Devices, control methods, and parameter setting methods for the motor operating mechanism of switchgear.

Abstract

This invention discloses a device, control method, and parameter tuning method for a switchgear motor operating mechanism. The switchgear motor operating mechanism includes a motor, a transmission mechanism, a controller, an inverter unit, a drive unit, a detection unit, a power supply circuit, and a host computer. The controller is a DSP processor that processes data collected by the detection unit, executes a three-loop PI control algorithm, and outputs a PWM signal to the drive unit. The drive unit controls the inverter unit, which converts the DC power from the power supply circuit into three-phase AC power to drive the motor. The host computer is communicatively connected to the controller, monitoring the motor status in real time, adjusting control parameters, and displaying real-time data. This invention, through a three-loop control algorithm and particle swarm optimization, significantly improves the control accuracy, intelligence level, and debugging efficiency of the high-voltage circuit breaker operating mechanism, effectively reducing the workload of debugging personnel and solving problems such as insufficient dynamic adjustment, parameter rigidity, and manual dependence in existing technologies.

Description

Technical Field

[0001] This invention relates to switchgear for power systems, and more particularly to a device, control method, and parameter setting method for a motor operating mechanism of a switchgear. Background Technology

[0002] With the development of smart grid technology, power systems are placing increasingly higher demands on the stability, reliability, and intelligence of high-voltage switchgear. Among these, high-voltage three-position switches and circuit breakers are crucial switchgear in power systems, serving to protect and control circuits.

[0003] The opening and closing operations of switchgear are completed by the operating mechanism driving the moving contacts. The transmission mechanism of the motor operating mechanism is simple, and the motor has strong controllability. Through the control algorithm, it can move according to the set motion curve, reducing the collision force of the contacts and increasing the mechanical life of the switchgear.

[0004] Application number CN201710817179.3 discloses a control system and method for a high-voltage circuit breaker motor operating mechanism. The control system includes an energy storage capacitor module, an IGBT module, a detection circuit module, an isolation drive module, a control circuit module, and a monitoring module. The control method divides the motor control into three stages: a starting stage, a constant speed stage, and a buffer stage. Segmented control is achieved by modifying the displacement setpoint at each stage. However, this high-voltage circuit breaker motor operating mechanism control system and method employs segmented control logic (starting / constant speed / buffering stages), relying on simple displacement setpoint adjustments. This results in insufficient control accuracy, high contact collision force, and short mechanical life. Furthermore, parameter adjustments rely on manual experience. Given the numerous parameters of the motor controller, manual parameter adjustments require significant time, leading to low efficiency and limited accuracy. Summary of the Invention

[0005] The technical problem to be solved by the present invention is to provide a device for a motor operating mechanism of a switching device with good control accuracy and fast response speed.

[0006] Another technical problem to be solved by the present invention is to provide a control method for the motor operating mechanism of a switching device with good control accuracy and fast response speed.

[0007] Another technical problem to be solved by the present invention is to provide a parameter tuning method that has high debugging efficiency and can improve the control accuracy of the motor operating mechanism of switching equipment.

[0008] To solve the above-mentioned technical problems, the technical solution adopted by the present invention is a device for a motor operating mechanism of a switching device, comprising a motor, a transmission mechanism, a controller, an inverter unit, a drive unit, a detection unit, a power supply circuit, and a host computer.

[0009] The motor is a permanent magnet synchronous motor, whose rotor shaft is connected to the transmission mechanism. When the motor rotates, it drives the transmission mechanism to move, and the transmission mechanism pushes the moving end of the switching equipment to realize the opening and closing action.

[0010] The controller is a DSP processor that processes the data collected by the detection unit, executes the three-loop PI control algorithm, and outputs a PWM signal to the drive unit.

[0011] The inverter unit converts the DC power from the power supply circuit into three-phase AC power to drive the motor;

[0012] The drive unit controls the inverter unit;

[0013] The detection unit collects the motor's current, position, and rotation angle signals;

[0014] The host computer is connected to the controller to monitor the motor status, adjust control parameters, and display real-time data.

