A Closed-Loop Control Method and System for an Electromagnetic Repulsion Mechanism Based on PID Control

Abstract

This invention discloses a closed-loop control method and system for an electromagnetic repulsion mechanism based on PID control, belonging to the field of electromagnetic repulsion mechanism control technology. It monitors the current motion state of the repulsion disk in real time and compares it with a preset target motion state. The deviation between the two is calculated and discretized using PID control to obtain state variables. Based on the magnitude and direction of the state variables, the amplitude, frequency, phase, and duty cycle of the pulse current are dynamically adjusted. The PID algorithm effectively controls the motion curve of the electromagnetic repulsion mechanism, making the motion of the repulsion disk closer to the preset motion curve. It possesses advantages such as strong adaptability, fast response speed, and small displacement error, thus solving the drawbacks of traditional open-loop drive electromagnetic repulsion mechanisms. It can dynamically adapt to changes in the motion state of the repulsion disk and meet the high-precision control requirements under complex working conditions.

Description

Technical Field

[0001] This invention relates to the field of electromagnetic repulsion mechanism control technology, specifically to a closed-loop control method and system for an electromagnetic repulsion mechanism based on PID control. Background Technology

[0002] Excessive short-circuit current has become one of the major problems seriously threatening the safe and stable operation of the power grid in the three major load centers. With the expansion of the power grid, this problem is intensifying. To address this issue, numerous solutions have been proposed at both the system and equipment levels, but all suffer from drawbacks such as reduced grid reliability, high cost, and low asset utilization. High-voltage current limiters (HVDCs) are one effective means to overcome these shortcomings. The main components of an HVDC include a high-coupling reactor and a fast switch. During normal system operation, the fast switch is closed. Due to the high coupling coefficient of the high-coupling reactor, it exhibits a low reactance value, and the system is in a low-resistance current-carrying state. When a short-circuit current exceeds the limit, the fast switch opens, and the high-coupling reactor decouples, exhibiting a high reactance value, and the system is in a high-resistance current-limiting state.

[0003] As a switching device for current limiters, it is required to quickly and reliably interrupt the circuit. Traditional operating mechanisms, such as spring-operated mechanisms, hydraulic-operated mechanisms, electric motor-operated mechanisms, pneumatic-operated mechanisms, and permanent magnet-operated mechanisms, are difficult to meet the requirements due to slow interruption speed and complex structure. Therefore, a highly reliable, fast-acting operating mechanism is of great significance. In recent years, electromagnetic repulsion mechanisms based on the eddy current effect have developed rapidly. Compared with traditional operating mechanisms, this mechanism has a simpler structure and faster opening and closing speed, and has been widely used in fields requiring rapid interruption.

[0004] However, most traditional electromagnetic repulsion mechanisms employ open-loop drive, using single or multiple preset current waveforms to control the movement of the repulsion disk. This makes it impossible to dynamically adapt to changes in the repulsion disk's motion state, and it is difficult to meet the high-precision control requirements under complex working conditions such as contact wear and varying vacuum levels. After repeated use, the repulsion mechanism itself develops inherent errors, and these inherent errors during opening and closing cannot be eliminated.

[0005] Chinese Patent, Publication No. CN114625031A, Publication Date: June 14, 2022, discloses a control system for a high-speed electromagnetic repulsion mechanism, including a control module. The control module is electrically connected to a tripping drive module, a closing drive module, and a control command module. The tripping electromagnetic module and the closing electromagnetic module are electrically connected to a system detection module. The system detection module is electrically connected to an analog-to-digital converter module. The analog-to-digital converter module is electrically connected to a filtering operation module, which is electrically connected to the control module. The control module is electrically connected to an operational amplifier module, which is electrically connected to a lock drive module. The lock drive module is electrically connected to a lock relay, and the lock relay is electrically connected to a power lock module. The system detection module detects system data and performs control adjustments. The power lock module locks the tripping electromagnetic module to maintain stability. However, when faced with changes in the motion state of the electromagnetic repulsion mechanism, the repulsion mechanism itself will still exhibit inherent errors after multiple adjustments, affecting the control accuracy of the electromagnetic repulsion mechanism. Summary of the Invention

[0006] This invention addresses the problem of insufficient control accuracy caused by the inability of traditional electromagnetic repulsion mechanisms to adapt to dynamic changes in the motion state of the repulsion disk. It provides a closed-loop control method and system for electromagnetic repulsion mechanisms based on PID control. By monitoring the current motion state of the repulsion disk in real time and comparing it with a preset target motion state, the deviation between the two is calculated and discretized using PID control to obtain state variables. Based on the magnitude and direction of these state variables, the amplitude, frequency, phase, and duty cycle of the pulse current are dynamically adjusted. The PID algorithm effectively controls the motion curve of the electromagnetic repulsion mechanism, making the motion of the repulsion disk closer to the preset motion curve. This method possesses advantages such as strong adaptability, fast response speed, and small displacement error, thus solving the drawbacks of traditional open-loop drive electromagnetic repulsion mechanisms. It can dynamically adapt to changes in the motion state of the repulsion disk and meet the high-precision control requirements under complex working conditions.

[0007] In a first aspect, one technical solution provided in this embodiment of the invention is: a closed-loop control method for an electromagnetic repulsion mechanism based on PID, comprising the following steps:

[0008] S1. Real-time monitoring of motion signals of the repulsion disk in the electromagnetic repulsion mechanism at each stage of motion;

[0009] S2. Construct the actual motion curve based on the motion signal, and compare the actual motion curve with the preset target motion curve;

[0010] S3. Perform PID calculation on the comparison results to obtain the control quantity, and convert the control quantity into a current regulation command based on the instruction conversion principle.

