A pole-mounted vacuum circuit breaker opening and closing process driving cooperative control method

Abstract

The application provides a driving cooperative control method for opening and closing processes of a pole-mounted vacuum circuit breaker, comprising: calculating an opening kinetic energy recovery phase interval according to an angular velocity falling inflection point position, extracting an output inflection arm rebound amplitude in the interval, and evaluating whether the opening kinetic energy recovery enters a stable zone phase through rebound amplitude convergence analysis; generating a closing advance permission signal according to a newly determined closing permission trigger timing, simulating a front section slope trend of a closing speed curve under the action of a reverse inertia of a connecting rod, and identifying a contact impact force distribution in an initial closing stage; after the contact impact force distribution in the initial closing stage is obtained, a contact bounce amplification suppression algorithm is used to evaluate a potential bounce amplitude, and a trigger delay duration of a coil power-on control unit is determined accordingly; the closing coil power-on timing is updated according to the determined trigger delay duration, and contact bounce amplification caused by the superposition of a spring moment and a reverse inertia of the connecting rod is avoided at the output inflection arm rebound phase.

Description

Technical Field

[0001] This invention relates to the field of information technology, and in particular to a method for coordinated control of the opening and closing process of a pole-mounted vacuum circuit breaker. Background Technology

[0002] In the field of power system operation and maintenance, research on pole-mounted vacuum circuit breakers is of paramount importance, directly impacting the safety, stability, and reliability of the power grid. These devices operate outdoors, handling the switching and connection of high-voltage lines; their operational performance significantly affects the overall power network's operational efficiency and fault response capabilities. Therefore, improving the operational accuracy and stability of circuit breakers has become a crucial issue for ensuring the normal operation of the power system.

[0003] Currently, although many solutions aim to optimize the opening and closing processes of circuit breakers, a significant drawback exists: insufficient adaptability to dynamic changes during operation. Many methods rely on fixed time parameters or preset action sequences, ignoring the various external disturbances and internal state changes experienced by the equipment during actual operation. This results in control strategies failing to adjust in a timely manner, thus affecting operational performance. This lack of dynamic response creates a contradiction between suppressing contact bounce and compressing operating time during closing. Contact bounce refers to the phenomenon where contacts briefly separate multiple times due to impact during circuit breaker closing, which exacerbates equipment wear and may even lead to arcing risks. Compressing operating time, on the other hand, requires the equipment to complete the operation in the shortest possible time to improve response speed.

[0004] However, when the closing action is too fast, the impact force on the contacts increases significantly, leading to more severe bouncing. Conversely, reducing the speed to decrease bouncing prolongs the action time, affecting efficiency. This conflicting relationship between speed and bouncing has become a critical issue that urgently needs to be addressed. Specifically, in actual business scenarios, if the closing process is not properly controlled, such as issuing the closing command too early, the spring force inside the equipment and the inertia of the moving parts will combine, causing the contacts to impact at excessive speed, resulting in violent bouncing and potentially damaging the contact surface and shortening the equipment's lifespan. This situation is particularly common in pole-mounted circuit breakers in outdoor environments, as the equipment is constantly exposed to wind, rain, and other natural conditions, making the operating state of the components more prone to changes and further increasing the difficulty of control.

[0005] In the prior art, an invention entitled "A Linkage Control Device and Control Method Thereof," published under the number CN104766758A, discloses a linkage control device and control method for a pole-mounted vacuum circuit breaker. This device achieves interlocking protection between manual operation and remote control by setting up a rotating mechanism and a detection controller. While this prior art primarily solves the safety interlocking problem during manual local operation, it lacks adaptability to the drive coordination control during the opening and closing processes. It still relies on preset parameters and fixed sequences, making it difficult to respond in real-time to external interference and internal state changes. This results in a significant contradiction between suppressing contact bounce and compressing the operating time during the closing process, failing to effectively suppress contact bounce while ensuring a short operating time. This further impacts operational accuracy and equipment lifespan, especially in complex outdoor environments. Therefore, effectively suppressing contact bounce while ensuring the shortest possible operating time has become a key issue in improving the operational performance of pole-mounted vacuum circuit breakers. Summary of the Invention

[0006] This invention provides a method for coordinated control of the opening and closing process of a pole-mounted vacuum circuit breaker, the method comprising: The angular velocity data sequence of the output crank arm is obtained from the angular velocity acquisition module, and the contact closing speed is recorded synchronously at the moment of auxiliary switch flipping. The position of the angular velocity drop inflection point is determined by performing time sequence analysis on the data sequence. Calculate the phase interval for kinetic energy recovery of the circuit breaker based on the position of the inflection point of the angular velocity drop, extract the rebound amplitude of the output crank arm within the phase interval for kinetic energy recovery of the circuit breaker, and evaluate whether the phase interval for kinetic energy recovery of the circuit breaker has entered the stable phase through the rebound amplitude convergence analysis. Once the analysis confirms that the output crank arm has entered the stable phase, the closing coil energization sequence is extracted from the coil energization control unit. Combined with the preset spring torque superposition model, the closing permission triggering time is re-determined to compress the action interval from opening to closing. Based on the newly determined closing permission triggering timing, a closing advance permission signal is generated, and the slope trend of the first segment of the closing speed curve under the reverse inertia of the connecting rod is simulated to identify the contact impact force distribution in the initial stage of closing. After obtaining the contact impact force distribution at the initial closing stage, the potential bounce amplitude is evaluated using a contact bounce amplification and suppression algorithm, and the trigger delay time of the coil energization control unit is determined accordingly. The closing coil energization sequence is updated according to the determined trigger delay time, and the contact bounce amplification caused by the superposition of spring torque and connecting rod in the opposite inertia phase is avoided under the output crank arm rebound phase. By updating the closing coil energizing sequence, the consistency between the auxiliary switch flipping time and the contact closing speed is verified in real time. Based on the verification consistency results, the accuracy of angular velocity fallback inflection point identification is continuously improved and the action interval compression effect is maintained to obtain the final optimized opening and closing control sequence.

[0007] Preferably, the step of acquiring the output crank arm angular velocity data sequence from the angular velocity acquisition module, synchronously recording the contact closing speed at the moment the auxiliary switch flips, and determining the angular velocity drop inflection point position by performing time-series analysis on the data sequence includes: The raw angular velocity signal of the output crank arm is filtered by moving average, and the timestamps are marked according to the acquisition order to form an angular velocity data sequence with time sequence labels; The instantaneous angular velocity value is retrieved from the rising edge timestamp of the auxiliary switch level transition, and the contact closing speed is calculated based on the rotation radius of the output crank arm. The slope is calculated point by point using the first-order difference method. The zero-crossing position where the slope transitions from positive to negative is taken as the starting position of the fallback. The sampling position where the absolute value of the slope is extremely large is tracked backward as the inflection point of the angular velocity fallback.