[0015] The power supply circuit provides power to the controller, drive unit, and detection unit.

[0016] The aforementioned device for the motor operating mechanism of the switchgear includes a communication unit. The power supply circuit includes a rectifier unit, an energy storage capacitor, and a power supply unit. The power supply unit includes a low-voltage DC power supply and an AC power supply. The low-voltage DC power supply powers the controller, drive unit, and detection unit. The AC power supply is converted to DC power by the rectifier unit to charge the energy storage capacitor. The inverter unit uses a three-phase bridge inverter circuit, with each bridge arm including an IGBT and a buffer circuit. The detection unit includes a current sensor, a position sensor, an encoder, and a signal processing circuit. The current sensor is installed in the three-phase coils of the permanent magnet synchronous motor to detect the three-phase current of the permanent magnet synchronous motor. The position sensor is installed in the switchgear... The moving contact position is detected, and the displacement of the moving contact is measured. The encoder detects the mechanical rotation angle of the motor. The signal processing circuit limits the output voltage of the sensor and encoder to the acceptable voltage range of the controller. The host computer displays the current motor displacement, speed, and stroke curve settings through a human-machine interface, and establishes communication with the controller through a communication unit. The host computer sends commands to the controller to control the motor rotation. The controller transmits sampling data, motor parameters, and controller parameters to the host computer. The host computer optimizes the obtained data and the set stroke data to obtain the optimized trajectory and PI parameters, and transmits the optimized trajectory and PI parameters to the controller. The communication unit establishes communication between the controller and the host computer.

[0017] A control method for the motor operating mechanism of the above-mentioned switchgear includes the following steps:

[0018] 301) Obtain the preset optimal speed curve and PI parameters;

[0019] 302) Collect the three-phase current values, rotor position, and speed signals of the permanent magnet synchronous motor;

[0020] 303) The processor calculates the control voltages of the d-axis and q-axis based on the collected data using the PI three-loop control algorithm, and generates PWM signals through coordinate transformation and SVPWM algorithm; in the PI three-loop control algorithm, the position loop is P control, and the speed loop and current loop are PI control;

[0021] 304) The inverter unit is controlled by the drive unit to drive the permanent magnet synchronous motor to move according to the set curve.

[0022] The control method for the motor operating mechanism of the switchgear described above.

[0023] Step 303 includes the following steps:

[0024] 401) Angle loop control: Obtain the preset target angle of the motor and the actual angle collected by the detection unit, calculate the angle deviation; adjust the angle deviation through the position loop P controller, and output the reference speed;

[0025] 402) Speed ​​loop control: Obtain the reference speed and the actual rotor speed collected by the detection unit, calculate the speed deviation; adjust the speed deviation through the speed loop PI controller, and output the reference d-axis current and reference q-axis current;

[0026] 403) Current loop control: Acquire three-phase current and convert it into d-axis and q-axis currents in a rotating coordinate system through Clark and Park transformations; calculate the deviation between d-axis and q-axis currents and generate reference d-axis and reference q-axis voltages through a current loop PI controller;

[0027] 404) Voltage Transformation and PWM Generation: The reference d-axis voltage and reference q-axis voltage are converted into α-axis and β-axis voltages in the stationary coordinate system through the inverse Park transformation; 6 PWM signals are generated using the Space Vector Pulse Width Modulation (SVPWM) algorithm;

[0028] Step 304 Motor drive control: The inverter unit is controlled by the 6-channel PWM signal to drive the permanent magnet synchronous motor to move along the set trajectory.

[0029] The control method for the motor operating mechanism of the switching equipment described above, wherein the control increment of the position loop P controller is:

[0030]

[0031] in, This represents the control increment of the position loop P controller in the current control cycle. This represents the position deviation during the current control cycle. This is the position deviation from the previous control cycle. The difference in proportional coefficients of the position loop P controller.

