Adaptive locking structure control method and device applied to box-type substation
Patent Information
- Authority / Receiving Office
- CN · China
- Patent Type
- Applications(China)
- Current Assignee / Owner
- SHIJIAZHUANG KELIN ELECTRICAL EQUIP CO LTD
- Filing Date
- 2026-05-27
- Publication Date
- 2026-06-23
Smart Images
Figure CN122267633A_ABST
Abstract
Description
Technical Field
[0001] This application belongs to the field of protection technology for prefabricated substations, and more specifically, it relates to an adaptive locking structure control method and device for prefabricated substations. Background Technology
[0002] Transformers in prefabricated substations require reliable fixation and protection during transportation, installation, and operation. Traditional locking structures often employ rigid connections or simple elastic fixing methods. However, during transportation, simple rigid connections are more susceptible to direct transmission of road bumps and impact loads to the equipment in the prefabricated substation, resulting in severe stress concentration and potentially causing structural damage such as transformer shell deformation, weld cracking, and tank leakage. Similarly, simple elastic supports may fail to provide stable restraint due to excessive equipment sway and excessive positioning deviation.
[0003] Therefore, there is an urgent need for a locking solution for prefabricated substations. Summary of the Invention
[0004] The purpose of this application is to provide an adaptive locking structure control method and device for prefabricated substations, so as to realize the adaptive locking of prefabricated substations, solve the locking problem in the transportation and operation of prefabricated substations in the prior art, and reduce equipment damage during the transportation and operation of prefabricated substations.
[0005] In a first aspect, an adaptive locking structure control method for prefabricated substations is provided. This method controls the adaptive locking structure of the prefabricated substation to lock or support it. The adaptive locking structure includes a paper-folding structure for locking or supporting the prefabricated substation. Magnetic components are respectively provided on both sides of the paper-folding structure for elastic expansion and contraction. The method includes: Acquire status monitoring data of the magnetic components on both sides; Based on the condition monitoring data, the control quantity is obtained through a preset fuzzy PID model; the control quantity is used to characterize the displacement adjustment between the magnetic components on both sides. When the control quantity is less than the first threshold, a current in the first direction is passed through the magnetic components on both sides to control the magnetic components on both sides to attract each other, so that the origami structure is in a rigid state. When the control quantity is greater than or equal to the first threshold, a current in the second direction is passed through the magnetic components on both sides to control the magnetic components on both sides to repel each other, so that the origami structure is in a flexible state.
[0006] Secondly, an adaptive locking structure control device for prefabricated substations is provided. This device controls the adaptive locking structure of the prefabricated substation to lock or support it. The adaptive locking structure includes a paper-folding structure for locking or supporting the prefabricated substation. Magnetic components are respectively provided on both sides of the paper-folding structure for elastic expansion and contraction. Elastic expansion and contraction of the paper-folding structure are achieved by passing currents in different directions through the magnetic components on both sides. The device includes: The data acquisition module is used to acquire status monitoring data of the magnetic components on both sides; The control output module is used to obtain the control quantity based on the state monitoring data through a preset fuzzy PID model; the control quantity is used to characterize the displacement adjustment between the two magnetic components. A rigid control module is used to pass a current in a first direction to the magnetic components on both sides to control the magnetic components on both sides to attract each other, so that the origami structure is in a rigid state when the control amount is less than a first threshold. The flexible control module is used to supply current in a second direction to the magnetic components on both sides when the control quantity is greater than or equal to a first threshold, so as to control the magnetic components on both sides to repel each other and make the origami structure in a flexible state.
[0007] A third aspect of this application provides an electronic device, including a memory, a processor, and a computer program stored in the memory and running on the processor. When the processor executes the computer program, it implements the steps of the above-described adaptive locking structure control method applied to a prefabricated substation.
[0008] A fourth aspect of this application provides a computer-readable storage medium storing a computer program that, when executed by a processor, implements the steps of the above-described adaptive locking structure control method applied to a prefabricated substation.
[0009] The beneficial effects of the adaptive locking structure control method and device for prefabricated substations provided in this application are as follows: This application uses a paper-folding structure with magnetic components as an adaptive locking carrier for the transformer. By applying current in different directions to the magnetic components on both sides, the elastic expansion and contraction of the paper-folding structure can be actively controlled, overcoming the shortcomings of traditional locking structures that can only maintain a single rigid connection or simple elastic support, and cannot adapt to multiple operating conditions during transportation and operation. Secondly, this solution collects real-time monitoring data of the magnetic components and outputs a precise control quantity representing the displacement adjustment based on a preset fuzzy PID model. This can quantify the degree of current disturbance and operating condition deviation. When the control quantity is less than a first threshold, a first-direction current is applied to keep the paper-folding structure in a rigid state, adapting to the operating state after the prefabricated substation is installed and limiting displacement. When the control quantity is greater than or equal to the first threshold, a second-direction current is applied to switch to a flexible state, adapting to the transportation state of the transformer during long-distance transport. The elastic deformation of the paper-folding structure buffers the impact and dissipates vibration energy, reducing structural damage such as shell deformation, weld cracking, or tank leakage caused by stress concentration. Attached Figure Description
[0010] To more clearly illustrate the technical solutions in the embodiments of this application, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of this application. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.