[0008] Preferably, the step of calculating the tripping kinetic energy recovery phase interval based on the angular velocity fall-off inflection point position, extracting the output crank arm rebound amplitude within this interval, and evaluating whether the tripping kinetic energy recovery phase interval has entered the stable phase region through rebound amplitude convergence analysis includes: Using the inflection point of the angular velocity fall back as the starting boundary, the zero-crossing sampling point where the angular velocity crosses zero and enters the reverse interval is scanned backward as the ending boundary, and continuous sampling segments are extracted to obtain the phase interval of the circuit breaker kinetic energy recovery. The difference in angular velocity between adjacent local maxima and local minima is used as the single rebound amplitude, and the rebound amplitude sequence is obtained by arranging them in the order of occurrence. The attenuation ratio sequence is obtained by comparing the adjacent rebound amplitudes. If multiple consecutive attenuation ratios are less than the preset convergence threshold, it is evaluated that the phase interval of the tripping kinetic energy recovery has entered the stable phase.

[0009] Preferably, the step of analyzing and confirming that the output crank arm has entered the stable phase, extracting the closing coil energization sequence from the coil energization control unit, and redetermining the closing permission triggering timing in conjunction with a preset spring torque superposition model to compress the action interval from opening to closing includes: Using the start timestamp of the stable region phase as the reference time anchor, the energizing sequence of the closing coil includes the closing command timestamp, the start timestamp of the closing coil current rising from zero, and the arrival timestamp of the current reaching the rated operating value. The energizing sequence file is obtained by aligning the occurrence order to the reference time anchor. The spring torque superposition model pre-establishes a mapping table of the superposition relationship between the output crank arm angular position and the closing spring torque and the opening residual reverse torque. Within the angular position range corresponding to the phase in the stable region, the angular position sub-interval with the smallest algebraic sum absolute value is retrieved, and the time offset of the starting point of the angular position sub-interval is used as the correction amount for the closing permission triggering timing. The correction amount is superimposed with the closing command timestamp to obtain the redefined closing permission triggering time. The interval between the opening completion time and the closing permission triggering time is the compressed action interval.

[0010] Preferably, the step of generating an advance closing permission signal based on the re-determined closing permission triggering timing, simulating the slope trend of the first segment of the closing speed curve under the reverse inertia of the connecting rod, and identifying the contact impact force distribution in the initial closing stage includes: The timestamp of the redefined closing permission triggering time is used as the rising edge of the closing advance permission signal, and the moment when the closing coil current climbs to the rated operating value is used as the falling edge. The high-level pulse segment is filled to obtain the closing advance permission signal with the pre-trigger mark. The closing speed curve was numerically derived using rigid body dynamics equations, and the slope was calculated point by point. The absolute value of the slope was mapped to the contact impact force level, and the contact impact force distribution in the initial closing stage was obtained by organizing the data in chronological order.

[0011] Preferably, after obtaining the contact impact force distribution at the initial closing stage, a contact bounce amplification and suppression algorithm is used to evaluate the potential bounce amplitude, and the trigger delay time of the coil energization control unit is determined accordingly, including: By pre-establishing a mapping table of the correspondence between impact force level and contact surface rebound displacement through the contact bounce amplification and suppression algorithm, and configuring the amplification and suppression coefficient for the bounce amplitude superposition, each impact force level is mapped to a rebound displacement along the time axis of the contact impact force distribution in the initial closing stage. The amplification and suppression coefficient is multiplied at the points where adjacent displacements have the same sign to obtain the corrected rebound displacement. The potential bounce amplitude sequence with time sequence is obtained by arranging them in time order. The sampling position with the maximum positioning amplitude is used as the bouncing peak anchor point. The difference between the timestamp corresponding to the bouncing peak anchor point and the rising edge timestamp of the closing advance permission signal is used as the bouncing peak offset. This offset is then added to the preset delay reference amount to obtain the candidate value of the trigger delay duration. If the candidate value does not exceed the preset delay value upper limit threshold, it is adopted as the final trigger delay duration; if it exceeds the threshold, the upper limit threshold is adopted as the final trigger delay duration and written into the trigger delay register of the coil energization control unit.

[0012] Preferably, the step of updating the closing coil energization sequence according to the determined trigger delay duration to avoid the amplification of contact bounce caused by the superposition of spring torque and connecting rod inertia during the output crank arm rebound phase includes: The final trigger delay duration of the coil energizing control unit is inserted between the instruction timestamp and the current rise start timestamp in the closing coil energizing sequence to obtain the closing coil energizing sequence with delay configuration; Drive the closing coil according to the energization sequence of the closing coil with the time delay configuration, and offset the starting moment of the closing spring torque from the peak moment of the connecting rod's reverse inertia on the time axis.

[0013] Preferably, the step of verifying the consistency between the auxiliary switch flipping time and the contact closing speed in real time by updating the closing coil energizing sequence, and continuously improving the accuracy of angular velocity fallback inflection point identification and maintaining the action interval compression effect to obtain the final optimized opening and closing control sequence includes: The rising edge timestamp of the level transition of the auxiliary switch is collected in real time, and the contact closing speed value is collected synchronously. The result of consistency verification is obtained by comparing it with the preset calibrated closing speed range. If the sample falls within the interval, the current first-order difference method sampling interval remains unchanged; if it deviates, the sampling interval is reduced by the amount of deviation and used as the next inflection point identification iteration parameter. The difference between the closing command timestamp and the opening completion time is used as the action interval value. If it does not exceed the preset interval compression threshold, the closing coil energization sequence and the enhanced identification parameters are combined and written into the opening and closing control entry.

[0014] The technical solutions provided by the embodiments of the present invention may include the following beneficial effects: This invention discloses a collaborative control method for the opening and closing process of a pole-mounted vacuum circuit breaker, addressing the problem in operational scenarios where the spring torque and the reverse inertia of the connecting rod during the compression of the opening-to-closing action interval can easily lead to amplified contact bounce. This invention determines the fallback inflection point by acquiring angular velocity data, assesses whether the kinetic energy recovery from the opening operation has entered the stable phase, and, after confirming entry into the stable region, redetermines the permissible triggering timing for closing based on the spring torque superposition model to compress the action interval. Simultaneously, it identifies the contact impact force distribution at the initial closing stage, employs a contact bounce amplification suppression algorithm to assess the potential bounce amplitude and determine the trigger delay duration, thereby updating the energizing sequence of the closing coil. Ultimately, this invention effectively avoids contact bounce amplification caused by the superposition of torque and inertia, improving the accuracy of the control sequence and the stability of closing while continuously compressing the action interval. Attached Figure Description

[0015] Figure 1 This is a flowchart of a method for coordinated control of the opening and closing process of a pole-mounted vacuum circuit breaker according to the present invention.

[0016] Figure 2 This is a schematic diagram of a drive-coordinated control method for the opening and closing process of a pole-mounted vacuum circuit breaker according to the present invention.

[0017] Figure 3 This is another schematic diagram of a drive-coordinated control method for the opening and closing process of a pole-mounted vacuum circuit breaker according to the present invention. Detailed Implementation

[0018] The technical solutions of the embodiments of the present invention will be clearly and thoroughly described below with reference to the accompanying drawings. The described embodiments are merely some embodiments of the present invention.

[0019] like Figures 1-3 This embodiment of a method for coordinated control of the opening and closing process of a pole-mounted vacuum circuit breaker may specifically include: S101. Obtain the output crank arm angular velocity data sequence from the angular velocity acquisition module, and synchronously record the contact closing speed at the moment of auxiliary switch flipping. Determine the position of the angular velocity drop inflection point by performing time sequence analysis on the data sequence.