[0011] S4. Adjust the parameters of the pulse current based on the current adjustment command, and control the movement of the repulsion disk in the electromagnetic repulsion mechanism based on the adjusted pulse current.

[0012] In this scheme, by monitoring the motion signal of the repulsion disk in real time and comparing it with the target curve, minute deviations can be captured in real time. This solves the problem that traditional open-loop control, which relies on preset current waveforms, cannot cope with parameter changes caused by complex working conditions such as contact wear, vacuum changes, and temperature drift. This improves control accuracy and ensures that the motion trajectory conforms to the target. By dynamically adjusting the control quantity through the PID algorithm, the trend of deviation changes can be predicted, overshoot can be suppressed, rigid impact of the repulsion disk on the mechanism can be avoided, and the service life of the electromagnetic repulsion mechanism can be extended. Through the self-adjusting capability of the PID algorithm, the inherent error of the mechanism can be automatically compensated, reducing dependence on initial parameters, reducing debugging complexity, and realizing full-stage adaptive control without manual intervention, thus improving response speed.

[0013] Preferably, the repulsion disk's motion stages include a starting stage, a control stage, and a braking stage; the starting stage involves generating an initial pulse current signal to drive the repulsion disk to begin moving; the control stage involves controlling the actual motion curve of the repulsion disk to conform to the target motion curve; and the braking stage involves adjusting the pulse current to control the repulsion disk to decelerate when the repulsion disk's displacement reaches a set threshold.

[0014] In this scheme, by dividing the various motion stages of the repulsion disk into detailed steps, the disk is directly driven to start moving by generating an initial pulse current signal during the startup stage, without the need for complex algorithm control, thus achieving rapid and reliable startup and avoiding initial instability of the repulsion disk. During the control stage, a PID algorithm is used for adaptive adjustment to ensure that the motion trajectory conforms to the target. During the braking stage, the repulsion disk is actively decelerated by adjusting the pulse current, reducing impact, protecting the electromagnetic repulsion mechanism, and increasing its service life. In summary, the division of labor for each stage is clearly defined, enabling the repulsion disk to use optimal control logic in different motion stages, thereby improving the overall response speed, control accuracy, and operational reliability of the electromagnetic repulsion mechanism.

[0015] Preferably, in step S2, the actual motion curve is constructed based on the motion signal, and the actual motion curve is compared with the preset target motion curve, including the following steps:

[0016] Using the actual motion time of the repulsion disk as a benchmark, the motion signal in the actual motion curve is discretized according to time points. The discretized motion signal is then compared with the target velocity and target displacement signals in the target motion curve at the same time point to obtain the motion deviation value.

[0017] In this scheme, by using the actual movement time of the repulsion disk as the benchmark, the problem of asynchronous time between the actual time and the target time caused by start-up delay and external interference is avoided. This ensures that the subsequent actual signal and the target signal are aligned in the real time dimension, thus guaranteeing the authenticity of the deviation calculation from the root. By discretizing the continuous signal of the actual motion curve according to time points, it is transformed into a discrete data sequence that can be directly processed by the digital system. This ensures that the subsequent difference calculation can accurately reflect the motion state at each time point, providing a computable input format for the digital PID algorithm and a data foundation for difference calculation at the same time point. This allows for accurate reflection of instantaneous deviation and ensures the dynamic adjustment accuracy of the PID algorithm.

[0018] Preferably, the actual motion curve is a curve that records the motion signal of the repulsive disk with time as the horizontal axis and velocity or displacement as the vertical axis.

[0019] The target motion curve is a curve that specifies the motion of the repulsive disk with time as the horizontal axis and target velocity or target displacement as the vertical axis.

[0020] The motion signal is a velocity signal or a displacement signal, and the motion deviation value is a velocity deviation value or a displacement deviation value.

[0021] In this scheme, the unified coordinate axis definition fundamentally ensures the basic effectiveness of curve comparison; the velocity signal and displacement signal are used as motion signals and compared with the target motion curve. The comparison result can reflect the process deviation or result deviation of the repulsion disk. It can not only focus on whether the current position of the repulsion disk meets the standard, but also predict whether the future motion will deviate from the target, thus providing a more comprehensive input for the subsequent PID algorithm and avoiding control inaccuracy caused by misjudgment of a single parameter.

[0022] Preferably, in step S3, the control quantity is obtained by PID calculation based on the comparison result, including the following steps:

[0023] The motion deviation value is used as the input to the PID algorithm, and the formula is expressed as follows:

[0024] ;

[0025] in, The gain is proportional to the motion deviation value. The integral time constant is... The differential time constant is This is the output of the PID algorithm. This represents the motion deviation value;

[0026] The output of the PID algorithm is discretized, as shown in the following formula:

[0027] ;

[0028] in The output of the discretized PID algorithm is the control quantity at time k. The motion deviation value at the k-th discrete time point Let be the motion deviation value at the i-th discrete time point, where i is an integer from 1 to k. This is the integral coefficient, which is proportional to the cumulative amount of motion deviation. It is the differential coefficient, which is proportional to the rate of change of the motion deviation value.

[0029] In this scheme, the proportional control using the PID algorithm enables rapid response to current deviations in pulse current regulation, preventing the deviation from accumulating and expanding, significantly improving the system's response speed to instantaneous deviations, and ensuring that the motion state quickly approaches the target curve. Integral control solves the problem of persistent small deviations in traditional open-loop control or single proportional control, thereby improving control accuracy. Derivative control effectively avoids motion oscillations or overshoot caused by over-adjustment, while also predicting deviation trends and ensuring the operational stability of the electromagnetic repulsion mechanism. In summary, through the synergistic effect of proportional, integral, and derivative control, the output control quantity can not only respond quickly to instantaneous changes, but also eliminate long-term errors, and predict and suppress disturbances, significantly improving the control accuracy of the electromagnetic repulsion mechanism.