[0011] Figure 1 A schematic diagram of an adaptive locking structure when the internal origami structure is in a rigid state, as provided in an embodiment of this application; Figure 2 This is a schematic diagram of an origami structure provided in one embodiment of this application; Figure 3 A schematic diagram of an adaptive locking structure provided in an embodiment of this application when the internal origami structure is in a flexible state; Figure 4 This is a flowchart illustrating an adaptive locking structure control method for prefabricated substations provided in an embodiment of this application. Figure 5 A schematic diagram of another adaptive locking structure provided in an embodiment of this application; Figure 6 This is a schematic diagram of another adaptive locking structure provided in an embodiment of this application; Figure 7 A flowchart illustrating another adaptive locking structure control method for prefabricated substations provided in an embodiment of this application; Figure 8 A structural block diagram of an adaptive locking structure control device for a prefabricated substation provided in an embodiment of this application; Figure 9 This is a schematic block diagram of an electronic device provided in an embodiment of this application. Detailed Implementation
[0012] In the following description, specific details such as particular system architectures and techniques are set forth for illustrative purposes and not for limitation, in order to provide a thorough understanding of the embodiments of this application. However, those skilled in the art will understand that this application may also be implemented in other embodiments without these specific details. In other instances, detailed descriptions of well-known systems, apparatuses, circuits, and methods have been omitted so as not to obscure the description of this application with unnecessary detail.
[0013] To make the objectives, technical solutions, and advantages of this application clearer, the following description will be provided in conjunction with the accompanying drawings and specific embodiments.
[0014] In this embodiment, the adaptive locking structure can be installed between the transformer and the transformer compartment in the prefabricated substation to achieve lateral locking, or it can be installed between the transformer and the ground to achieve vertical support. The adaptive locking structure installed in the prefabricated substation includes a folding structure for locking or supporting the prefabricated substation. When the folding angle of the folding structure is at its minimum, the locking structure is in a rigid state; conversely, when the folding angle of the folding structure increases, the locking structure is in a flexible state. The adaptive locking structure can also be installed between other internal components of the prefabricated substation; this is not limited in this embodiment.
[0015] Please refer to Figure 1 In this origami structure, magnetic components are installed on both sides for elastic expansion and contraction. The elastic expansion and contraction of the origami structure can be achieved by passing currents in different directions through these magnetic components. As one method, both ends of the origami structure are fixedly connected to the magnetic components. When currents in different directions are passed through the magnetic components, causing the magnetic properties of the contacting parts of the two sides to be the same, the two magnetic components repel each other, causing the folding angle of the origami structure to increase, thus achieving elastic expansion and contraction. The magnetic components can be electromagnets, and the origami structure can be the Miura origami structure (see reference). Figure 2 When the unfolding angle of the origami structure is equal to the preset angle, the origami structure is in a rigid state; when the unfolding angle is greater than the preset angle, the origami structure becomes flexible. In this embodiment, the unfolding angle of the origami structure is at its minimum when the magnetic components on both sides are attracted to each other, and the locking structure is in a rigid state. The preset angle refers to the unfolding angle of the origami structure when the magnetic components on both sides are attracted to each other, at which point the unfolding angle of the origami structure is at its minimum.
[0016] In this embodiment, the adaptive locking structure can be installed between internal components of the prefabricated substation, or between the prefabricated substation and the ground-supporting structure. More specifically, it can be installed between the transformer and the prefabricated substation enclosure, or between the transformer and the ground at its vertical position, to lock or support the transformer.
[0017] In this embodiment, currents in different directions can be passed through the magnetic components on both sides of the origami structure to change the magnetism of the magnetic components, thereby determining whether the magnetic components on both sides attract each other. Since each magnetic component is fixed to one end of the origami structure, when two magnetic components attract each other, the folding angle of the origami structure will become smaller and less than a preset angle, so that the origami structure as a whole exhibits a rigid state; conversely, if... Figure 3 As shown, when the two magnetic components separate, the folding angle of the origami structure will increase and be greater than or equal to the preset angle, so that the origami structure as a whole exhibits a flexible state.
[0018] Please refer to Figure 4 , Figure 4 This is a flowchart illustrating an adaptive locking structure control method for a prefabricated substation provided in an embodiment of this application. The method can be executed by an electronic device and may include: S101-S104.
[0019] S101: Acquire status monitoring data of the magnetic components on both sides.
[0020] In this embodiment, the state monitoring data can be monitored by a sensor disposed in the adaptive locking structure. The state monitoring data can include displacement data and vibration data to reflect the magnitude of the external vibration intensity. In this embodiment, the sensor can specifically be disposed on the outside of a magnetic component, where the outside of a magnetic component is the side of that magnetic component that is away from the other magnetic component.
[0021] In this embodiment, obtaining the state monitoring data of the magnetic components on both sides may include: obtaining the initial state monitoring data of the magnetic components on both sides; performing analog-to-digital conversion and filtering on the initial state monitoring data to obtain the state monitoring data. In this embodiment, the filtering can be implemented based on moving average filtering.
[0022] S102: Based on the condition monitoring data, the control quantity is obtained through a preset fuzzy PID model.
[0023] In this embodiment, the fuzzy PID model incorporates pre-calibrated fuzzy rules for the operating conditions, and the final output control quantity is used to characterize the displacement that the magnetic components on both sides need to be adjusted. In this embodiment, the condition monitoring data is used to characterize the strength of external vibrations; the stronger the external vibrations, the greater the adjustment displacement represented by the control quantity output by the fuzzy PID model.
[0024] In one embodiment, the control quantity is obtained based on the state monitoring data and through a preset fuzzy PID model, including: mapping the state monitoring data to a preset fuzzy domain to obtain standard input data; calculating the control deviation vector and the deviation change rate according to a preset state deviation safety threshold and the standard input data; and inputting the control deviation vector and the deviation change rate into the fuzzy PID model to calculate the control quantity.
[0025] In this embodiment, the preset fuzzy universe of discourse refers to a dimensionless unified numerical reference space pre-defined for the locking scenario of the prefabricated substation, such as [0,1], [-6,6], or [-8,8], used for range scaling. Since the data range and dimensions in the condition monitoring data are inconsistent and the data dimensions are different, they cannot be directly input into the fuzzy PID model. In this embodiment, through universe of discourse mapping, all original data with different dimensions and ranges are uniformly converted to standard dimensionless input data of the same reference scale.