[0020] The angular velocity acquisition module continuously acquires the angular velocity data of the output crank arm during the transition from opening to closing at equal time intervals. The acquired raw signal is filtered using a moving average filter to suppress high-frequency noise disturbances introduced by the outdoor environment. The filtered discrete sampling points are timestamped according to the acquisition sequence, and each timestamp is bound to the corresponding angular velocity value, forming a time-stamped angular velocity data sequence. For the level transition signal triggered by the auxiliary switch flipping action, the timestamp corresponding to the rising edge of the level transition is captured from the time-stamped angular velocity data sequence. The instantaneous angular velocity value at the same timestamp is retrieved. Based on the rotation radius of the output crank arm, the corresponding contact closing speed value is mapped according to the conversion relationship that linear velocity equals angular velocity multiplied by the rotation radius. The contact closing speed value is bound to the flipping timestamp to obtain the closing speed record point synchronized with the flipping moment. Using the timestamp corresponding to the closing speed recording point as the starting search position, the slope of the angular velocity change at adjacent sampling positions is calculated point by point in the angular velocity data sequence with time-series labels using the first-order difference method. The slope of the change is scanned along the time axis with a sign, and the zero-crossing sampling position where the slope transitions from a positive value to a negative value is taken as the starting position of the angular velocity fallback. The sampling position where the absolute value of the slope reaches its maximum is traced backward from the starting position of the fallback, and this sampling position is determined to be the inflection point of the angular velocity fallback.

[0021] During the transition from opening to closing of a pole-mounted vacuum circuit breaker, the output crank arm, acting as a switching component between the drive mechanism and the contact linkage, directly reflects the release and rebound trend of the opening kinetic energy through its angular velocity changes. In one embodiment, the angular velocity acquisition module consists of a rotary encoder arranged at the crank arm shaft and a matching signal conditioning circuit. The rotary encoder outputs pulse signals at equal time intervals, and the signal conditioning circuit converts the pulses into discrete angular velocity values, which are then sent to the data processing unit according to the acquisition sequence.

[0022] It should be noted that outdoor pole-mounted equipment is exposed to wind load vibration, electromagnetic interference and temperature and humidity changes for a long time. The original angular velocity signal output by the rotary encoder is often superimposed with high-frequency noise spikes. If it is directly entered into the subsequent judgment process, it will cause misjudgment of the inflection point.

[0023] Specifically.

[0024] In one possible implementation, the original angular velocity signal is preprocessed using a moving average filter. The moving average filter moves forward along the sampling sequence with a sliding window of fixed length. Within each window, the arithmetic mean of several angular velocity samples falling into the window is calculated. The average value is used to replace the original value at the center of the window to obtain a smoothed angular velocity value.

[0025] Preferably, the sliding window length is selected based on the ratio of the sampling cycle to the main frequency of the crank arm movement. The main frequency of the crank arm movement refers to the fundamental frequency of the mechanical vibration of the crank arm during the opening and closing operation. The formula for calculating the sliding window length L is the reciprocal of L=k / (fm×Ts), i.e., L=k×(1 / (fm×Ts)), where fm is the main frequency of the crank arm movement, Ts is the sampling cycle, and k is an adjustment coefficient with a value ranging from 0.1 to 0.3. For example, when fm is 50 Hz and Ts is 0.001 seconds, if k is 0.2, the calculated sliding window length L is 4 sampling points. This makes the window width smaller than the time span occupied by the angular velocity fallback characteristic, thereby suppressing high-frequency disturbances while retaining the edge information of the fallback trend. After filtering, the data processing unit assigns a timestamp to each discrete sampling point according to the acquisition order, and stores the timestamp and the corresponding angular velocity value in the form of a binary tuple in the circular buffer, thereby forming an angular velocity data sequence with a time sequence label. The circulating buffer is maintained in a first-in-first-out manner to accommodate the complete opening to closing transition interval.

[0026] It is understandable that there is a fixed mechanical linkage between the auxiliary switch and the main circuit contacts. When the main contacts move to the set travel position, the normally open or normally closed contact of the auxiliary switch flips, and the corresponding output level jumps from low to high. This rising edge is the electrical indicator of the auxiliary switch flipping action.

[0027] In one embodiment, the data processing unit performs edge detection on the output level of the auxiliary switch, captures the timestamp of the moment the rising edge arrives, and uses the timestamp as an index to retrieve the instantaneous angular velocity value at the same timestamp in the angular velocity data sequence with time sequence labels.

[0028] For example, the rotation radius of the output crank arm is denoted as r, which is typically 0.15m, and the instantaneous angular velocity is denoted as ω. The linear velocity of the contact link and the crank arm hinge point is mapped to the contact closing speed value according to the conversion relationship v = ω multiplied by r, where r is a factory calibration parameter related to the mechanical structure of the pole-mounted vacuum circuit breaker. The contact closing speed value is bound together with the flip timestamp to form a closing speed record point and stored in the record entry buffer as a synchronization reference for subsequent phase determination. Further, the identification of the angular velocity drop inflection point is based on the angular velocity data sequence with time-series labels and the closing speed record point. Specifically, the first-order difference method is used to calculate the angular velocity difference between two adjacent sampling positions point by point. The difference is divided by the sampling cycle to obtain the slope of the angular velocity change at that position, and the obtained slope sequence is symbolically scanned along the time axis. During the kinetic energy release phase of the tripping circuit breaker, the angular velocity slope remains positive, and the motion gradually accelerates. When the crank arm reaches the latter part of its stroke and the spring energy release is nearing its end, the slope transitions from positive to negative. The zero-crossing sampling position at this transition point is designated as the starting position of the angular velocity decline. The trend of the absolute value of the slope is traced point by point from this starting position until the absolute value of the slope reaches its maximum. The position corresponding to this maximum is determined as the inflection point of the angular velocity decline. For example...

[0029] In one embodiment, if the data processing unit finds that the absolute value of the slope of several consecutive sampling points no longer increases during the tracking process, the sampling position before the increase stops is determined as the inflection point of the angular velocity drop, so as to avoid false inflection points caused by brief noise disturbances.

[0030] It should be noted that the mechanical parameters of the pole-mounted vacuum circuit breaker vary in different models. The window length of the moving average filter, the sampling cycle of the first-order difference method, and the travel trigger position of the auxiliary switch flip can all be adjusted according to the mechanical calibration data of the specific equipment, so that the identification of the inflection point position of the angular velocity fallback can be adapted to various outdoor pole-mounted circuit breaker implementation scenarios.

[0031] S102. Calculate the phase interval of the tripping kinetic energy recovery based on the position of the angular velocity drop inflection point, extract the rebound amplitude of the output crank arm within this interval, and evaluate whether the tripping kinetic energy recovery has entered the stable phase through rebound amplitude convergence analysis.