[0032] The control method for the motor operating mechanism of the switching equipment described above, wherein the control increment of the speed loop PI controller is:

[0033]

[0034] in, This represents the control increment of the speed loop PI controller during the current control cycle. For the current control cycle speed deviation, This is the speed deviation from the previous control cycle. The proportional gain of the speed loop PI controller. The integral coefficient of the speed loop PI controller.

[0035] The control method for the motor operating mechanism of the switching equipment described above, wherein the control increment of the current loop PI controller is:

[0036]

[0037] in, This represents the control increment of the current loop P controller in the current control cycle. For the current deviation in the current control cycle, This is the current deviation from the previous control cycle. This is the proportional gain of the current loop P controller. is the integral coefficient of the current loop PI controller.

[0038] A method for setting parameters of the motor operating mechanism of the above-mentioned switchgear includes the following steps:

[0039] 801) Motor operation control: Select manual or automatic operation mode through the host computer interface to control the motor to run at low speed; monitor the motor current in real time, stop operation when a stall condition is detected, and record the start and end positions;

[0040] 802) Trip setting: Configure trip parameters on the host computer interface, including trip name, type, stage, time, start position and end position;

[0041] 803) Parameter optimization: Based on the motor operation data uploaded by the controller, the optimal stroke curve and corresponding PI parameters are generated through the particle swarm optimization algorithm;

[0042] 804) Stroke curve execution: Bind the optimal stroke curve to the input port, and execute the curve when the motor position is consistent with the curve start point.

[0043] The above describes the parameter setting method for the motor operating mechanism of the switching equipment.

[0044] 901) In step 801, in manual mode, the motor is controlled to run by continuously triggering the jog button; in automatic mode, the motor is started by clicking the continuous run button and automatically stops when stalled; the condition for determining the stalled state is: the motor current exceeds 150% of the rated current for 500ms continuously; the setting range of the low speed is 0-100rpm.

[0045] 902) In step 804, the input port of the stroke curve is set through the interface of the host computer, and the input port is controlled to execute the corresponding stroke curve. When the position of the controlled motor is not at the starting point of the stroke curve, the action cannot be executed, and a warning is issued on the host computer interface.

[0046] The parameter tuning method for the motor operating mechanism of the switching equipment described above, in step 803, the parameter optimization step includes:

[0047] 1001) The dynamic equations of the motor are constructed by least squares fitting, including the moment of inertia, damping coefficient and torque parameters;

[0048] 1002) Particle swarm optimization is used for multi-objective optimization, with the objective function being:

[0049]

[0050] In the formula, This represents the absolute value of the motor position error. This represents the absolute value of the error in motor speed. This is the absolute value of the error in the motor current;

[0051] 1003) Generate the optimal travel curve under the constraints of peak current ≤ 3 times the rated value and total travel time ≤ set threshold.

[0052] This invention significantly improves the control accuracy, intelligence level, and commissioning efficiency of the high-voltage circuit breaker operating mechanism through a three-loop control algorithm and particle swarm optimization, effectively reducing the workload of commissioning personnel and solving problems such as insufficient dynamic adjustment, fixed parameters, and reliance on manual operation in existing technologies. Attached Figure Description

[0053] The present invention will now be described in further detail with reference to the accompanying drawings and specific embodiments.

[0054] Figure 1 This is a system structure block diagram of the motor operating mechanism of the switching device according to an embodiment of the present invention;

[0055] Figure 2 This is a block diagram illustrating the control principle of the motor operating mechanism of a switching device according to an embodiment of the present invention.