[0026] In this embodiment, the preset state deviation safety threshold refers to the maximum state deviation that the origami structure in the adaptive locking structure can withstand at its location in the prefabricated substation when it is in a rigid state. For example, if the adaptive locking structure is installed between the transformer and the cabin in the prefabricated substation, the preset state deviation safety threshold refers to the maximum state deviation that the transformer and the cabin can withstand when the origami structure is in a rigid state.
[0027] In this embodiment, the preset state deviation safety threshold may include a displacement safety deviation threshold. and vibration frequency safety deviation threshold Accordingly, the displacement data in the condition monitoring data are displacement values, and the vibration data are vibration frequencies; the standard input data contains standardized displacement values. and standardized vibration frequency The control deviation vector can be represented as: , This represents the control deviation vector. Indicates displacement deviation. Indicates the deviation of vibration frequency. This indicates the current time or the current sampling period. The deviation change rate can be obtained by subtracting the deviation of the current sampling period from the deviation of the previous sampling period, and then comparing the difference with the sampling period. The deviation change rate can include the displacement deviation change rate and the vibration frequency deviation change rate. The fuzzy PID model can output the control quantity based on the input control deviation vector, the deviation change rate, and preset judgment rules.
[0028] S103: When the control quantity is less than the first threshold, a current in the first direction is passed through the magnetic components on both sides to control the magnetic components on both sides to attract each other, so that the origami structure is in a rigid state.
[0029] In this embodiment, when the control quantity is less than the first threshold, it indicates that the current operating condition is stable and the displacement deviation is within the safe allowable range. An excitation current in the first direction can be supplied to the magnetic components on both sides to cause them to attract each other, thereby driving the folding structure to maintain a locked state and a rigid load-bearing state. This forms a rigid spatial lock and continuous mechanical support, restricting the lateral and vertical relative movement of the equipment and ensuring the stable operation of the substation. The first threshold can be set by the user; in this embodiment, it can be set to 0.3.
[0030] S104: When the control quantity is greater than or equal to the first threshold, a current in the second direction is passed through the magnetic components on both sides to control the magnetic components on both sides to repel each other, so that the origami structure is in a flexible state.
[0031] In this embodiment, when the control quantity is greater than or equal to the first threshold, it indicates that the device may be in a transportation or operational state, experiencing vibration due to a malfunction. Simultaneously, the vibration impact exceeds the safe range. Maintaining the rigidity of the folding structure could potentially damage the equipment. Therefore, a second-direction excitation current can be supplied to the magnetic components on both sides, causing them to repel each other and increasing the folding angle of the folding structure, thus making it flexible. With external vibrations, the elastic reciprocating deformation and built-in damping of the folding structure dissipate the impact vibration energy, providing flexible buffer support for the transformer and reducing structural damage and deformation. In this embodiment, supplying the first-direction current to the magnetic components on both sides means supplying current in opposite directions, while supplying the second-direction current means supplying current in the same direction.
[0032] As can be seen from the above, the embodiments of this application use a paper-folding structure with magnetic components as an adaptive locking carrier for the transformer. By applying current in different directions to the magnetic components on both sides, the elastic expansion and contraction of the paper-folding structure can be actively controlled, overcoming the shortcomings of traditional locking structures that can only maintain a single rigid connection or simple elastic support, and cannot adapt to multiple operating conditions during transportation and operation. Secondly, this solution collects real-time monitoring data of the magnetic components and outputs a precise control quantity representing the displacement adjustment based on a preset fuzzy PID model. This can quantify the degree of current disturbance and operating condition deviation. When the control quantity is less than a first threshold, a first-direction current is applied to keep the paper-folding structure in a rigid state, adapting to the operating state after the prefabricated substation is installed and limiting displacement. When the control quantity is greater than or equal to the first threshold, a second-direction current is applied to switch to a flexible state, adapting to the transportation state of the transformer during long-distance transport. The elastic deformation of the paper-folding structure buffers the impact and dissipates vibration energy, reducing structural damage such as shell deformation, weld cracking, or tank leakage caused by stress concentration.
[0033] refer to Figure 5In one embodiment of this application, the origami structure further includes an SMA driver; the SMA driver is connected to the outside of any magnetic component and is used to adjust the state of the origami structure together with the magnetic components on both sides; the outside of the magnetic component is the side of the magnetic component away from the other magnetic component; when the control amount is greater than or equal to a first threshold, a current in a second direction is passed to the magnetic components on both sides to control the magnetic components on both sides to repel each other, so that the origami structure is in a flexible state, including: when the control amount is greater than or equal to the first threshold and less than the second threshold, a current in a second direction is passed to the magnetic components on both sides to control the magnetic components on both sides to repel each other, so that the origami structure is in a flexible state; When the control quantity is greater than or equal to the second threshold, a current in the second direction is passed through the magnetic components on both sides to control the magnetic components on both sides to repel each other, so that the origami structure is in a flexible state, and the displacement between the magnetic components on both sides is adjusted by the SMA driver.
[0034] In this embodiment, the SMA actuator refers to an actuator primarily composed of shape memory alloys. Utilizing the shape memory and superelastic effects, it can undergo a reversible martensitic-austenitic phase transformation under electrothermal excitation, generating controllable axial recovery displacement and output stress. In this embodiment, as... Figure 5 As shown, a sensor assembly can be installed on the outer side of the magnetic component that does not have an SMA actuator to acquire status monitoring data of the magnetic component. Placing the sensor on the outer side of the magnetic component can reduce the impact on the basic motion stroke during the folding and unfolding of the origami structure.