[0032] The starting boundary of the kinetic energy recovery phase interval is determined based on the inflection point position of the angular velocity drop. The angular velocity data sequence with time-stamped labels is scanned point by point in the direction following the inflection point. The zero-crossing sampling point where the angular velocity value crosses zero and enters the reverse interval is located as the ending boundary of the phase interval. A continuous sampling segment is extracted between the starting boundary and the ending boundary to obtain the kinetic energy recovery phase interval. For the angular velocity value sequence within the kinetic energy recovery phase interval, adjacent local maxima and local minima sampling points are calibrated along the time direction. The angular velocity difference between the same pair of adjacent maxima and minima is taken as the single rebound amplitude. Each rebound amplitude is arranged in order of appearance and accompanied by a corresponding timestamp to obtain a time-stamped rebound amplitude sequence. The convergence of the time-series rebound amplitude sequence is verified by comparing each rebound amplitude with the immediately preceding rebound amplitude along the time direction to obtain an attenuation ratio sequence reflecting the degree of amplitude attenuation. Each ratio in the attenuation ratio sequence is compared with a preset convergence threshold of less than 1. If the attenuation ratios of multiple consecutive terms in the attenuation ratio sequence are all less than the convergence threshold, it is determined that the rebound amplitude of the output crank arm is showing a continuous attenuation trend, and the tripping kinetic energy recovery has been assessed to have entered the stable phase.

[0033] Based on the angular velocity drop-off inflection point obtained from the aforementioned steps, a phase division step is performed for the tripping kinetic energy recovery process. At the instant the tripping operation is completed, the moving mechanism of the pole-mounted vacuum circuit breaker does not immediately come to a stop. The remaining kinetic energy after the spring release is transferred to the buffer device via the output crank arm, where it is absorbed and gradually attenuated. This absorption process is the tripping kinetic energy recovery process, which, in terms of angular velocity timing, first drops to a first minimum value, then exhibits alternating positive and negative attenuation, until the absolute value of the angular velocity reaches zero for 5 consecutive milliseconds (0.1 radians per second).

[0034] In one possible implementation, the data processing unit uses the angular velocity fall-off inflection point as the starting boundary of the phase interval, and scans point by point along the angular velocity data sequence with time-tagged labels in the direction after the inflection point until a data point with an angular velocity value lower than a preset angular velocity threshold is detected, and the time position corresponding to the data point is used as the ending boundary of the phase interval, wherein the preset angular velocity threshold can be 0.5 radians per second.

[0035] It should be noted that the output crank arm has the characteristic of repeatedly swinging in the forward and reverse directions during the kinetic energy recovery process of the circuit breaker. The angular velocity value drops from a positive value to zero and then from zero to a negative value. The zero sampling point is the start of the reverse motion.

[0036] In one embodiment, the data processing unit first marks the sampling point where the angular velocity first crosses zero as the starting boundary of the energy recovery phase interval. Then, the sign bit of the angular velocity values ​​at each sampling point during the scan is determined. Due to the repeated swinging of the crank arm, when the angular velocity amplitude decays to less than 0.1 radians per second, the sampling point where the last sign flips from positive to negative is marked as the ending boundary of the energy recovery phase interval. A continuous sampling segment is extracted between the starting boundary and the ending boundary. The sampling points within the segment, along with their angular velocity values ​​and timestamps, are retained. This continuous segment is defined as the energy recovery phase interval. Further, the rebound amplitude is extracted from the angular velocity value sequence within the energy recovery phase interval. Specifically, by identifying adjacent positive and negative maximum angular velocities in the sequence, the sum of their absolute values ​​is calculated as the rebound amplitude of a single swing. The rebound amplitude reflects the magnitude of the angular velocity amplitude of each swing of the output crank arm during the energy recovery process and is a core physical quantity for evaluating the buffering energy absorption effect.

[0037] Specifically, the data processing unit traverses the angular velocity numerical sequence within the phase interval of the kinetic energy recovery of the circuit breaker along the time direction, marks the local maximum sampling point according to the position where the difference between the angular velocities of the two sampling points changes from positive to negative, and marks the local minimum sampling point according to the position where the difference between the angular velocities of the two sampling points changes from negative to positive, thereby obtaining a sampling point chain with alternating maximum and minimum values ​​along the time sequence.

[0038] Preferably, the data processing unit pairs each pair of adjacent local maximum sampling points with the immediately following local minimum sampling point, using the difference in angular velocity values ​​corresponding to the two sampling points as the single rebound amplitude. The absolute value of this amplitude is then stored in the rebound amplitude cache. In one embodiment, the data processing unit writes the rebound amplitude cache and its corresponding maximum sampling point timestamp into a rebound amplitude record table according to the order in which each pairing is completed. All entries in the rebound amplitude record table are arranged in ascending order of timestamps, forming a time-sequential rebound amplitude sequence.

[0039] For example, the first term in the time-sequenced rebound amplitude sequence corresponds to the strongest swing amplitude of the output crank arm at the beginning of the tripping kinetic energy recovery process, while the last term corresponds to the weakest swing amplitude when the swing tends to subside.

[0040] Understandably, the overall trend of the rebound amplitude sequence can directly reflect the absorption efficiency of the buffer device for the remaining kinetic energy. After entering the convergence verification stage, the data processing unit processes the time-series rebound amplitude sequence item by item along the time direction, starting from the second item. The rebound amplitude value of the current item is recorded as A2, and the rebound amplitude value of the immediately preceding item is recorded as A1. The quotient obtained by dividing A2 by A1 is used as the attenuation ratio at the current position. The attenuation ratios are arranged item by item to obtain the attenuation ratio sequence.

[0041] In one possible implementation, a preset convergence threshold less than 1 is denoted by T. The value of T is calibrated based on the factory damping characteristics of the buffer device of the pole-mounted vacuum circuit breaker, for example, it can be calibrated to 0.85, meaning that as long as the amplitude ratio of two adjacent swings is less than this value, it is considered to have significant attenuation. The data processing unit compares each term in the attenuation ratio sequence with T, starting from the first term. The judgment window length for consecutive terms is denoted as N, and the value of N must be greater than 2 to avoid false judgments caused by a single disturbance, for example, N is set to 3. If the attenuation ratio of N consecutive terms in the attenuation ratio sequence is less than T, it is determined that the rebound amplitude of the output crank arm shows a continuous attenuation trend, and the recovery of the tripping kinetic energy has entered the stable region phase. If this condition is not met, the attenuation ratio sequence is scanned again until the condition is met or the scan is completed. The stable region phase refers to the period when the remaining kinetic energy of the output crank arm has been fully absorbed by the buffer device and the residual kinetic energy of the mechanism tends to zero.

[0042] It should be noted that the convergence threshold T and the determination window length N are both pre-calibrated based on the spring stiffness and buffer damping parameters of the specific pole-mounted vacuum circuit breaker model. The equipment in different outdoor installation scenarios can be finely adjusted based on the factory calibration according to the differences in its mechanical characteristics, so that the determination result of the stable zone phase of the tripping kinetic energy recovery can be adapted to various pole-mounted circuit breaker implementation scenarios.

[0043] S103. When the analysis confirms that the output crank arm has entered the stable phase, the closing coil energization sequence is extracted from the coil energization control unit, and the closing permission triggering time is re-determined in combination with the preset spring torque superposition model, so as to compress the action interval from opening to closing.