[0056] Figure 3 This is a flowchart of a method for debugging the motor operating mechanism of a switching device according to an embodiment of the present invention;

[0057] Figure 4 This is a flowchart of an embodiment of the present invention for an online tuning method of the motor operating mechanism parameters of a switching device. Detailed Implementation

[0058] The motor operating mechanism of the switching device in the embodiments of the present invention is as follows: Figure 1 As shown, it includes a permanent magnet synchronous motor, a transmission mechanism, a DSP controller, an inverter unit, a drive unit, a detection unit, a communication unit, and a power supply circuit. The power supply circuit includes a rectifier unit, an energy storage capacitor, and a power supply unit.

[0059] The power supply unit receives AC220V AC mains power as input and outputs DC15V, DC12V, and DC3.3V. The output terminals of the power supply unit are connected to the power supply ports of the drive unit, detection unit, and controller, respectively, to supply power to the drive unit, detection unit, and controller.

[0060] The rectifier unit receives AC 220V AC power as input and outputs an adjustable DC voltage. It uses a rectifier bridge structure with four diodes to convert the AC 220V to DC. An energy storage capacitor connects the output of the rectifier unit to the input of the inverter unit. The output of the energy storage capacitor is connected to the inverter unit.

[0061] The inverter unit consists of a three-phase bridge IGBT inverter circuit. Each bridge arm has a resistor-capacitor buffer circuit to suppress the rate of change of IGBT voltage and current, reduce the damage of peak voltage to the IGBT, and absorb the residual charge of the capacitor. The selection of IGBT, resistor, and capacitor is determined by the parameters of the motor. The drive unit is selected according to the parameters of the inverter unit's IGBT and controls the conduction of the IGBT.

[0062] The input terminal of the inverter unit is the energy storage capacitor, the control terminal is the output of the drive unit, and the output terminal is connected to the permanent magnet synchronous motor. The input terminal of the drive unit is the PWM output port of the controller, and the output terminal is connected to the control terminal of the inverter unit.

[0063] The rotor shaft of the permanent magnet synchronous motor is connected to the transmission mechanism. When the motor rotates, it drives the transmission mechanism to move, which in turn pushes the moving end of the switchgear to achieve the opening and closing action. The parameters of the permanent magnet synchronous motor must meet the switching action indicators. The motor power, speed, and torque are determined based on the switching action speed. The input end of the permanent magnet synchronous motor is connected to the output end of the inverter unit. The motor and the transmission mechanism are connected to provide kinetic energy to the moving end of the switch, enabling the moving end to complete the action.

[0064] The detection unit measures the position of the switch's moving end, motor speed, rotation angle, and current. The unit includes a current sensor, a position sensor, an encoder, and a signal processing circuit. The input of the signal processing circuit is connected to the current sensor, position sensor, and photoelectric encoder. Its output is connected to a controller (DSP). The signal processing circuit limits the output voltage of the sensors and encoder to the controller's acceptable voltage range. After signal processing, the collected data is transmitted to the DSP controller. The current sensor is installed in the three-phase coils of the permanent magnet synchronous motor to detect the three-phase current. The position sensor is installed at the moving contact position of the switchgear to detect the displacement of the moving contact. The encoder detects the mechanical rotation angle of the motor. The signal processing circuit limits the output voltage of the sensors and encoder to the controller's acceptable voltage range.

[0065] The DSP controller is model TMS320F28335. The DSP controller receives and processes the data collected by the detection unit, performs a three-loop PI control algorithm, transmits the PWM waveform obtained by the algorithm to the drive unit to complete the rotational motion control of the motor, and transmits the data to the host computer through the communication unit.

[0066] The communication unit serves as a communication bridge between the host computer and the controller. It adopts an RS485 communication interface and uses the IEC61850 communication protocol to upload and send data.

[0067] The host computer displays the current motor displacement, speed, and stroke curve settings through a human-machine interface, and establishes communication with the controller through a communication unit. The host computer sends instructions to the DSP controller to control the motor rotation. The DSP controller transmits sampling data, motor parameters, and controller parameters to the host computer. The host computer optimizes the obtained data and the set stroke data to obtain the optimized trajectory and PI parameters, and then transmits the optimized trajectory and PI parameters to the controller.