[0035] In this embodiment, when the control quantity is greater than or equal to the first threshold and less than the second threshold, it indicates that the vibration impact exceeds the safe range, and the adjustment displacement represented by the control quantity exceeds the steady-state safe range, but the disturbance intensity does not exceed the upper limit of the flexible vibration reduction adjustment. At this time, the vibration energy can be absorbed by the elastic deformation of the origami itself and the built-in damping, thus completing the basic flexible vibration reduction and support. The second threshold can be set by the user and can be 0.5.
[0036] In this embodiment, when the control quantity is greater than or equal to the second threshold, it indicates that the displacement adjustment represented by the control quantity has exceeded the maximum adjustment capability of the flexible state, and the external vibration is large. At this time, if no restriction is imposed on the flexible state, the relative displacement and sway of the transformer and other components will be large, leading to mutual collision. Therefore, while maintaining the flexible state, the SMA actuator can be triggered to actively correct the relative displacement of the magnetic components on both sides through axial drive, dynamically match the folding angle of the paper, realize the fine adaptive adjustment of stiffness and damping, and suppress large displacement deviations and strong impact vibrations.
[0037] More specifically, the adaptive locking structure between the internal components of the prefabricated substation can be equipped with the control logic of the SMA driver in this embodiment to adjust the displacement between the magnetic components on both sides. Alternatively, this control logic can be omitted. By setting the component distance and layout planning during the manufacturing of the prefabricated substation, it can be achieved that, under the premise of overall structural stability of the prefabricated substation, the internal components of the prefabricated substation will not collide when the origami structure is in a flexible state. However, the adaptive locking structure between the prefabricated substation and the ground bearing structure should be equipped with the control logic of the SMA driver in this embodiment to adjust the displacement between the magnetic components on both sides. If the bottom is unstable, the overall structure of the prefabricated substation may tilt and settle, and the internal components of the prefabricated substation are more prone to collision and deformation.
[0038] In one embodiment, adjusting the displacement between two magnetic components using an SMA actuator includes: determining a target stiffness and a target damping of the SMA actuator based on a control quantity; adjusting the stiffness of the SMA actuator to the target stiffness; and adjusting the damping of the SMA actuator to the target damping, thereby adjusting the displacement between the two magnetic components.
[0039] In this embodiment, based on the thermo-mechanical coupling characteristics of shape memory alloys, the relative distance between the magnetic components on both sides of the origami structure can be constrained by adjusting its equivalent stiffness and damping, thereby achieving closed-loop correction of displacement deviation. In this embodiment, the larger the control quantity, the greater the vibration, and the greater the target stiffness and target damping that the SMA actuator should reach, in order to limit the distance between the two magnetic components from becoming too large, while dissipating some vibration through the damping effect of the SMA.
[0040] In this embodiment, a pre-defined mapping table is established between the control quantity and its corresponding stiffness, as well as between the control quantity and its corresponding damping. This mapping table characterizes the mapping relationship between the control quantity and its corresponding standard stiffness and damping. The target stiffness and target damping under the current control quantity can be determined using this mapping table, and the SMA actuator is adjusted based on the determined target stiffness and target damping to adjust the displacement between the magnetic components on both sides. In one embodiment, the stiffness and damping of the SMA actuator can be changed by altering its temperature. Temperature changes can be achieved by applying current. In this embodiment, if the SMA actuator cannot simultaneously achieve both the target stiffness and target damping, priority is given to ensuring that the SMA actuator reaches the target stiffness to limit the maximum relative displacement of the magnetic components on both sides, ensuring that the overall spatial attitude of the transformer does not exceed limits and that no swaying, collision, or instability occurs.
[0041] In this embodiment, determining the target stiffness and target damping of the SMA actuator based on the control quantity includes: obtaining the stiffness gain coefficient and damping gain coefficient of the SMA actuator, as well as the base stiffness and base damping in a rigidly locked state; determining the target stiffness based on the control quantity, stiffness gain coefficient, and base stiffness; and determining the target damping based on the control quantity, damping gain coefficient, and base damping.
[0042] In this embodiment, the control quantity is expressed as The stiffness gain coefficient is expressed as The basic stiffness is expressed as The damping gain coefficient is expressed as The basic damping is expressed as Target stiffness Target damping In this embodiment, all calculations are numerical.
[0043] As can be seen from the above, the embodiment of this application places the SMA driver on the outside of the magnetic component and the corresponding sensor assembly on the opposite side. This avoids occupying the folding and deformation space of the origami structure and interfering with its basic telescopic movement stroke, while ensuring accurate and stable acquisition of status monitoring data. Secondly, this embodiment constructs a graded working condition control system through a first threshold and a second threshold. When the control quantity is within the range of the two thresholds, basic flexible vibration reduction can be completed solely by the elastic deformation of the origami itself, without the need to start the SMA driver, effectively reducing frequent start-stop of the device and lowering system energy consumption and long-term fatigue loss. When the control quantity is greater than or equal to the second threshold and exceeds the upper limit of the passive vibration reduction capability of the origami, the active displacement correction of the SMA driver is triggered. Based on the shape memory and hyperelasticity characteristics of SMA, combined with a preset mapping table, basic stiffness damping, and gain coefficient, the target stiffness and target damping, which are positively correlated with the control quantity, are matched to achieve closed-loop regulation, limiting the relative displacement of components under strong disturbances and avoiding transformer shaking and collision, and structural deformation.
[0044] In one embodiment of this application, the fuzzy PID model is determined based on the location of the adaptive locking structure in the prefabricated substation, and in the following manner: If the adaptive locking structure is installed between the internal components of the prefabricated substation, the fuzzy PID model is determined as the first PID model; if the adaptive locking structure is installed between the prefabricated substation and the ground bearing structure, the fuzzy PID model is determined as the second PID model. The locking structure installed between the internal components of the prefabricated substation is used to achieve lateral adaptive locking and flexible vibration reduction of the prefabricated substation, while the locking structure installed between the prefabricated substation and the ground bearing structure is used to achieve vertical support and flexible vibration reduction of the prefabricated substation. The model parameters of the first PID model and the second PID model are different.