[0044] When the evaluation result of the recovery of kinetic energy of the tripping circuit breaker entering the stable zone phase is confirmed, the starting timestamp of the stable zone phase is used as the reference time anchor point. The closing coil energization sequence is extracted from the coil energization control unit. The closing coil energization sequence includes the command timestamp corresponding to the issuance of the closing command, the starting timestamp of the current of the closing coil rising from zero, and the arrival timestamp of the current reaching the rated action value calculated by adding the rise time to the starting timestamp. The above three types of time point tags are arranged in the order of occurrence and aligned to the reference time anchor point to obtain the energization sequence file with phase anchor point marking. The power-on timing sequence file with phase anchor marks is matched with a preset spring torque superposition model. The spring torque superposition model pre-establishes a mapping table of superposition relationships between the output crank arm angle position and the closing spring torque and the opening residual reverse torque. Within the output crank arm angle position range corresponding to the phase sampling point in the stable region, the sub-interval with the smallest absolute value of the algebraic sum of the closing spring torque and the opening residual reverse torque is searched item by item in the mapping table. The time offset corresponding to the starting point of the sub-interval is used as the closing permission trigger timing correction amount. The closing permission trigger timing correction amount is superimposed with the instruction timestamp in the power-on timing sequence file with phase anchor marks to obtain the redefined closing permission trigger timing. The redefined closing permission trigger timing is shifted earlier along the time axis compared to the instruction timestamp before correction. The redefined closing permission trigger timing is used as the reference time for issuing the instruction for the next closing operation. The interval between the opening operation completion time and the reference time is used as the compressed action interval, thereby compressing the action interval from opening to closing.

[0045] After the pole-mounted vacuum circuit breaker completes its tripping operation, the mechanism enters a low-speed rebound phase. The remaining kinetic energy of the output crank arm has been fully absorbed by the buffer device. If the closing permission is released immediately at this point, it will superimpose with the residual reverse torque of the mechanism, causing a violent impact on the contacts. Conversely, excessive delay will lengthen the tripping-to-closing action interval. The key to re-determining the timing of the closing permission trigger lies in precisely aligning the timing of the closing coil energization process with the torque characteristics of the output crank arm. In one embodiment, the coil energization control unit consists of a DC energy storage capacitor, a thyristor switch array, and a current sampling circuit.

[0046] Specifically, the data processing unit uses the start timestamp of the stable region phase as the reference time anchor point to extract the closing coil energization sequence from the coil energization control unit. The closing coil energization sequence consists of three types of time stamps: the first is the command timestamp corresponding to the issuance of the closing command, i.e., the moment the data processing unit outputs a conduction pulse to the thyristor drive circuit; the second is the start timestamp of the closing coil current rising from zero, i.e., the moment the current sampling circuit detects that the closing coil current crosses the zero threshold; and the third is the timetamp of the current reaching the rated operating value, i.e., the moment the current rises from the zero threshold to the rated operating value required to trigger the core movement. The data processing unit arranges these three types of time stamps in order of occurrence and aligns them to the reference time anchor point, writing them into the circular storage area to obtain an energization sequence file with phase anchor point markings.

[0047] It should be noted that the spring torque superposition model is the core innovation of this section. Its function is to establish a bridge between the physical quantity of the torque of the output crank arm and the physical quantity of the time of the closing sequence.

[0048] Specifically, the spring torque superposition model pre-establishes a mapping table of superposition relationships between the output crank arm angular position and the closing spring torque and the opening residual reverse torque. The closing spring torque refers to the torque generated by the release of the closing spring during the closing process, which pushes the output crank arm to move in the closing direction; the opening residual reverse torque refers to the torque formed by the combined action of the opening spring, the mass inertia of the connecting rod, and the buffer oil resistance when the mechanism enters the springback stage after opening, which is opposite to the closing direction. In the mapping table, each row corresponds to an angular position value of the output crank arm, which is collected point by point by the angle sensor of the output crank arm in 0.1-degree angular position steps during the calibration test; each column records the closing spring torque value and the opening residual reverse torque value at that angular position, and the algebraic sum of the two values ​​is also stored as an additional column for subsequent table lookup. For example, when the angular position is 15.5 degrees, the closing spring torque is 200 Nm and the residual reverse torque when opening is -50 Nm. Then the algebraic sum of the records in the additional column is 150 Nm. The system can output the corresponding algebraic sum of torques by inputting the real-time angular position through a lookup table interpolation algorithm.

[0049] In one embodiment, the mapping table is obtained point-by-point through a full-stroke bench test before shipment and stored in the non-volatile storage area of ​​the data processing unit, arranged in ascending order of angular position values. Further, the data processing unit first uses a kinematic transformation algorithm to convert the time stamps in the power-on timing file with phase anchor marks into angular position sequences. The data processing unit uses a table of angular positions and times collected by the output crank arm angle sensor in calibration tests at 0.1-degree steps to directly look up and map the time stamps in the power-on timing file to the corresponding angular position values, eliminating the need for additional kinematic conversion and avoiding calculation errors. The data processing unit matches the power-on timing file with angular position sequences to the spring torque superposition model, directly unfolding the matching process based on the converted angular positions.

[0050] In one possible implementation, the data processing unit first receives angular velocity signals collected in real time by an angular velocity sensor mounted on the output crank shaft at a sampling rate of 1000 Hz, and extracts the angular velocity values ​​within the corresponding stable phase sampling segment. Then, based on the angular velocity values ​​within the stable phase sampling segment, the data processing unit calculates the angular position range of the output crank arm, denoted as θ1 to θ2, where θ1 corresponds to the start position of the stable phase and θ2 corresponds to the end position of the stable phase. Next, it searches the mapping table for rows with angular positions between θ1 and θ2, and compares the absolute values ​​of the algebraic sum of the closing spring torque and the residual reverse torque of the opening in each row, locating the angular position sub-interval corresponding to the row with the smallest absolute value. The angular position corresponding to the starting point of this sub-interval represents the posture where the closing spring torque and the residual reverse torque of the opening are most mutually canceled.

[0051] For example, the data processing unit obtains the current angular velocity of the system, divides the angular position of the starting point of the sub-interval by the angular velocity to obtain the corresponding time span. Next, the data processing unit calls the power-on timing file with phase anchor point markings, extracts the reference time anchor point, compares the time span with the timestamp of the reference time anchor point, calculates the time offset relative to the reference time anchor point, and finally uses the time offset as the correction amount for the closing permission trigger timing.

[0052] It is understandable that the physical meaning of the closing permission trigger timing correction amount is that, compared with the method of issuing the closing command according to a preset fixed delay, this correction amount is positioned at the moment when the mechanism is in a state of mutual torque cancellation, so that when the closing spring torque is released, it will not be superimposed in the same direction as the residual reverse torque of the opening, thereby avoiding the amplification of contact impact.

[0053] Specifically, the data processing unit superimposes the correction amount for the closing permission triggering timing with the instruction timestamp in the power-on timing file marked with phase anchor points to obtain a redefined closing permission triggering timing. The redefined closing permission triggering timing is shifted earlier along the time axis compared to the instruction timestamp before correction, and the magnitude of the shift is denoted as Δt, which is determined by the value of the correction amount.