[0030] Preferably, in step S3, the control quantity is converted into a current regulation command based on the command conversion principle, including the following steps:

[0031] If the absolute value of the control quantity is greater than or equal to the set threshold, an amplitude adjustment command or a frequency adjustment command is generated.

[0032] If the absolute value of the control quantity is less than the set threshold, a duty cycle adjustment command is generated;

[0033] If the control quantity exhibits periodic fluctuations, a phase adjustment command is generated;

[0034] The amplitude adjustment command, frequency adjustment command, duty cycle adjustment command, and phase adjustment command are used as current regulation commands.

[0035] This scheme combines coarse and fine adjustments by using tiered adjustments based on the absolute value of the control variable. This ensures rapid response when the deviation is large and precise control when the deviation is small, thus significantly improving the overall adjustment accuracy and efficiency. By adjusting the phase for periodic fluctuations, systematic and regular deviations are specifically addressed, avoiding resource waste caused by blind adjustments. Targeted solutions to systematic deviations enhance system robustness and significantly improve the system's resistance to periodic disturbances. Through precise matching of command types and parameter characteristics, ineffective adjustments are reduced, allowing control resources to be concentrated on the most effective correction direction, thereby optimizing system energy consumption and response speed.

[0036] Preferably, in step S4, the parameters of the pulse current are adjusted based on the current adjustment command, and the movement of the repulsion disk in the electromagnetic repulsion mechanism is controlled based on the adjusted pulse current, including the following steps:

[0037] Based on the current adjustment command, the corresponding parameter to be adjusted is selected. If the control quantity is positive, the repulsion disk is controlled to accelerate; if the control quantity is negative, the repulsion disk is controlled to decelerate.

[0038] In this scheme, by selecting the parameter to be adjusted based on the current command, it is ensured that each adjustment is applied to the parameter that best solves the current deviation, reducing ineffective adjustments and improving control efficiency. By reflecting the direction of deviation with the positive and negative values ​​of the control quantity, the occurrence of reverse adjustment errors is avoided, ensuring that each current adjustment is consistent with the target motion trend, so that the repulsion disk always moves closer to the target curve, thereby significantly improving control accuracy.

[0039] Secondly, one technical solution provided in this embodiment of the invention is: a closed-loop control system for an electromagnetic repulsion mechanism based on PID, comprising a sensing and detection module, a pulse current modulation module, a drive execution module, and a signal processing module;

[0040] The sensing and detection module is used to monitor the motion signals of the repulsion disk in the electromagnetic repulsion mechanism at each stage of motion in real time.

[0041] The signal processing module is used to construct an actual motion curve based on the motion signal, compare the actual motion curve with the preset target motion curve, perform PID calculation on the comparison result to obtain the control quantity, and convert the control quantity into a current regulation command based on the command conversion principle.

[0042] The pulse current modulation module is used to adjust the parameters of the pulse current based on the current adjustment command.

[0043] The drive execution module is used to control the movement of the repulsion disk in the electromagnetic repulsion mechanism based on the adjusted pulse current.

[0044] In this solution, closed-loop control of the electromagnetic repulsion mechanism is achieved by setting a sensing and detection module, a pulse current modulation module, a drive execution module, and a signal processing module in the electromagnetic repulsion mechanism. The deployed module structure is simple and the control cost is low. It can be applied to scenarios with high requirements for electromagnetic repulsion control accuracy, such as rapid disconnection of vacuum switches.

[0045] Preferably, the sensing and detection module includes a laser rangefinder and a MEMS accelerometer. The laser rangefinder uses a laser ranging method based on triangulation to detect the displacement information of the repulsion disk. The MEMS accelerometer uses a single-axis high-sensitivity structure to collect the acceleration information of the repulsion disk during its movement, and performs numerical integration on the acceleration to obtain the velocity information.

[0046] In this scheme, a laser rangefinder and a MEMS accelerometer are used to collect displacement and velocity information of the repulsion disk, providing accurate data support for subsequent PID calculation and deviation value calculation, thus laying the foundation for precise control of the electromagnetic repulsion mechanism.

[0047] Preferably, the drive execution module includes a drive coil and a brake coil. If the control quantity is positive, the pulse current acting on the drive coil is adjusted; if the control quantity is negative, the pulse current acting on the brake coil is adjusted.

[0048] In this scheme, by setting up a drive coil and a braking coil, the control of the repulsion disk is transformed into the adjustment of the pulse current of the control drive coil or the braking coil, which simplifies the control steps and thus improves the control efficiency.

[0049] The beneficial effects of this invention are as follows: This invention monitors the current motion state of the repulsion disk in real time and compares it with the preset target motion state. The deviation between the two is calculated and discretized using PID to obtain the state quantity. Based on the magnitude and direction of the state quantity, the amplitude, frequency, phase and duty cycle of the pulse current are dynamically adjusted. The motion curve of the electromagnetic repulsion mechanism is effectively controlled by the PID algorithm, making the motion of the repulsion disk closer to the preset motion curve. It has the advantages of strong adaptability, fast response speed and small displacement error, thus solving the drawbacks of the open-loop drive of the traditional electromagnetic repulsion mechanism. It can dynamically adapt to the changes in the motion state of the repulsion disk and meet the high-precision control requirements under complex working conditions.