[0045] In this embodiment, the first PID model and the second PID model employ independent parameter configurations, allowing the control model's response characteristics, regulation intensity, and stability boundary to adapt to different load characteristics and disturbance forms in the lateral and vertical directions, respectively. This avoids control deviations, response lags, or regulation overshoots caused by universal parameters. The model parameters of the first and second PID models may specifically include fuzzy judgment rules, proportional coefficients, integral coefficients, and derivative coefficients, etc. The PID model parameters can be set by relevant personnel based on multiple experiments. In this embodiment, since the stiffness and damping of the SMA actuator change according to its own temperature, and when the adaptive locking structure is set between the prefabricated substation and the ground bearing structure, there is an active correction process for the SMA (i.e., adjusting stiffness and damping). Therefore, the input data of the second PID model can also include the temperature of the SMA actuator. Correspondingly, the temperature of the SMA actuator should undergo the same analog-to-digital conversion, filtering, and universe-of-discourse mapping processes as the condition monitoring data before being input into the second PID model.
[0046] In one embodiment of this application, reference is made to Figure 6 The adaptive locking structure further includes: a drive shaft, an electromagnetic lock, and a mechanical spring; the mechanical spring is sleeved on the drive shaft and connected to one end of the drive shaft, the other end of the drive shaft is connected to the origami structure, and the axial direction of the drive shaft is consistent with the extension and retraction direction of the origami structure; when the mechanical spring is in an elastic state, the mechanical spring can extend on the drive shaft and push the origami structure to make the origami structure in a rigid state while elastically unfolding; the electromagnetic lock controls the mechanical spring to be in a compressed state when energized; the method also includes: If the control quantity is greater than or equal to the second threshold, and the duration of the control quantity being greater than or equal to the second threshold is longer than the preset duration, the electromagnetic lock will be de-energized so that the mechanical spring in the compressed state can release its elastic potential energy and push the origami structure to make the origami structure in a rigid state.
[0047] In this embodiment, the SMA driver and its connected magnetic structure can be fitted onto the drive shaft and slide along it. In this embodiment, if the control quantity is greater than or equal to the second threshold and the duration exceeds the preset duration, it indicates that neither the flexible vibration reduction mode nor the active correction of the SMA driver can suppress the displacement deviation and vibration excitation to a safe range. The active adjustment capability has reached its limit, and the active correction of the SMA driver fails. At this time, the flexible state cannot provide sufficient mechanical constraint. Under this vibration condition, the internal components of the prefabricated substation shake violently, and the flexible state of the origami structure is actually detrimental to protecting the prefabricated substation. Therefore, the electromagnetic lock is de-energized to allow the compressed mechanical spring to release its elastic potential energy, pushing the origami structure to a rigid state. Simultaneously, current in the first direction should be supplied to the magnetic components on both sides to ensure locking force. When the electromagnetic lock is de-energized, an alarm message indicating that the prefabricated substation is in an abnormal state is simultaneously sent to the terminal equipment to remind relevant personnel to perform inspections, maintenance, and reset of the mechanical spring. In this embodiment, the preset duration can be set according to actual needs, for example, it can be set to 180s.
[0048] As can be seen from the above, this embodiment uses differentiated configurations of the first and second PID models with independent parameters for the adaptive locking structure installation position. These models can adapt to the load and disturbance characteristics of the transverse locking and vibration reduction of internal components and the vertical bearing and vibration reduction of the enclosure and ground, respectively, avoiding control deviations, response lags, and adjustment overshoots caused by general parameters. The second PID model incorporates SMA driver temperature data and performs synchronous preprocessing, matching the SMA stiffness and damping adjustment characteristics and improving the accuracy of active correction control. This embodiment uses a coaxial drive shaft, electromagnetic lock, and mechanical spring to form an emergency locking mechanism. The electromagnetic lock is energized to keep the spring in a compressed state. The dual triggering conditions are that the control quantity meets the standard and the timeout period is continuous. This filters out instantaneous disturbances and avoids false emergency triggering. When active control fails, the spring releases elastic potential energy to force the folding structure into a rigid state, reducing the risk of equipment shaking and collision.
[0049] In one embodiment, reference Figure 7An adaptive locking structure control method for prefabricated substations can be implemented through the following process: First, power-on startup is performed. Data is collected by sensors installed in the adaptive locking structure, such as displacement, vibration, and deformation data of the origami structure and magnetic components on both sides. The raw data is then processed through analog-to-digital conversion, filtering and noise reduction, and domain mapping to obtain standard input data. A fuzzy PID model receives the standard input data and outputs whether the adaptive locking structure should be in a flexible damping state or a rigid locking state under the current operating condition. Regardless of whether the output result is in a rigid or flexible mode, the sensors continuously collect real-time operating status data to provide feedback for safety verification. If the status monitoring data is within the safe range, the current mode control is effective and the operating condition is stable, allowing for continuous cyclic monitoring to maintain stable operation. If the status monitoring data is not within the safe range, it indicates that the displacement / vibration deviation exceeds the safety boundary, the basic electromagnetic mode control capability is insufficient, and the SMA driver is invoked for active correction, strengthening structural constraints and vibration reduction capabilities to attempt to pull the abnormal operating condition back to the safe range. If the data returns to the safe range, the execution status monitoring will resume. If the data does not return to the safe range (the duration of the data not returning to the safe range can also be added as a condition), the mechanical spring will be unlocked. The pre-compressed and stored mechanical spring will release its elastic potential energy instantly, making the origami structure exhibit a rigid state.