[0054] Preferably, the value of Δt is constrained by the mechanical parameters of the pole-mounted vacuum circuit breaker, generally falling within the range of milliseconds, to avoid excessively premature triggering of new torque conflicts. In another embodiment, the data processing unit pre-collects the trigger timestamps of the most recent 50 successful closing operations as historical action data using a sliding window algorithm, and calculates the arithmetic mean of the historical action data to generate the historical average closing trigger timing. The advance displacement amplitude Δt can also be compared with the historical action data. If the offset of the re-determined closing permission trigger timing compared to the historical average closing trigger timing falls within a preset offset threshold band, for example, within ±2.0 milliseconds, then the re-determined closing permission trigger timing is used as the reference time for issuing the instruction for the next closing operation; if it exceeds the offset threshold band, then the instruction timestamp before correction is retained as the reference time. The data processing unit records the interval between the completion time of the tripping operation and the reference time as the compressed action interval. Compared with the action interval formed by determining the reference time with a fixed delay before the correction, the compressed action interval obtains the shortest value under the condition that the tripping kinetic energy is fully recovered and the torque superposition degree is the lowest. The tripping to closing action interval of the pole-mounted vacuum circuit breaker is thus compressed.

[0055] It should be noted that the mapping table entries, the range of Δt values, and the width of the offset threshold band of the spring torque superposition model can all be configured individually during the factory calibration stage according to the specific pole-mounted vacuum circuit breaker model, so that the process of re-determining the closing permission triggering time can be adapted to various outdoor pole-mounted circuit breaker implementation scenarios.

[0056] S104. Generate a closing advance permission signal based on the redefined closing permission triggering time, simulate the slope trend of the first segment of the closing speed curve under the reverse inertia of the connecting rod, and identify the contact impact force distribution in the initial stage of closing.

[0057] A closing advance permission signal is generated based on the redefined closing permission triggering timing. The timestamp corresponding to the redefined closing permission triggering timing is used as the rising edge position of the closing advance permission signal, and the moment when the closing coil current climbs to the rated operating value is used as the falling edge position of the closing advance permission signal. A high-level pulse segment is filled between the rising edge and the falling edge. The closing advance permission signal is sent to the conduction input terminal of the coil energization control unit for level driving, resulting in a closing advance permission signal with a pre-trigger mark. For the transient closing process triggered by the closing advance permission signal with the pre-triggered mark, the rigid body dynamics equation is used to numerically deduce the motion attitude of the connecting rod. The rigid body dynamics equation uses the connecting rod mass, connecting rod moment of inertia, closing spring torque, and opening residual reverse torque as input parameters to deduce the first segment of the closing speed curve of the connecting rod driven by the output crank arm during the current ramp-up period of the closing coil. The slope of the first segment of the closing speed curve is calculated point by point along the time direction after the rising edge of the closing advance permission signal with the pre-triggered mark. The slopes are arranged according to the sampling time sequence to obtain the slope trend of the first segment of the closing speed curve under the reverse inertia of the connecting rod. For the slope trend of the closing speed curve under the reverse inertia of the connecting rod, the absolute value of the slope at each sampling point in the slope trend is mapped to the impact force level at the moment of contact between the contact and the stationary contact. The larger the absolute value of the slope, the higher the impact force level of the contact. The impact force level is arranged point by point along the time direction after the rising edge of the closing advance permission signal with the pre-trigger mark. The impact force level sequence is extracted within the time window when the contact begins to make contact in the initial closing stage. The impact force level sequence is arranged in chronological order to obtain the contact impact force distribution in the initial closing stage.

[0058] The pole-mounted vacuum circuit breaker is equipped with a mechanical transmission assembly, which includes an output crank arm mechanically connected to the moving contact. During the closing transient process, the closing coil is driven and the iron core is attracted. The iron core drives the output crank arm to rotate via a connecting rod. At this time, the connecting rod has a reverse inertial component generated during the opening process. The reverse inertia is superimposed with the forward drive of closing, causing the closing speed curve to exhibit a non-linear rise in the initial stage. The impact force of the initial contact between the contact and the stationary contact is determined by the slope of this non-linear rise. In one embodiment, the data processing unit generates a closing advance permission signal based on the re-determined closing permission triggering timing.

[0059] Specifically, the data processing unit sets the timestamp corresponding to the newly determined closing permission triggering timing as the rising edge position of the closing advance permission signal, and calculates the expected time when the closing coil current will rise to the rated operating value based on the pre-calibrated coil current ramp-up time constant. For example, the rising edge is delayed by 20 milliseconds, and this expected time is set as the falling edge position of the closing advance permission signal. A high-level pulse segment is filled between the rising edge and the falling edge. The closing advance permission signal is sent to the conduction input terminal of the coil energizing control unit via a digital isolator configured at the output terminal of the data processing unit. After receiving the high level, the coil energizing control unit connects the DC energy storage capacitor and the thyristor drive circuit, applying a level drive to the closing coil, thereby forming a closing advance permission signal with a pre-trigger mark.

[0060] It should be noted that the closing transient process involves the dynamic response of a multi-body mechanical system, which is difficult to accurately predict using fixed delay control. Therefore, rigid body dynamics equations are introduced to numerically deduce the motion attitude of the linkage.

[0061] Specifically, the rigid body dynamics equation is the Newton-Euler dynamics equation. The left side of the equation is the connecting rod angular acceleration multiplied by the connecting rod moment of inertia, and the right side is the resultant torque acting on the connecting rod. The resultant torque is the algebraic sum of the closing spring torque and the residual reverse torque of the opening circuit. Let the connecting rod mass be m, the connecting rod moment of inertia be J, the closing spring torque be M1, and the residual reverse torque of the opening circuit be M2. Then, the connecting rod angular acceleration α satisfies the relationship α = (M1 + M2) / J, where M2 is negative, and the residual reverse torque of the opening circuit is negative. The closing spring torque M1 is determined by the pre-compression and elastic coefficient of the closing spring, and exhibits a non-linear curve as the output crank arm angle changes during the closing process. The residual reverse torque of the opening circuit M2 is formed by the buffer oil resistance and the inertial rebound of the connecting rod mass at the end of the opening process, and its value gradually decreases as the closing process progresses. The data processing unit solves the rigid body dynamics equation stepwise at the sampling rate, iteratively obtaining the angular velocity values ​​of the output crank arm driving the connecting rod during the current ramp-up period of the closing coil. Then, based on the rotation radius of the output crank arm, it converts the axial linear velocity of the connecting rod and arranges them according to the sampling time sequence to form the first segment of the closing speed curve.

[0062] It is understandable that the slope of the first part of the closing speed curve directly represents the acceleration state during the process of the contact approaching the stationary contact.

[0063] Specifically, the data processing unit calculates the slope of the first segment of the closing speed curve point by point using the first-order difference method along the time direction after the rising edge of the closing advance permission signal with the pre-triggered mark. The obtained slopes are arranged according to the sampling sequence to obtain the slope trend of the first segment of the closing speed curve under the reverse inertia of the connecting rod. The positive slope segment in the slope trend corresponds to the acceleration phase of the closing speed, and the sampling position where the slope peak occurs is the moment when the impact force is most concentrated. Further, the data processing unit performs a mapping process from the slope trend to the impact force distribution.

[0064] In one embodiment, the data processing unit maps the absolute value of the slope at each sampling point in the slope direction to the impact force level at the moment of contact between the contact and the stationary contact according to a linear proportional relationship.