[0050] The above description of the invention is merely an overview of the technical solution of the present invention. In order to better understand the technical means of the present invention and to implement it in accordance with the contents of the specification, and to make the above and other objects, features and advantages of the present invention more apparent and understandable, specific embodiments of the present invention are described below. Attached Figure Description

[0051] Other features, objects, and advantages of the invention will become more apparent from the following detailed description of non-limiting embodiments with reference to the accompanying drawings. The drawings are for illustrative purposes only and are not intended to limit the invention. Furthermore, the same reference numerals denote the same parts throughout the drawings.

[0052] Figure 1 This is a flowchart of a closed-loop control method for an electromagnetic repulsion mechanism based on PID according to the present invention.

[0053] Figure 2 This is a schematic diagram of a closed-loop control system for an electromagnetic repulsion mechanism based on PID according to the present invention.

[0054] Figure 3 This is a schematic diagram illustrating the installation method of the sensing detection module and the driver execution module in this embodiment;

[0055] In the diagram: 1-Drive coil; 2-Repulsion disk; 3-MEMS accelerometer; 4-Laser rangefinder; 5-Brake coil. Detailed Implementation

[0056] To make the objectives, technical solutions, and advantages of this invention clearer, the invention will be further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only one preferred embodiment of this invention and are only used to explain this invention. They do not limit the scope of protection of this invention. All other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of this invention.

[0057] Before discussing the exemplary embodiments in more detail, it should be mentioned that some exemplary embodiments are described as processes or methods depicted as flowcharts. Although the flowcharts describe the operations (or steps) as sequential processes, many of the operations (or steps) can be performed in parallel, concurrently, or simultaneously. Furthermore, the order of the operations can be rearranged. The process can be terminated when its operation is completed, but it may also have additional steps not included in the figures; the process may correspond to a method, function, procedure, subroutine, subroutine, etc.

[0058] Example 1: As Figure 1 As shown, in order to solve the problem of insufficient control accuracy caused by the inability of traditional electromagnetic repulsion mechanisms to adapt to changes in the dynamic motion state of the repulsion disk 2, this embodiment provides a closed-loop control method for electromagnetic repulsion mechanisms based on PID, including the following steps:

[0059] S1: Real-time monitoring of motion signals of repulsion disk 2 in each motion stage of the electromagnetic repulsion mechanism.

[0060] In this embodiment, the repulsion disk 2 includes a starting stage, a control stage, and a braking stage in each motion phase. The starting stage involves generating an initial pulse current signal to drive the repulsion disk 2 to start moving. The control stage involves controlling the actual motion curve of the repulsion disk 2 to conform to the target motion curve. The braking stage involves adjusting the pulse current to control the repulsion disk 2 to decelerate when the displacement of the repulsion disk 2 reaches a set threshold.

[0061] During the startup phase, a large current is output. This value is usually determined through empirical analysis to ensure that the repulsion disk 2 moves at a speed close to the speed required by the displacement curve, thus preventing the control system from becoming unstable due to excessive input errors. After this large current is output, the pulse current count in the signal processing module is incremented. Starting from the second pulse current, the control phase begins, and a PID algorithm is used for dynamic adjustment. During the braking phase, it can be set that after the repulsion disk 2 moves to 90% of the set displacement, a larger current is passed through the braking coil 5 to prevent the repulsion disk 2 from generating excessive impact force on the mechanism and from bouncing, thereby slowing down the repulsion disk 2.

[0062] This embodiment divides the various motion stages of the repulsion disk 2 into detailed steps. In the startup stage, an initial pulse current signal is generated to directly drive the repulsion disk 2 to start moving, without the need for complex algorithm control, achieving rapid and reliable startup and avoiding initial instability of the repulsion disk 2. In the control stage, a PID algorithm is used for adaptive adjustment to ensure that the motion trajectory conforms to the target. In the braking stage, the repulsion disk 2 is actively controlled to decelerate by adjusting the pulse current, reducing impact, protecting the electromagnetic repulsion mechanism, and increasing its service life. In summary, the division of labor in each stage is clearly defined, enabling the repulsion disk 2 to use optimal control logic in different motion stages, thereby improving the overall response speed, control accuracy, and operational reliability of the electromagnetic repulsion mechanism.

[0063] S2: Construct the actual motion curve based on the motion signal, and compare the actual motion curve with the preset target motion curve.

[0064] In this embodiment, an actual motion curve is constructed based on motion signals, and the actual motion curve is compared with a preset target motion curve, including the following steps:

[0065] Based on the actual motion time of the repulsion disk 2, the motion signal in the actual motion curve is discretized according to time points. The discretized motion signal is then compared with the target velocity and target displacement signals in the target motion curve at the same time point to obtain the motion deviation value.

[0066] This embodiment uses the actual movement time of the repulsion disk 2 as a benchmark, avoiding the problem of asynchronous time between the actual time and the target time caused by start-up delay and external interference. This ensures that the subsequent actual signal and the target signal are aligned in the real time dimension, thus guaranteeing the authenticity of the deviation calculation from the root. By discretizing the continuous signal of the actual motion curve according to time points, it transforms it into a discrete data sequence that can be directly processed by the digital system. This ensures that the subsequent difference calculation can accurately reflect the motion state at each time point, providing a computable input format for the digital PID algorithm and a data foundation for difference calculation at the same time point. This allows for accurate reflection of instantaneous deviation and ensures the dynamic adjustment accuracy of the PID algorithm.

[0067] In this embodiment, the actual motion curve is a curve that records the motion signal of the repulsion disk 2 with time as the horizontal axis and velocity or displacement as the vertical axis;

[0068] The target motion curve is a curve that specifies the motion of the repulsion disk 2 with time as the horizontal axis and target velocity or target displacement as the vertical axis.