[0050] Corresponding to the adaptive locking structure control method applied to prefabricated substations in the above embodiments, Figure 8 This is a structural block diagram of an adaptive locking structure control device for a prefabricated substation, provided as an embodiment of this application. For ease of explanation, only the parts relevant to the embodiment of this application are shown. References Figure 8 The adaptive locking structure control device 20 applied to prefabricated substations is used to control the adaptive locking structure of the prefabricated substations to lock or support them. The adaptive locking structure includes a paper-folding structure for locking or supporting the prefabricated substations. Magnetic components are respectively provided on both sides of the paper-folding structure for elastic expansion and contraction. The adaptive locking structure control device 20 applied to prefabricated substations includes: a data acquisition module 21, a control output module 22, a rigid control module 23, and a flexible control module 24.
[0051] Among them, the data acquisition module 21 is used to acquire the status monitoring data of the magnetic components on both sides; The control output module 22 is used to obtain the control quantity based on the state monitoring data through a preset fuzzy PID model; the control quantity is used to characterize the displacement adjustment between the two magnetic components. The rigid control module 23 is used to pass a current in a first direction to the magnetic components on both sides to control the magnetic components on both sides to attract each other, so that the origami structure is in a rigid state when the control amount is less than the first threshold. The flexible control module 24 is used to pass a current in a second direction to the magnetic components on both sides when the control quantity is greater than or equal to the first threshold, so as to control the magnetic components on both sides to repel each other and make the origami structure in a flexible state.
[0052] In one embodiment of this application, the origami structure further includes an SMA driver; the SMA driver is connected to the outside of any magnetic component and is used to adjust the state of the origami structure together with the magnetic components on both sides; the outside of the magnetic component is the side of the magnetic component that is away from the other magnetic component. The flexible control module 24 is specifically used to supply current in a second direction to the magnetic components on both sides so that the origami structure is in a flexible state when the control quantity is greater than or equal to the first threshold and less than the second threshold. The adaptive locking structure control device 20 applied to the prefabricated substation further includes: an active correction module, which is used to pass a current in a second direction to the magnetic components on both sides when the control quantity is greater than or equal to a second threshold to control the magnetic components on both sides to repel each other, so that the folded structure is in a flexible state, and to adjust the displacement between the magnetic components on both sides using an SMA driver.
[0053] In one embodiment of this application, the active correction module is specifically used to determine the target stiffness and target damping of the SMA actuator based on the control quantity; adjust the stiffness of the SMA actuator to the target stiffness, and adjust the damping of the SMA actuator to the target damping, so as to adjust the displacement between the magnetic components on both sides.
[0054] In one embodiment of this application, the active correction module is specifically used to obtain the stiffness gain coefficient and damping gain coefficient of the SMA actuator, as well as the base stiffness and base damping in the rigid locking state; determine the target stiffness based on the control quantity, stiffness gain coefficient and base stiffness; and determine the target damping based on the control quantity, damping gain coefficient and base damping.
[0055] In one embodiment of this application, the fuzzy PID model is determined based on the location of the adaptive locking structure in the prefabricated substation and in the following manner: If the adaptive locking structure is set between the internal components of the box-type substation, then the fuzzy PID model will be determined as the first PID model. If the adaptive locking structure is set between the box-type substation and the ground bearing structure, then the fuzzy PID model will be determined as the second PID model. Among them, the locking structure set between the internal components of the prefabricated substation is used to realize the lateral adaptive locking and flexible vibration reduction of the prefabricated substation, and the locking structure set between the prefabricated substation and the ground bearing structure is used to realize the vertical bearing and flexible vibration reduction of the prefabricated substation; the model parameters of the first PID model and the second PID model are different.
[0056] In one embodiment of this application, the adaptive locking structure further includes: a drive shaft, an electromagnetic lock, and a mechanical spring; the mechanical spring is sleeved on the drive shaft and connected to one end of the drive shaft, the other end of the drive shaft is connected to the origami structure, and the axial direction of the drive shaft is consistent with the extension and retraction direction of the origami structure; when the mechanical spring is in an elastic state, the mechanical spring can extend on the drive shaft and push the origami structure to make the origami structure in a rigid state while elastically unfolding; when the electromagnetic lock is energized, it controls the mechanical spring to be in a compressed state; the adaptive locking structure control device 20 applied to the box-type substation further includes: an emergency locking module, used to de-energize the electromagnetic lock if the control quantity is greater than or equal to a second threshold and the duration of the control quantity being greater than or equal to the second threshold is greater than a preset duration.
[0057] In one embodiment of this application, the control output module 22 is specifically used to map the state monitoring data to a preset fuzzy domain to obtain standard input data; calculate the control deviation vector and the deviation change rate according to the preset state deviation safety threshold and the standard input data; and input the control deviation vector and the deviation change rate into the fuzzy PID model to calculate the control quantity.
[0058] In one embodiment of this application, the data acquisition module 21 is specifically used to acquire the initial state monitoring data of the magnetic components on both sides; and to perform analog-to-digital conversion and filtering on the initial state monitoring data to obtain state monitoring data.
[0059] In one embodiment of this application, the adaptive locking structure control device 20 applied to the prefabricated substation further includes: an alarm module, used to send alarm information to the terminal equipment to indicate that the prefabricated substation is in an abnormal state when the electromagnetic lock is de-energized.
[0060] See Figure 9 , Figure 9 This is a schematic block diagram of an electronic device provided according to an embodiment of this application. Figure 9 The electronic device 300 in this embodiment may include one or more processors 301, one or more input devices 302, one or more output devices 303, and one or more memories 304. The processors 301, input devices 302, output devices 303, and memories 304 communicate with each other via a communication bus 305. The memories 304 store computer programs, including program instructions. The processors 301 execute the program instructions stored in the memories 304. Specifically, the processors 301 are configured to invoke the program instructions to perform the functions of each module / unit in the above-described device embodiments, for example... Figure 8 The functions of the data acquisition module 21, control output module 22, rigid control module 23, and flexible control module 24 are shown.