[0068] In this embodiment of the invention, when the motor operating mechanism of the switching device is working, a three-loop control algorithm (position loop P control, speed loop PI control, and current loop PI control) is executed by the DSP controller. First, the three-phase current, rotor position, and speed signals of the motor are collected. After Clark and Park coordinate transformation, the actual values ​​are compared with the set values ​​to obtain the deviation. The control quantity is calculated through an incremental control algorithm. Then, after Park inverse transformation and SVPWM modulation, six PWM signals are generated to drive the IGBT inverter unit to output three-phase AC power, so that the permanent magnet synchronous motor runs according to the set trajectory, thereby driving the transmission mechanism to precisely control the opening and closing action of the switch moving contact.

[0069] The advantages of the motor operating mechanism of the switching device in this embodiment of the invention are as follows:

[0070] 1) The DSP controller adopts a three-loop closed-loop control combined with a coordinate transformation algorithm, which can significantly improve control accuracy and dynamic response speed;

[0071] 2) The integrated communication unit supports the IEC61850 protocol, enabling standardized interconnection with the smart grid;

[0072] 3) The host computer can monitor and optimize parameters in real time, which greatly improves debugging efficiency and system intelligence.

[0073] The principle of the control method for the motor operating mechanism in this embodiment of the invention is as follows: Figure 2 As shown, perform the following steps:

[0074] Parameter acquisition and signal acquisition: Acquire the optimal speed curve and PI parameters under the current operating conditions; acquire the three-phase output current of the current sensor after processing by the signal processing unit; acquire the signal output of the photoelectric encoder; and obtain the rotor position and speed after processing by the DSP processor.

[0075] Three-loop control operation: The DSP processor uses the PI three-loop control algorithm to control the motor rotation angle based on the deviation between the motor rotation angle, angular velocity, three-phase current and the set motor rotation angle, calculated angular velocity and three-phase current, thereby controlling the movement of the transmission mechanism and the moving end of the switch. The position loop is a P control algorithm, and the speed loop and current loop are PI control algorithms.

[0076] 1) Position loop control (P control):

[0077] The position loop calculates an ideal speed setpoint (output reference speed) based on the deviation between the actual angle of the motor rotor and the target angle (position error).

[0078] The preset angle is compared with the actual angle collected by the detection unit to obtain the angle deviation, and the control increment is calculated by the incremental position loop P controller.

[0079]

[0080] In the formula, This represents the control increment of the position loop P controller in the current control cycle. This represents the position deviation during the current control cycle. This is the position deviation from the previous control cycle. This is the proportional gain of the position loop P controller.

[0081] 2) Speed ​​loop control (PI control):

[0082] The speed loop calculates the current setpoint of the motor in the rotating coordinate system (dq axis) based on the deviation (speed error) between the reference speed (from the position loop) and the actual speed, and outputs the reference d-axis current and q-axis current.

[0083] The speed error is obtained by calculating the deviation between the reference speed and the detected rotor speed, and the control increment is calculated by an incremental speed loop PI controller.

[0084]

[0085] In the formula, This represents the control increment of the speed loop PI controller during the current control cycle. For the current control cycle speed deviation, This is the speed deviation from the previous control cycle. The proportional gain of the speed loop PI controller. The integral coefficient of the speed loop PI controller.

[0086] 3) Current loop control (PI control):

[0087] The current loop calculates the required voltage setpoint for the motor based on the deviation between the reference current (from the speed loop) and the actual current (obtained through Clark / Park transformation), and outputs reference d-axis and q-axis voltages to generate PWM signals.

[0088] The three-phase current is converted into α-axis and β-axis currents through Clark transformation, and then converted into d-axis and q-axis currents through Park transformation. The current error is obtained by subtracting the d-axis and q-axis reference currents output by the speed loop from the measured d-axis and q-axis currents.