[0069] The motion signal is a velocity signal or a displacement signal, and the motion deviation value is a velocity deviation value or a displacement deviation value.

[0070] This embodiment, through the unified definition of coordinate axes, fundamentally ensures the basic effectiveness of curve comparison; by using velocity and displacement signals as motion signals and comparing them with the target motion curve, the comparison results can reflect the process deviation or result deviation of the repulsion disk 2. It can not only focus on whether the current position of the repulsion disk 2 meets the standard, but also predict whether the future motion will deviate from the target, thereby providing a more comprehensive input for the subsequent PID algorithm and avoiding control inaccuracy caused by misjudgment of a single parameter.

[0071] S3: Perform PID calculations on the comparison results to obtain the control quantity, and convert the control quantity into a current regulation command based on the instruction conversion principle.

[0072] In this embodiment, the control quantity is obtained by PID calculation based on the comparison result, including the following steps:

[0073] The motion deviation value is used as the input to the PID algorithm, and the formula is expressed as follows:

[0074] ;

[0075] in, The gain is proportional to the motion deviation value. The integral time constant is... The differential time constant is This is the output of the PID algorithm. This represents the motion deviation value;

[0076] The output of the PID algorithm is discretized, as shown in the following formula:

[0077] ;

[0078] in The output of the discretized PID algorithm is the control quantity at time k. The motion deviation value at the k-th discrete time point Let be the motion deviation value at the i-th discrete time point, where i is an integer from 1 to k. This is the integral coefficient, which is proportional to the cumulative amount of motion deviation. It is the differential coefficient, which is proportional to the rate of change of the motion deviation value.

[0079] The PID algorithm is mainly adjusted during the control phase. In this embodiment, K in the PID algorithm can be adjusted according to the displacement error and the control effect. p K i With K d When the error is large, the control current is increased to adapt to environmental changes and load disturbances. When the repulsion disk 2 moves too slowly, the acceleration coil is pulsed and the deceleration coil is pulsed when the repulsion disk 2 moves too fast. Through short and multiple pulse currents, the repulsion disk 2 is made to move according to a curve close to the preset motion.

[0080] This embodiment utilizes a PID algorithm for proportional control, enabling rapid response to current deviations in pulse current regulation. This prevents deviations from accumulating and significantly improves the system's response speed to instantaneous deviations, ensuring the motion state quickly approaches the target curve. Integral control addresses the persistent problem of small deviations in traditional open-loop control or single proportional control, thereby improving control accuracy. Derivative control effectively avoids motion oscillations or overshoot caused by over-adjustment, while also predicting deviation trends and ensuring the operational stability of the electromagnetic repulsion mechanism. In summary, the synergistic effect of proportional, integral, and derivative control allows the output control quantity to respond quickly to instantaneous changes, eliminate long-term errors, and predict and suppress disturbances, significantly improving the control accuracy of the electromagnetic repulsion mechanism.

[0081] In this embodiment, the control quantity is converted into a current regulation command based on the command conversion principle, including the following steps:

[0082] If the absolute value of the control quantity is greater than or equal to the set threshold, an amplitude adjustment command or a frequency adjustment command is generated.

[0083] If the absolute value of the control quantity is less than the set threshold, a duty cycle adjustment command is generated;

[0084] If the control quantity exhibits periodic fluctuations, a phase adjustment command is generated;

[0085] The amplitude adjustment command, frequency adjustment command, duty cycle adjustment command, and phase adjustment command are used as current regulation commands.

[0086] Specifically, when the absolute value of the control quantity is greater than or equal to the set threshold, i.e., when there is a large deviation, an amplitude or frequency adjustment command is generated first. Since the amplitude directly determines the magnitude of the electromagnetic force and the frequency affects the density of the pulse, the two have a more direct and effective effect on the correction of the deviation, which can quickly reduce significant deviations and prevent the deviation from continuing to expand. When the absolute value of the control quantity is less than the set threshold, i.e., when there is a small deviation, a duty cycle adjustment command is generated. Since the adjustment of the duty cycle is more precise, a small correction of the electromagnetic force can be achieved, avoiding the oscillation of the repulsion disk 2 caused by a large adjustment of the amplitude / frequency. For example, using amplitude adjustment may overcorrect when there is a small deviation, thus ensuring the smooth elimination of small deviations. Through this dynamic selection mechanism, both rapid response when there is a large deviation and precise control when there is a small deviation are achieved, which greatly improves the overall adjustment efficiency.

[0087] Since phase adjustment can match the timing of electromagnetic force application with the movement rhythm of repulsion disk 2 by advancing / delaying the trigger time of pulse current, it can suppress the accumulation of periodic deviations from the source. Compared with the magnitude / frequency adjustment of force, phase adjustment directly addresses the timing problem of force application, thereby specifically solving systematic and regular deviations, avoiding the waste of resources caused by blind adjustment, and significantly enhancing the system's anti-interference ability against periodic interference.

[0088] By selecting appropriate parameters based on the characteristics of the control quantity, the adjustment method and the deviation type are precisely matched, avoiding the blind selection of parameters. Furthermore, the command conversion principle, namely threshold judgment and fluctuation type identification logic, is clear and quantifiable, which facilitates the automatic execution of the signal processing module through the program. The conversion of control quantity into current command can be completed without manual intervention, reducing the dependence on operating experience and significantly improving control efficiency.