[0065] Specifically, the absolute value of the slope is divided into multiple gradient intervals, each corresponding to an impact force level. For example, it is divided into 5 levels, with the interval with the smallest absolute value of the slope corresponding to level 1 and the interval with the largest absolute value of the slope corresponding to level 5. The larger the absolute value of the slope, the greater the increase in closing speed per unit time, and the higher the corresponding contact impact force level, that is, the more intense the momentum exchange per unit time when the contact collides with the stationary contact.

[0066] For example, the data processing unit arranges the impact force levels point by point along the time direction after the rising edge of the closing advance permission signal. Then, the data processing unit arranges the impact force levels point by point along the time direction after the rising edge of the signal. Next, the moment when the main circuit current changes abruptly from zero to a non-zero value, monitored by the current transformer, is determined as the moment when the contact actually contacts the stationary contact and serves as the starting point of the time window. Simultaneously, the moment when the closing coil current first drops to 0.8 times the rated operating value is monitored as the ending point of the time window, thus determining the time window during which the contact begins to contact in the initial closing phase. Within this time window, the impact force level sequence is extracted and arranged chronologically to obtain the impact force distribution of the contact in the initial closing phase. The impact force distribution of the contact in the initial closing phase is presented with time as the horizontal axis and impact force level as the vertical axis. The peak height of the distribution curve reflects the instantaneous impact intensity of the contact, and the position of the peak reflects the impact concentration phase. The gradient range division from the absolute value of the slope to the impact force level can also be configured separately for different models of equipment. For example, the impact force of 0 to 50 Newtons can be divided into light impact, 50 to 120 Newtons into moderate impact, and greater than 120 Newtons into heavy impact, so that the identification process of the contact impact force distribution at the initial closing stage can be adapted to various outdoor pole-mounted circuit breaker implementation scenarios.

[0067] S105. After obtaining the contact impact force distribution at the initial closing stage, the potential bounce amplitude is evaluated using the contact bounce amplification and suppression algorithm, and the trigger delay time of the coil energization control unit is determined accordingly.

[0068] To assess the potential bounce amplitude in response to the initial contact impact force distribution during the closing phase, a contact bounce amplification and suppression algorithm is employed. This algorithm pre-establishes a mapping table between impact force levels and contact surface rebound displacement. An amplification and suppression coefficient is configured in this table to address the bounce amplitude superposition effect. The algorithm iterates along the time axis of the initial contact impact force distribution, mapping each impact force level to its corresponding contact surface rebound displacement. For adjacent positions with the same sign, the amplification and suppression coefficient is multiplied to obtain the corrected rebound displacement. These corrected rebound displacements are then arranged chronologically to obtain a time-series sequence of potential bounce amplitudes. For the potential bounce amplitude sequence with timing, the sequence is traversed along the time axis to locate the sampling position with the largest amplitude value as the bounce peak anchor point. The time difference between the timestamp corresponding to the bounce peak anchor point and the rising edge timestamp of the closing advance permission signal with pre-triggered marker is recorded as the bounce peak offset. The bounce peak offset is summed with a preset delay reference value to obtain a candidate value for the trigger delay duration of the coil energizing control unit. For the candidate value for the trigger delay duration of the coil energizing control unit, the candidate value is compared with a preset upper limit threshold for delay values. If the candidate value does not exceed the upper limit threshold, the candidate value is adopted as the final trigger delay duration. If the candidate value exceeds the upper limit threshold, the upper limit threshold is adopted as the final trigger delay duration. The final trigger delay duration is written into the trigger delay register of the coil energizing control unit to determine the trigger delay duration of the coil energizing control unit.

[0069] The contact bounce refers to the multiple brief separations caused by the elastic deformation of the contact surface and the rebound of residual kinetic energy at the moment the moving contact collides with the stationary contact. Each brief separation introduces the risk of arcing and exacerbates wear on the contact surface. The greater the impact force and the more significant the superposition of the closing sequence and residual reverse torque, the greater the degree of bounce amplification. In one embodiment, the data processing unit uses a contact bounce amplification and suppression algorithm to evaluate the potential bounce amplitude based on the contact impact force distribution during the initial closing phase.

[0070] It should be noted that the contact bounce amplification and suppression algorithm consists of two parts: the first part is a mapping table of the correspondence between impact force level and contact surface rebound displacement; the second part is an amplification and suppression coefficient configured to address the superposition effect of bounce amplitude. The mapping table is calibrated step-by-step through bench impact tests before leaving the factory. For each impact force level from 1 to 5, a set of measured contact surface rebound displacement values ​​is taken, and the displacement sensor assigns a directional sign based on the contact motion vector, defining positive for distance from the contact surface and negative for proximity. These values ​​are stored in the non-volatile storage area of ​​the data processing unit, forming ordered entries with directional attributes for each level: level 1 corresponds to the minimum displacement, level 5 corresponds to the maximum displacement, and so on. The amplification and suppression coefficient is denoted as k, and the value of k falls within the range greater than 1.0, for example, 1.2. It is used to characterize the displacement superposition and amplification phenomenon caused by the superposition of the reverse inertia of the connecting rod in two adjacent same-direction bounces. The specific value of the coefficient k is determined based on the spring stiffness and buffer oil resistance of the pole-mounted vacuum circuit breaker during the factory calibration stage.

[0071] Specifically, the data processing unit traverses each impact force level along the time axis of the initial contact impact force distribution during the closing phase, and maps each impact force level to the corresponding contact surface rebound displacement.

[0072] It is understood that the rebound displacement of the contact surface has a directional attribute, marked as positive along the closing direction and negative along the opening direction. The data processing unit checks the directional sign of each pair of adjacent displacements. If the signs of two adjacent displacements are the same, it indicates that the displacements in the same direction are superimposed at that position. The displacement at that position is then multiplied by the amplification and suppression coefficient k to obtain the corrected rebound displacement. If the signs of two adjacent displacements are opposite, the original displacement is retained as the corrected rebound displacement. The data processing unit arranges each corrected rebound displacement according to the time sequence of the contact impact force distribution in the initial closing phase, forming a time-sequential potential bounce amplitude sequence.

[0073] For example, the peak position in the time-series potential bounce amplitude sequence reflects the moment when the contact bounce is most amplified.

[0074] Specifically, the data processing unit traverses the potential bounce amplitude sequence with time sequence along the time axis, compares the amplitude values ​​one by one, and locates the sampling position with the largest amplitude value as the bounce peak anchor point.

[0075] In one embodiment, the control unit generates a pre-trigger flag 5 milliseconds before receiving the closing command and appends this flag to the closing advance permission signal. The timestamp corresponding to the bounce peak anchor point is denoted as t. peak The timestamp corresponding to the rising edge of the closing advance permission signal with the pre-triggered flag is denoted as t. rise The difference between the two is denoted as the peak bounce offset Δt.bounce The calculation method is Δt bounce equal to t peak Subtract t rise Furthermore, the data processing unit processes the bounce peak offset Δt. bounce Compared with the preset delay reference amount T base The total delay compensation is obtained by summing the results. For example, when Δt bounce It is 2.5 milliseconds and T base When the time is set to 10.5 milliseconds, the calculated total delay compensation is 13.0 milliseconds.

