sampling point; The steps at the second sampling point are repeated until a preset sampling period, and the mechanism reaction force at each displacement of the moving iron core in the bistable permanent magnetic actuator is obtained.
2. The reaction force observation method of a bistable permanent magnetic circuit breaker according to claim 1, characterized in that: The static finite element simulation data collector is a collection module based on the permanent magnetic actuator body.
3. The reaction force observation method of a bistable permanent magnetic circuit breaker according to claim 1, characterized in that: The mechanical motion sub-model constructed based on the sliding mode variable structure algorithm is specifically as follows: The sliding mode system is constructed based on the mechanical motion equation. The specific formula is as follows: Where, m is the mass of the moving iron part in the bistable permanent magnet actuator; F x is the electromagnetic force including the permanent magnetic force, F f To counteract the organization; And design the sliding mode function, the specific calculation formula is as follows: In the formula, c is the coefficient, e(t) and is the tracking error function and its derivative. The specific calculation formula is as follows: Where x(t) is the tracking displacement of the sliding mode system, x d (t) is the ideal displacement; Substitute the derivative of the tracking error function and its second-order derivative into the sliding mode function to obtain the state equation of the sliding mode function: Define the Lyapunov function: Where s is the sliding mode function.
4. The reaction force observation method of a bistable permanent magnetic circuit breaker according to claim 1, characterized in that: The sliding mode controller based on the exponential reaching law function is specifically: The exponential reaching law formula is as follows: In the formula, is the exponential approach term; The sliding mode controller based on the exponential reaching law formula is as follows: In the formula, is the derivative of the tracking displacement of the sliding mode system, is the derivative of the ideal displacement.
5. A reaction force observation system for a bistable permanent magnetic circuit breaker, characterized in that: include: A suction parameter observation module is built by using a neural network combined with a static finite element simulation data collector, a mechanical motion submodule is constructed based on a sliding mode variable structure algorithm, and a sliding mode controller module is constructed based on an exponential reaching law function; The suction parameter observation module is used to collect the closing coil current, opening coil current and moving iron core displacement of the first sampling point when the bistable permanent magnetic operating mechanism is in motion, and the instantaneous suction at this moment is calculated through the neural network. The sliding mode controller module is used to calculate the reaction force of the bistable permanent magnetic actuator at the first sampling point; The mechanical motion submodule is used to calculate the theoretical displacement of the moving iron core, and a new deviation is calculated based on the theoretical displacement of the moving iron core; Using the new deviation to calculate new sliding mode parameters, the new sliding mode parameters are input into the sliding mode controller module again to calculate the reaction force of the bistable permanent magnetic actuator at the second sampling point; The steps at the second sampling point are repeated until a preset sampling period, and the mechanism reaction force at each displacement of the moving iron core in the bistable permanent magnetic actuator is obtained.
6. The reaction force observation system of a bistable permanent magnetic circuit breaker according to claim 5, characterized in that: The static finite element simulation data collector is a collection module based on the permanent magnetic actuator body.
7. The reaction force observation system of a bistable permanent magnetic circuit breaker according to claim 5, characterized in that: The mechanical motion sub-model constructed based on the sliding mode variable structure algorithm is specifically as follows: The sliding mode system is constructed based on the mechanical motion equation. The specific formula is as follows: Where, m is the mass of the moving iron part in the bistable permanent magnet actuator; F x is the electromagnetic force including the permanent magnetic force, F f To counteract the organization; And design the sliding mode function, the specific calculation formula is as follows: In the formula, c is the coefficient, e(t) and is the tracking error function and its derivative. The specific calculation formula is as follows: Where x(t) is the tracking displacement of the sliding mode system, x d (t) is the ideal displacement; Substitute the derivative of the tracking error function and its second-order derivative into the sliding mode function to obtain the state equation of the sliding mode function: Define the Lyapunov function: Where s is the sliding mode function.
8. The reaction force observation system of a bistable permanent magnetic circuit breaker according to claim 1, characterized in that: The sliding mode controller based on the exponential reaching law function is specifically: The exponential reaching law formula is as follows: In the formula, is the exponential approach term; The sliding mode controller based on the exponential reaching law formula is as follows: In the formula, is the derivative of the tracking displacement of the sliding mode system, is the derivative of the ideal displacement.
9. An electronic device comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, characterized in that: When the processor executes the program, a reaction force observation method for a bistable permanent magnetic circuit breaker as claimed in any one of claims 1 to 4 is implemented.
10. A computer-readable storage medium having a computer program stored thereon, characterized in that: When the program is executed by a processor, a reaction force observation method for a bistable permanent magnetic circuit breaker as claimed in any one of claims 1 to 4 is implemented.