[0089] This embodiment combines coarse and fine adjustments by performing tiered adjustments based on the absolute value of the control quantity. This ensures both rapid response when the deviation is large and precise control when the deviation is small, thereby significantly improving the overall adjustment accuracy and efficiency. By adjusting the phase for periodic fluctuations, it specifically addresses systematic and regular deviations, avoiding resource waste caused by blind adjustments. Targeted solutions to systematic deviations enhance system robustness and significantly improve the system's ability to resist periodic disturbances. Through precise matching of command types and parameter characteristics, ineffective adjustments are reduced, allowing control resources to be concentrated on the most effective correction direction, thus optimizing system energy consumption and response speed.

[0090] S4: Adjust the parameters of the pulse current based on the current adjustment command, and control the movement of the repulsion disk 2 in the electromagnetic repulsion mechanism based on the adjusted pulse current.

[0091] In this embodiment, the parameters of the pulse current are adjusted based on the current adjustment command, and the movement of the repulsion disk 2 in the electromagnetic repulsion mechanism is controlled based on the adjusted pulse current, including the following steps:

[0092] Based on the current adjustment command, the corresponding parameter to be adjusted is selected. If the control quantity is positive, the repulsion disk 2 is controlled to accelerate; if the control quantity is negative, the repulsion disk 2 is controlled to decelerate.

[0093] Specifically, this embodiment can establish a quantitative mapping relationship based on the magnitude of the PID control quantity, system physical limitations, and motion stage characteristics. First, the magnitude of the amplitude adjustment is set, since the adjustment amount of the current amplitude is related to the PID control quantity. The absolute values ​​of the values ​​are linearly proportional, therefore the mapping relationship between the control quantity and the amplitude adjustment can be expressed by the following formula:

[0094] ;

[0095] in The adjustment amount is A. This is the amplitude scaling factor, which can be calibrated experimentally. The absolute value of the PID control variable;

[0096] Upper and lower limit constraints are set, and the adjusted amplitude must meet the physical limitations of the coil, including minimum amplitude constraints and maximum amplitude constraints, namely, not lower than the minimum driving current of the coil and not exceeding the rated current of the coil. It can be adjusted according to different time periods of the control phase.

[0097] Next, set the frequency adjustment measure. Since the adjustment amount of the pulse frequency is proportional to the rate of change of the control quantity, the mapping relationship between the control quantity and the frequency adjustment can be expressed by the following formula:

[0098] ;

[0099] in The frequency adjustment amount (Hz) This is the frequency proportionality coefficient, which can be calibrated experimentally. To control the rate of change of the quantity;

[0100] It also sets upper and lower limit constraints, including minimum frequency constraints and maximum frequency constraints, that is, within the system response range, it should not be lower than the minimum drive OK and should not exceed the maximum drive frequency.

[0101] The duty cycle adjustment is set. Since the adjustment amount of the duty cycle is proportional to the square of the control quantity, the mapping relationship between the control quantity and the duty cycle can be expressed by the following formula:

[0102] ;

[0103] in Duty cycle adjustment amount (%); This is the duty cycle factor, which can be calibrated experimentally.

[0104] And set upper and lower limit constraints, that is, the range of selectable duty cycles within the system response range.

[0105] Finally, the phase adjustment metric is set. Since the phase adjustment amount is related to the periodicity of the bias, the dominant frequency of the bias is extracted using Fourier analysis. The adjustment amount is: ;

[0106] in The phase offset time ensures that the pulse trigger timing matches the deviation period by "1 / 4 cycle" to maximize the suppression of periodic deviations, and sets a range constraint, that is, the range of each phase adjustment should be within the system's tolerance range.

[0107] After each n cycles of repulsive disk 2 motion, the proportional coefficients of each parameter are automatically calibrated. If the actual deviation correction time is longer than the preset threshold, the coefficients are increased; if overshoot occurs, the coefficients are decreased.

[0108] This embodiment selects the parameter to be adjusted based on the current command, ensuring that each adjustment applies to the parameter that best addresses the current deviation, reducing ineffective adjustments and improving control efficiency. By reflecting the direction of deviation through the positive and negative values ​​of the control quantity, it avoids the occurrence of reverse adjustment errors, ensuring that each current adjustment is consistent with the target motion trend, so that the repulsion disk 2 always moves closer to the target curve, thereby significantly improving control accuracy.

[0109] Example 2: Figure 2 As shown, this embodiment also provides a closed-loop control system for an electromagnetic repulsion mechanism based on PID, including a sensing and detection module, a pulse current modulation module, a drive execution module, and a signal processing module;

[0110] The sensing and detection module is used to monitor the motion signals of the repulsion disk 2 in the electromagnetic repulsion mechanism at each motion stage in real time.

[0111] The signal processing module is used to construct an actual motion curve based on the motion signal, compare the actual motion curve with the preset target motion curve, perform PID calculation on the comparison result to obtain the control quantity, and convert the control quantity into a current regulation command based on the command conversion principle.

[0112] The pulse current modulation module is used to adjust the parameters of the pulse current based on the current adjustment command.

[0113] The drive execution module is used to control the movement of the repulsion disk 2 in the electromagnetic repulsion mechanism based on the adjusted pulse current.

[0114] In this embodiment, the sensing and detection module includes a laser rangefinder 4 and a MEMS accelerometer 3. The laser rangefinder 4 uses a laser ranging method based on triangulation to detect the displacement information of the repulsion disk 2. The MEMS accelerometer 3 uses a single-axis high-sensitivity structure to collect the acceleration information of the repulsion disk 2 during its movement, and performs numerical integration on the acceleration to obtain the velocity information.