[0089] The control increment is calculated using an incremental current loop PI controller.

[0090]

[0091] In the formula, This represents the control increment of the current loop P controller in the current control cycle. For the current deviation in the current control cycle, This is the current deviation from the previous control cycle. This is the proportional gain of the current loop P controller. is the integral coefficient of the current loop PI controller.

[0092] Coordinate transformation and PWM generation:

[0093] The reference d-axis and q-axis voltages are transformed by Park inverse transformation to obtain the α-axis and β-axis voltages. The SVPWM algorithm is then applied to convert the α-axis and β-axis voltages into 6 PWM signals.

[0094] Motor drive control: Six PWM signals are output to the drive unit, which controls the conduction of the inverter unit IGBT; the energy storage capacitor discharges to drive the permanent magnet synchronous motor to rotate, which in turn drives the transmission mechanism to make the moving contact move along the set trajectory.

[0095] Control quantity update: The final control quantity of each control cycle consists of the control quantity of the previous cycle and the control increment of the current cycle.

[0096]

[0097] In the formula, This is the control quantity for the current control cycle. This is the control quantity from the previous control cycle. (k) represents the control increment for the current control cycle.

[0098] The parameters of each control loop (K_pp, K_ps, K_is, K_pc, K_ic) can be optimized through the parameter tuning system.

[0099] When the motor current is detected to exceed 150% of the rated current for 500ms continuously, it is determined to be in a stall state and the PWM signal output is stopped.

[0100] The control method for the motor operating mechanism of the switchgear of the present invention achieves precise control of motor rotation angle, speed and current by combining three-loop closed-loop control with coordinate transformation and SVPWM modulation, thereby ensuring the stability and reliability of the movement of the moving contact of the switchgear.

[0101] The online parameter tuning method for the motor operating mechanism of the present invention is as follows: Figure 3 and Figure 4 As shown, the automatic optimization and adjustment of control parameters are achieved through the collaborative work of the host computer and the controller, specifically including the following:

[0102] Manual motor control method: By continuously clicking the jog start button on the host computer interface, the motor rotates at a low speed. When the controller determines that the motor is in a stalled state, the action ends. Alternatively, clicking the end start button on the host computer interface also ends the action. The start and end positions of this action are recorded. The manual motor control method includes the following steps:

[0103] (1) Operation control steps:

[0104] The host computer interface has a jog start button and a stop start button. When the operator continuously presses the jog start button on the host computer interface, the controller sends a PWM speed regulation signal to the motor drive module. The permanent magnet synchronous motor runs at a set low speed of 0-100rpm, and the controller monitors the three-phase current in real time (sampling rate 10kHz).

[0105] (2) Stop control procedure:

[0106] Automatic stopping includes the following steps: when the detected current value exceeds 150% of the rated current for 500ms continuously, it is determined to be a stalled state, the PWM signal output is immediately stopped, and the stalled position (encoder value) is recorded.

[0107] Manual stopping involves the following steps: The operator clicks the "End Run" button to perform a smooth deceleration (deceleration of 50 rpm / s²).

[0108] (3) Data storage steps:

[0109] Record the starting position (initial value of the photoelectric encoder), ending position (encoder value when stopped), peak current, and running duration. Store these values ​​in a loop in the controller's EEPROM and simultaneously upload them to the host computer database.

[0110] Automatic motor control method: By clicking the automatic run button on the host computer interface, the motor rotates at a low speed. When the controller determines that the motor is in a stalled state, the action ends, and the start and end positions of this action are recorded. The automatic motor control method includes the following steps:

[0111] (1) Operation control steps:

[0112] The host computer interface has a continuous running button. When the operator clicks the "Continuous Run" button on the host computer, the controller sends a PWM speed control signal to the motor drive module. The motor starts according to the preset acceleration ramp and maintains a constant low speed of 0-100rpm.