[0061] It should be understood that, in the embodiments of this application, the processor 301 may be a central processing unit (CPU), but it may also be other general-purpose processors, digital signal processors (DSPs), application-specific integrated circuits (ASICs), field-programmable gate arrays (FPGAs), or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, etc. The general-purpose processor may be a microprocessor or any conventional processor.
[0062] Input device 302 may include a touchpad, a fingerprint sensor (for collecting the user's fingerprint information and fingerprint orientation information), a microphone, etc., and output device 303 may include a display (LCD, etc.), a speaker, etc.
[0063] The memory 304 may include read-only memory and random access memory, and provides instructions and data to the processor 301. A portion of the memory 304 may also include non-volatile random access memory. For example, the memory 304 may also store device type information.
[0064] In specific implementations, the processor 301, input device 302, and output device 303 described in the embodiments of this application can execute the implementation method described in the adaptive locking structure control method for box-type substations provided in the embodiments of this application, or they can execute the implementation method of the electronic equipment described in the embodiments of this application, which will not be repeated here.
[0065] In another embodiment of this application, a computer-readable storage medium is provided. This computer-readable storage medium stores a computer program, which includes program instructions. When executed by a processor, the program instructions implement all or part of the processes in the methods described above. Alternatively, the computer program can instruct related hardware to complete the process. The computer program can be stored in a computer-readable storage medium, and when executed by a processor, it can implement the steps of the various method embodiments described above. The computer program includes computer program code, which can be in the form of source code, object code, executable files, or certain intermediate forms. The computer-readable medium can include any entity or device capable of carrying computer program code, a recording medium, a USB flash drive, a portable hard drive, a magnetic disk, an optical disk, a computer memory, a read-only memory (ROM), a random access memory (RAM), an electrical carrier signal, a telecommunication signal, and a software distribution medium, etc.
[0066] The computer-readable storage medium can be an internal storage unit of the electronic device in any of the foregoing embodiments, such as a hard disk or memory of the electronic device. The computer-readable storage medium can also be an external storage device of the electronic device, such as a plug-in hard disk, smart media card (SMC), secure digital card (SD), flash card, etc., equipped on the electronic device. Furthermore, the computer-readable storage medium can include both internal and external storage units of the electronic device. The computer-readable storage medium is used to store computer programs and other programs and data required by the electronic device. The computer-readable storage medium can also be used to temporarily store data that has been output or will be output.
[0067] Those skilled in the art will recognize that the units and algorithm steps of the various examples described in conjunction with the embodiments disclosed herein can be implemented in electronic hardware, computer software, or a combination of both. To clearly illustrate the interchangeability of hardware and software, the components and steps of the various examples have been generally described in terms of functionality in the foregoing description. Whether these functions are implemented in hardware or software depends on the specific application and design constraints of the technical solution. Those skilled in the art can use different methods to implement the described functions for each specific application, but such implementations should not be considered beyond the scope of this application.
[0068] Those skilled in the art will clearly understand that, for the sake of convenience and brevity, the specific working process of the electronic devices and units described above can be referred to the corresponding process in the foregoing method embodiments, and will not be repeated here.
[0069] In the several embodiments provided in this application, it should be understood that the disclosed electronic devices and methods can be implemented in other ways. For example, the device embodiments described above are merely illustrative; for instance, the division of units is only a logical functional division, and in actual implementation, there may be other division methods. For example, multiple units or components may be combined or integrated into another system, or some features may be ignored or not executed. In addition, the mutual coupling or direct coupling or communication connection shown or discussed may be indirect coupling or communication connection through some interfaces or units, or it may be an electrical, mechanical, or other form of connection.
[0070] The units described as separate components may or may not be physically separate. The components shown as units may or may not be physical units; that is, they may be located in one place or distributed across multiple network units. Some or all of the units can be selected to achieve the purpose of the embodiments of this application, depending on actual needs.
[0071] Furthermore, the functional units in the various embodiments of this application can be integrated into one processing unit, or each unit can exist physically separately, or two or more units can be integrated into one unit. The integrated unit can be implemented in hardware or as a software functional unit.
[0072] It should be noted that the user information (including but not limited to user device information, user personal information, etc.) and data (including but not limited to data used for analysis, data stored, data displayed, etc.) involved in this application are all information and data authorized by the user or fully authorized by all parties, and the collection, use and processing of related data must comply with the relevant laws, regulations and standards of the relevant countries and regions.
[0073] The above are merely specific embodiments of this application, but the scope of protection of this application is not limited thereto. Any person skilled in the art can easily conceive of various equivalent modifications or substitutions within the technical scope disclosed in this application, and these modifications or substitutions should all be covered within the scope of protection of this application. Therefore, the scope of protection of this application should be determined by the scope of the claims.
Claims
1. An adaptive locking structure control method applied to prefabricated substations, characterized in that, The method is used to control the adaptive locking structure of a prefabricated substation to lock or support the prefabricated substation through the adaptive locking structure; the adaptive locking structure includes a paper-folding structure for locking or supporting the prefabricated substation; magnetic components are respectively provided on both sides of the paper-folding structure for elastic expansion and contraction; the method includes: Acquire status monitoring data of the magnetic components on both sides; Based on the state monitoring data, a control quantity is obtained through a preset fuzzy PID model; the control quantity is used to characterize the displacement adjustment between the two magnetic components. When the control quantity is less than the first threshold, a current in the first direction is passed through the magnetic components on both sides to control the magnetic components on both sides to attract each other, so that the origami structure is in a rigid state. When the control quantity is greater than or equal to the first threshold, a current in the second direction is passed through the magnetic components on both sides to control the magnetic components on both sides to repel each other, so that the origami structure is in a flexible state.