[0115] This embodiment uses a laser rangefinder 4 and a MEMS accelerometer 3 to collect displacement and velocity information of the repulsion disk 2, providing accurate data support for subsequent PID calculation and deviation value calculation, thus laying the foundation for precise control of the electromagnetic repulsion mechanism.

[0116] In this embodiment, the drive execution module includes a drive coil 1 and a brake coil 5. If the control quantity is positive, the pulse current acting on the drive coil 1 is adjusted; if the control quantity is negative, the pulse current acting on the brake coil 5 is adjusted.

[0117] This embodiment transforms the control of the repulsion disk 2 into the adjustment of the pulse current of either the control drive coil 1 or the brake coil 5 by setting up a drive coil 1 and a brake coil 5, thus simplifying the control steps and improving control efficiency.

[0118] like Figure 3 As shown in the figure, the drive execution module has two sets of coils installed above and below the repulsion disk 2. One set of coils is the drive coil 1, which is installed above the repulsion disk 2 and is responsible for accelerating the movement of the repulsion disk 2. The other set of coils is the brake coil 5, which is installed below the repulsion disk 2 and is responsible for decelerating the movement of the repulsion disk 2. The MEMS accelerometer 3 is installed on the repulsion disk 2, and the laser rangefinder 4 is connected to the repulsion disk 2 through a mounting device.

[0119] In this embodiment, when a pulsed current flows through the drive coil 1, a magnetic field is generated in the drive coil 1. At this time, eddy currents opposite in direction to the current in the drive coil 1 are induced in the repulsion disk 2, causing the repulsion disk 2 to experience an axially downward electromagnetic force, thereby driving the repulsion disk 2 to move downward. The principle of reducing speed when the displacement of the repulsion disk 2 is greater than the set displacement is that the brake coil 5 generates an opposite pulsed magnetic field through a pulsed current, and the repulsion disk 2 is therefore subjected to an electromagnetic force in the opposite direction to decelerate. The expression for the electromagnetic repulsion force on the repulsion disk 2 is approximately:

[0120] ;

[0121] Where F is the electromagnetic repulsion force (N), The inductance gradient of the coil is related to the geometry of the coil and the metal disk (H / m); I is the instantaneous current (A). For a circular flat plate coil, there is an empirical formula:

[0122] ;

[0123] in Vacuum permeability K is a correction factor, typically ranging from 0.6 to 0.9. Outer diameter; denoted as inner diameter; x represents the distance between the coil and the metal disk.

[0124] In this embodiment, the MEMS accelerometer 3 is primarily a mechanical structure that uses a mass block to generate displacement relative to the base. The mass block is connected to the base via an anchor, hinge, or spring. When acceleration is sensed, the mass block displaces relative to the base. A capacitive sensing structure is employed, where changes in capacitance generate a current signal for sampling by the signal processing unit. The comb-like structure significantly expands the sensing area, improves measurement accuracy, and reduces signal processing complexity. The MEMS accelerometer 3 is positioned axially to measure the axial acceleration of the repulsion disk 2 during its movement. Due to the large electromagnetic force in the electromagnetic repulsion mechanism, the MEMS accelerometer 3 needs to possess the advantages of a large range and high precision.

[0125] Laser rangefinder 4 employs triangulation-based laser ranging technology to acquire the instantaneous displacement information of repulsion disk 2 with high precision. The displacement signal directly reflects the motion result, but there is a detection delay. The velocity signal is obtained in real time through acceleration integration, allowing for early prediction of motion trends. Both signals are input into the information processing unit, which simultaneously obtains the velocity value using the differential of displacement and the integral of acceleration, performing cross-validation to provide reliable feedback for the adaptive control of this closed-loop control system. Both signals have a sampling frequency of no less than 2kHz, achieving millisecond-level control closed loop.

[0126] This embodiment achieves closed-loop control of the electromagnetic repulsion mechanism by incorporating a sensing and detection module, a pulse current modulation module, a drive execution module, and a signal processing module within the electromagnetic repulsion mechanism. The deployed module structure is simple, the control cost is low, and it can be applied to scenarios requiring high precision in electromagnetic repulsion control, such as rapid disconnection of vacuum switches.

[0127] As can be seen from the above embodiments, it has at least the following substantial effects:

[0128] (1) This invention can capture minute deviations in real time by monitoring the motion signal of the repulsion disk in real time and comparing it with the target curve. This solves the problem that traditional open-loop control relies on preset current waveforms and cannot cope with parameter changes caused by complex working conditions such as contact wear, vacuum degree changes and temperature drift. It improves control accuracy and ensures that the motion trajectory fits the target.

[0129] (2) The present invention can predict the trend of deviation change by dynamically adjusting the control quantity through PID algorithm, which can suppress overshoot, avoid rigid impact of repulsion disk on mechanism, and extend service life of electromagnetic repulsion mechanism.

[0130] (3) The present invention can automatically compensate for the inherent error of the mechanism through the self-adjustment capability of the PID algorithm, reduce the dependence on the initial parameters, reduce the debugging complexity, and realize adaptive control of the whole stage without human intervention, thus improving the response speed.

[0131] The specific embodiments described above are preferred embodiments of the closed-loop control method and system for an electromagnetic repulsion mechanism based on PID according to the present invention, and are not intended to limit the specific scope of the present invention. The scope of the present invention includes but is not limited to the specific embodiments described above. All equivalent changes made in accordance with the shape and structure of the present invention are within the protection scope of the present invention.