[0113] (2) Condition monitoring steps:

[0114] The controller monitors and collects the motor's current value (A / B / C three phases), speed value (rpm), and position encoder value (0.1° resolution) in real time. The sampling period is: current: 100μs, position: 1ms.

[0115] (3) Blocking determination and handling steps as a protection mechanism:

[0116] When the controller detects that the motor current is greater than 150% of the rated value and lasts for 500ms, it determines that the motor is in a stall state, immediately stops outputting PWM signals, and outputs the start and end positions.

[0117] The control methods for setting up the schedule include adding new schedules on the host computer interface, modifying the schedule name, type, and stage, and setting the schedule time, start and end positions.

[0118] The host computer provides a travel configuration interface that includes: a travel name editing box (supports ASCII character input), a travel type drop-down menu (including linear / curve / compound motion options), a stage selector (divided into stages I / II / III), and time, position, and speed setting units.

[0119] The parameter optimization control method involves selecting the stroke type and stage on the host computer interface. Based on the motor parameters uploaded by the controller, an optimal stroke curve is adaptively optimized, and the optimal PI parameters are obtained from this curve. The parameter optimization control method includes the following steps:

[0120] (1) The host computer receives the real-time motor operation dataset uploaded by the controller, including the phase current value, speed value and position encoder value recorded in time sequence; based on the dataset, a dynamic equation characterizing the mechanical characteristics of the motor is constructed by least squares fitting, and the dynamic equation includes the correlation between the moment of inertia, damping coefficient and torque parameters.

[0121] (2) Particle swarm optimization is used for multi-objective iterative optimization. The optimization objective is to minimize the cumulative square of the deviation between the actual position, speed, current and the preset target trajectory of the motor. Under the constraint that the peak current does not exceed three times the rated value and the total travel time is less than the set threshold, the optimal travel curve that meets the dynamic performance requirements is generated.

[0122] (3) Based on the optimized stroke curve characteristics, combined with the preset system response time requirements and damping ratio range, the proportional coefficient and integral coefficient of the proportional-integral controller are dynamically calculated to achieve adaptive matching between control parameters and motor mechanical characteristics.

[0123] The objective function is:

[0124]

[0125] In the formula, This represents the absolute value of the motor position error. This represents the absolute value of the error in motor speed. This represents the absolute value of the error in the motor current.

[0126] After obtaining the PI parameter combination corresponding to the minimum value of the objective function J, it is written into the controller's register, and the three-loop control algorithm is adjusted in real time to make the actual motion trajectory of the motor optimally track the preset curve, while automatically adapting to changes in mechanical characteristics.

[0127] Control method for executing motor stroke curve: The upper computer interface sets the input port of the stroke curve. The corresponding motor stroke curve is executed by controlling the input port. When the motor position is not at the starting point of the stroke curve, the corresponding motor stroke curve cannot be executed, and a warning is issued on the upper computer interface.

[0128] The device, control method, and online parameter tuning method for the motor operating mechanism of the switchgear provided by this invention are convenient to debug, highly accurate, and have small errors, effectively reducing the workload of debugging personnel. With the cooperation of sensors and control, precise control can be achieved. Based on the motor parameters and stroke settings, the optimal stroke curve can be obtained, reducing contact collisions. Furthermore, the common IEC61850 protocol is used for communication, providing a standardized communication protocol for the monitoring backend, and enabling online display of the real-time status of contact action.