2. The adaptive locking structure control method for prefabricated substations as described in claim 1, characterized in that, The origami structure also includes an SMA actuator; the SMA actuator is connected to the outside of any magnetic component and is used to adjust the state of the origami structure together with the magnetic components on both sides; the outside of the magnetic component is the side of the magnetic component away from the other magnetic component; the step of passing a current in a second direction to the magnetic components on both sides to control the magnetic components on both sides to repel each other when the control amount is greater than or equal to a first threshold, so that the origami structure is in a flexible state, includes: When the control quantity is greater than or equal to the first threshold and less than the second threshold, a current in the second direction is passed through the magnetic components on both sides to control the magnetic components on both sides to repel each other, so that the origami structure is in a flexible state. When the control quantity is greater than or equal to the second threshold, a current in the second direction is passed through the magnetic components on both sides to control the magnetic components on both sides to repel each other, so that the origami structure is in a flexible state, and the displacement between the magnetic components on both sides is adjusted by the SMA driver.
3. The adaptive locking structure control method for prefabricated substations as described in claim 2, characterized in that, The adjustment of the displacement between the two magnetic components using the SMA driver includes: The target stiffness and target damping of the SMA actuator are determined based on the control quantity. The stiffness of the SMA actuator is adjusted to the target stiffness, and the damping of the SMA actuator is adjusted to the target damping, so as to adjust the displacement between the two magnetic components.
4. The adaptive locking structure control method for prefabricated substations as described in claim 3, characterized in that, Determining the target stiffness and target damping of the SMA actuator based on the control quantity includes: Obtain the stiffness gain coefficient and damping gain coefficient of the SMA actuator, as well as the base stiffness and base damping in the rigid locking state; The target stiffness is determined based on the control quantity, the stiffness gain coefficient, and the basic stiffness; The target damping is determined based on the control quantity, the damping gain coefficient, and the basic damping.
5. The adaptive locking structure control method for prefabricated substations as described in claim 1, characterized in that, The fuzzy PID model is determined based on the position of the adaptive locking structure in the prefabricated substation, and in the following manner: If the adaptive locking structure is installed between internal components of the prefabricated substation, then the fuzzy PID model is determined as the first PID model. If the adaptive locking structure is set between the box-type substation and the ground bearing structure, then the fuzzy PID model is determined as the second PID model; The locking structure installed between the internal components of the prefabricated substation is used to achieve lateral adaptive locking and flexible vibration reduction of the prefabricated substation, and the locking structure installed between the prefabricated substation and the ground bearing structure is used to achieve vertical support and flexible vibration reduction of the prefabricated substation; the model parameters of the first PID model and the second PID model are different.
6. The adaptive locking structure control method for prefabricated substations as described in claim 2, characterized in that, The adaptive locking structure also includes: a drive shaft, an electromagnetic lock, and a mechanical spring; The mechanical spring is sleeved on the drive shaft and connected to one end of the drive shaft. The other end of the drive shaft is connected to the origami structure. The axial direction of the drive shaft is consistent with the extension and retraction direction of the origami structure. When the mechanical spring is in an elastic state, it extends along the drive shaft and pushes the origami structure while simultaneously unfolding elastically, thus bringing the origami structure to a rigid state; the electromagnetic lock, when energized, controls the mechanical spring to be in a compressed state; the method further includes: If the control quantity is greater than or equal to the second threshold, and the duration of the control quantity being greater than or equal to the second threshold is greater than a preset duration, then the electromagnetic lock is de-energized.
7. The adaptive locking structure control method for prefabricated substations as described in claim 1, characterized in that, The process of obtaining the control quantity based on the state monitoring data using a preset fuzzy PID model includes: The state monitoring data is mapped to a preset fuzzy domain to obtain standard input data; Based on the preset state deviation safety threshold and the standard input data, the control deviation vector and the deviation change rate are calculated; The control deviation vector and the deviation change rate are input into the fuzzy PID model to calculate the control quantity.
8. The adaptive locking structure control method for prefabricated substations as described in claim 1, characterized in that, The acquisition of status monitoring data for the magnetic components on both sides includes: Acquire the initial state monitoring data of the magnetic components on both sides; The initial state monitoring data is subjected to analog-to-digital conversion and filtering to obtain the state monitoring data.
9. The adaptive locking structure control method for prefabricated substations as described in claim 6, characterized in that, Also includes: When the electromagnetic lock is de-energized, an alarm message is sent to the terminal device to indicate that the current prefabricated substation is in an abnormal state.
10. An adaptive locking structure control device for prefabricated substations, characterized in that, The device is used to control the adaptive locking structure of the prefabricated substation to lock or support the prefabricated substation through the adaptive locking structure; the adaptive locking structure includes a paper-folding structure for locking or supporting the prefabricated substation; magnetic components are respectively provided on both sides of the paper-folding structure for elastic expansion and contraction; the device includes: The data acquisition module is used to acquire status monitoring data of the magnetic components on both sides; The control output module is used to obtain a control quantity based on the state monitoring data through a preset fuzzy PID model; the control quantity is used to characterize the displacement adjustment between the two magnetic components. A rigid control module is used to pass a current in a first direction to the magnetic components on both sides to control the magnetic components on both sides to attract each other when the control amount is less than a first threshold, so that the origami structure is in a rigid state. The flexible control module is used to supply a current in a second direction to the magnetic components on both sides when the control quantity is greater than or equal to a first threshold, so as to control the magnetic components on both sides to repel each other and make the origami structure in a flexible state.