Claims

1. A PID-based closed-loop control method for an electromagnetic repulsion mechanism, characterized in that: The method comprises the following steps: S1, real-time monitoring of the movement signal of the repulsion disc in each movement stage of the electromagnetic repulsion mechanism, the movement signal being a speed signal or a displacement signal, and each movement stage of the repulsion disc comprising a starting stage, a control stage and a braking stage; S2, constructing an actual movement curve based on the movement signal, comparing the actual movement curve with a preset target movement curve, and specifically comprising: taking the actual movement time of the repulsion disc as a reference, discretizing the movement signal in the actual movement curve according to time points, and calculating the movement deviation value by difference between the discretized movement signal and the target speed and target displacement signal in the target movement curve at the same time node; The actual movement curve is a curve recording the movement signal of the repulsion disc with time as the horizontal axis and speed or displacement as the vertical axis; The target movement curve is a curve defining the movement of the repulsion disc with time as the horizontal axis and target speed or target displacement as the vertical axis; and the movement deviation value is a speed deviation value or a displacement deviation value; S3, performing PID calculation on the comparison result to obtain a control quantity , converting the control quantity into a current regulation instruction based on an instruction conversion principle, specifically including: if an absolute value of the control quantity is greater than or equal to a set threshold, generating an amplitude adjustment instruction or a frequency adjustment instruction, the amplitude adjustment instruction being , and the frequency adjustment instruction being ; If the absolute value of the control quantity is less than a set threshold value, a duty cycle adjustment instruction is generated, the duty cycle adjustment instruction is ; If the control quantity exhibits periodic fluctuations, a phase adjustment instruction is generated, which is ; wherein, is the amplitude adjustment (A); is the amplitude scaling factor, which can be calibrated by experiment; is the absolute value of the control quantity; is the frequency adjustment (Hz); is the frequency scaling factor, which can be calibrated by experiment; is the rate of change of the control quantity; wherein is the duty cycle adjustment (%); is the duty cycle scaling factor, which can be calibrated by experiment; is the phase shift time, which ensures that the pulse trigger timing matches the "1 / 4 cycle ahead" of the deviation cycle, for maximum suppression of periodic deviations, is the main frequency of the motion deviation value extracted by Fourier analysis; S4, adjusting the parameters of the pulse current based on the current adjustment instruction, and controlling the movement of the repulsion disc in the electromagnetic repulsion mechanism based on the adjusted pulse current.

2. The PID-based closed-loop control method of the electromagnetic repulsion mechanism according to claim 1, characterized in that: The starting stage is to generate an initial pulse current signal to drive the repulsion disc to start moving; the control stage is to control the actual movement curve of the repulsion disc to fit the target movement curve; and the braking stage is to adjust the pulse current to control the repulsion disc to decelerate when the displacement of the repulsion disc reaches a set threshold.

3. The PID-based closed-loop control method of the electromagnetic repulsion mechanism according to claim 1, characterized in that: In S3, the control amount is obtained by PID calculation on the comparison result, comprising the following steps: The movement deviation value is taken as the input of the PID algorithm, and the formula is as follows: wherein, Kp is a proportional gain, proportional to the motion error value, Ki is an integral time constant, Kd is a derivative time constant, OPID is the output of the PID algorithm, is the motion error value; The output of the PID algorithm is discretized, and the formula is as follows: wherein is the output of the discretized PID algorithm, i.e., the control amount at the kth time point, is the motion deviation value at the kth discrete time point, is the motion deviation value at the ith discrete time point, i being an integer from 1 to k, is the integral coefficient, which is proportional to the cumulative amount of the motion deviation value, is the differential coefficient, which is proportional to the rate of change of the motion deviation value.

4. The PID-based closed-loop control method of the electromagnetic repulsion mechanism according to claim 1, characterized in that: In S4, the parameters of the pulse current are adjusted based on the current adjustment instruction, and the movement of the repulsion disc in the electromagnetic repulsion mechanism is controlled based on the adjusted pulse current, comprising the following steps: The corresponding to-be-adjusted parameter is selected based on the current adjustment instruction, and if the control amount is positive, the repulsion disc is accelerated, and if the control amount is negative, the repulsion disc is decelerated.

5. A PID-based closed-loop control system for electromagnetic repulsion mechanism, which is suitable for the PID-based closed-loop control method for electromagnetic repulsion mechanism according to any one of claims 1-4, characterized in that: The system comprises a sensing detection module, a pulse current modulation module, a driving execution module and a signal processing module; The sensing detection module is used for real-time monitoring of the movement signal of the repulsion disc in each movement stage of the electromagnetic repulsion mechanism; The signal processing module is used for constructing an actual movement curve based on the movement signal, comparing the actual movement curve with a preset target movement curve, and performing PID calculation on the comparison result to obtain a control amount, and converting the control amount into a current adjustment instruction based on the instruction conversion principle; The pulse current modulation module is used for adjusting the parameters of the pulse current based on the current adjustment instruction; The driving execution module is used for controlling the movement of the repulsion disc in the electromagnetic repulsion mechanism based on the adjusted pulse current.

6. The PID-based closed-loop control system of electromagnetic repulsion mechanism according to claim 5, characterized in that: The sensing and detecting module comprises a laser range finder and a MEMS accelerometer, the laser range finder detects the displacement information of the repulsion disc by using a laser ranging method based on triangulation, and the MEMS accelerometer collects acceleration information of the repulsion disc during movement by using a single-axis high-sensitivity structure and performs numerical integration on the acceleration to obtain velocity information.

7. The PID-based closed-loop control system of electromagnetic repulsion mechanism according to claim 5, characterized in that: The driving and executing module comprises a driving coil and a braking coil, and if the control quantity is positive, the pulse current acting on the driving coil is adjusted, and if the control quantity is negative, the pulse current acting on the braking coil is adjusted.

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