Claims

1. A method for parameter tuning of a motor operating mechanism in a switchgear, characterized in that, The aforementioned switchgear motor operating mechanism includes a motor, a transmission mechanism, a controller, an inverter unit, a drive unit, a detection unit, a power supply circuit, and a host computer; The motor is a permanent magnet synchronous motor, whose rotor shaft is connected to the transmission mechanism. When the motor rotates, it drives the transmission mechanism to move, and the transmission mechanism pushes the moving end of the switching equipment to realize the opening and closing action. The controller is a DSP processor that processes the data collected by the detection unit, executes the three-loop PI control algorithm, and outputs a PWM signal to the drive unit. The three-loop PI control algorithm includes position loop PI control, speed loop PI control, and current loop PI control. The inverter unit converts the DC power from the power supply circuit into three-phase AC power to drive the motor. The drive unit controls the inverter unit; The detection unit collects the motor's current, position, and rotation angle signals; The host computer is connected to the controller to monitor the motor status in real time, adjust control parameters, and display real-time data. The power supply circuit supplies power to the controller, drive unit, and detection unit; the parameter tuning method includes the following steps: 101) Motor operation control: Select manual or automatic mode through the host computer interface to control the motor to run at low speed; monitor the motor current in real time, stop the operation when a stall condition is detected, and record the start and end positions; 102) Trip setting: Configure trip parameters on the host computer interface, including trip name, type, stage, time, start position and end position; 103) Parameter optimization: Based on the motor operation data uploaded by the controller, the optimal stroke curve and corresponding PI parameters are generated through the particle swarm optimization algorithm; 104) Stroke curve execution: Bind the optimal stroke curve to the input port, and execute the curve when the motor position is consistent with the starting point of the curve; In step 103, the parameter optimization step includes: 301) The dynamic equations of the motor are constructed by least squares fitting, including the moment of inertia, damping coefficient and torque parameters; 302) Particle swarm optimization is used for multi-objective optimization, with the objective function being: ， In the formula, This represents the absolute value of the motor position error. This represents the absolute value of the error in motor speed. This is the absolute value of the error in the motor current; 303) Generate the optimal travel curve under the constraints of peak current ≤ 3 times the rated value and total travel time ≤ set threshold.

2. The parameter tuning method for the motor operating mechanism of the switching equipment according to claim 1, characterized in that, 201) In step 101, in manual mode, the motor is controlled to run by continuously triggering the jog button; in automatic mode, the motor is started by clicking the continuous run button and automatically stops when stalled; the condition for determining the stalled state is: the motor current exceeds 150% of the rated current for 500ms continuously; the setting range of the low speed is 0-100rpm. 202) In step 104, the input port of the stroke curve is set through the interface of the host computer, and the input port is controlled to execute the corresponding stroke curve. When the position of the controlled motor is not at the starting point of the stroke curve, the action cannot be executed, and a warning is issued on the host computer interface.

3. The parameter tuning method for the motor operating mechanism of the switching equipment according to claim 1, characterized in that, The aforementioned switchgear motor operating mechanism includes a communication unit; the power supply circuit includes a rectifier unit, an energy storage capacitor, and a power supply unit, wherein the power supply unit includes a low-voltage DC power supply and an AC power supply, wherein the low-voltage DC power supply powers the controller, drive unit, and detection unit, and the AC power supply is converted into DC power by the rectifier unit to charge the energy storage capacitor; the inverter unit adopts a three-phase bridge inverter circuit, each bridge arm including an IGBT and a buffer circuit; the detection unit includes a current sensor, a position sensor, an encoder, and a signal processing circuit, wherein the current sensor is installed in the three-phase coil of the permanent magnet synchronous motor to detect the three-phase current of the permanent magnet synchronous motor; the position sensor is installed in the switchgear motor... The system detects the displacement of the moving contact at the contact position; the encoder detects the mechanical rotation angle of the motor; the signal processing circuit limits the output voltage of the sensor and encoder to the acceptable voltage range of the controller; the host computer displays the current motor displacement, speed, and stroke curve settings through an interface, and establishes communication with the controller through a communication unit. The host computer sends commands to the controller to control the motor rotation; the controller transmits sampling data, motor parameters, and controller parameters to the host computer; the host computer optimizes the obtained data and set stroke data to obtain optimized trajectory and PI parameters, and transmits the optimized trajectory and PI parameters to the controller; the communication unit establishes communication between the controller and the host computer.

Images