[0076] Specifically, the preset delay reference amount is denoted as T. base T base The minimum response delay of the coil energizing control unit is determined by the inherent conduction delay of the thyristor switching array within the control unit and the propagation delay of the digital drive signal. It is calibrated according to the factory specifications of the electrical components of the pole-mounted vacuum circuit breaker, and for example, can be set to 2 milliseconds. The data processing unit executes Δt. bounce With T base The summation operation yields the candidate value Δt for the trigger delay duration. cand The candidate value of the trigger delay duration Δt cand This refers to the delay duration that should be configured between the rising edge of the advance closing permission signal and the final energization time of the closing coil. In another embodiment, the data processing unit also imposes an upper limit threshold constraint on the candidate values ​​of the trigger delay duration.

[0077] Specifically, the preset upper limit threshold for the delay value is denoted as Δt. max , Δt max The value of Δt is determined based on the estimated opening and closing time of the pole-mounted vacuum circuit breaker. For example, 8 milliseconds can be used to avoid excessive delay that would cause the opening-to-closing interval to extend in the opposite direction. The data processing unit processes Δt... cand With Δt max If the candidate trigger delay duration value is compared and does not exceed the upper limit threshold of the delay value, then the candidate trigger delay duration value is adopted as the final trigger delay duration Δt. final If the candidate value for the trigger delay duration exceeds the upper limit threshold for the delay value, then the upper limit threshold for the delay value is adopted as the final trigger delay duration Δt. final The data processing unit calculates the final trigger delay duration Δt. final The trigger delay register of the coil energization control unit is written, and the trigger delay register starts timing after receiving the closing command, according to Δt. final The delay duration is used to delay the output of the closing coil energization control signal, thereby completing the trigger delay duration configuration of the coil energization control unit.

[0078] It should be noted that the number of entries in the mapping table, the value of the amplification suppression coefficient k, and the delay reference amount T are all related to this. base With the upper limit threshold of the delay value Δt max Each type of pole-mounted vacuum circuit breaker can be individually calibrated at the factory stage for specific pole-mounted vacuum circuit breaker models. This allows the evaluation accuracy of the contact bounce amplification and suppression algorithm and the configuration process of the trigger delay time to be adapted to various outdoor pole-mounted circuit breaker implementation scenarios, avoiding the impact of bounce characteristic deviation caused by outdoor wind load vibration or temperature and humidity changes on the effective constraint of the final trigger delay time.

[0079] S106. Update the energizing sequence of the closing coil according to the determined trigger delay time, and avoid the amplification of contact bounce caused by the superposition of spring torque and the reverse inertia of the connecting rod under the rebound phase of the output crank arm.

[0080] The closing coil energizing sequence is updated based on the final trigger delay duration of the coil energizing control unit. The final trigger delay duration is inserted between the instruction timestamp and the current rise start timestamp in the closing coil energizing sequence to obtain a closing coil energizing sequence with delay configuration. Under the rebound phase of the output crank arm, the closing coil is driven according to the closing coil energizing sequence with delay configuration. The starting moment of the closing spring torque and the peak moment of the connecting rod's reverse inertia are staggered on the time axis to avoid contact bounce amplification caused by the overlap of the closing spring torque and the connecting rod's reverse inertia.

[0081] The energizing sequence of the closing coil originally consisted of three types of time stamps: the closing command timestamp, the closing coil current rise start timestamp, and the current climb time to the rated operating value. The essence of updating the action is to insert Δt after the closing command is issued. final A timed wait of a certain length. The data processing unit will eventually trigger a delay of Δt. final Between the closing command timestamp and the current rise start timestamp in the energizing sequence of the closing coil, the trigger delay register starts timing after the closing command is issued, and the timing reaches Δt. final At that time, a turn-on pulse is output to the thyristor drive circuit, causing the starting timestamp of the rising current in the closing coil to be delayed by Δt along the entire time axis. final The energizing sequence of the closing coil with delay configuration is obtained.

[0082] For example, when the pole-mounted vacuum circuit breaker is a rated 12 kV outdoor pole-mounted type, Δt final The engineering values ​​typically fall between 2 milliseconds and 8 milliseconds.

[0083] It is understandable that the output crank arm rebound phase is the period when the mechanism posture enters the low-speed swing stage after the circuit breaker is opened, the starting moment of the closing spring torque is the moment when the closing coil current climbs to the rated operating value and the iron core is attracted, and the peak moment of the connecting rod reverse inertia is the moment when the connecting rod has the greatest acceleration along the opening direction during the rebound process.

[0084] Specifically, the data processing unit drives the closing coil according to the energizing sequence of the closing coil with delay configuration during the rebound phase of the output crank arm. Due to Δt final The introduction of this feature causes the initial action time of the closing spring torque to shift backward along the time axis, offsetting it from the peak time of the reverse inertia of the connecting rod by a preset time interval. The closing spring torque and the reverse inertia of the connecting rod no longer superimpose and act on the contact surface at the same time, thereby avoiding the contact bounce amplification phenomenon caused by the superposition of the closing spring torque and the reverse inertia of the connecting rod, and enabling the pole-mounted vacuum circuit breaker to maintain a low bounce closing posture during the transition from opening to closing.

[0085] S107. The consistency between the auxiliary switch flipping time and the contact closing speed is verified in real time by updating the closing coil energizing sequence. Based on the verification consistency results, the accuracy of angular velocity fall-off inflection point identification is continuously improved and the action interval compression effect is maintained to obtain the final optimized opening and closing control sequence.

[0086] The closing process of the pole-mounted vacuum circuit breaker is driven by the energizing sequence of the closing coil with the delay configuration. The rising edge timestamp of the level transition corresponding to the auxiliary switch flipping moment is collected in real time, and the contact closing speed value at the rising edge timestamp of the level transition is collected synchronously. The contact closing speed value is compared with a preset calibrated closing speed range. Based on the judgment result of whether the comparison falls within or outside the range, a consistency verification result of the auxiliary switch flipping moment and the contact closing speed is obtained. For the consistency verification result, if the contact closing speed value falls within the calibrated closing speed range, the sampling interval of the first-order differential method used for the current angular velocity fallback inflection point identification remains unchanged. If the contact closing speed value deviates from the calibrated closing speed range, the sampling interval of the first-order differential method is reduced according to the deviation amount. The reduced sampling interval is used as the iteration parameter for the next angular velocity fallback inflection point identification, resulting in a record of the improvement in the accuracy of angular velocity fallback inflection point identification. To improve the accuracy of the angular velocity fall-off inflection point identification, the difference between the closing command timestamp and the opening operation completion time in the closing coil energization sequence with delay configuration is used as the opening-to-closing action interval value. The action interval value is checked against a preset interval compression threshold. If the action interval value does not exceed the interval compression threshold, the closing coil energization sequence with delay configuration is retained. The closing coil energization sequence with delay configuration and the improved angular velocity fall-off inflection point identification parameters are merged and written into the opening and closing control entries to obtain the final optimized opening and closing control sequence.

[0087] The purpose of real-time verification and continuous optimization is to track the measured attitude of each closing action, dynamically correct the angular velocity drop inflection point identification parameters to address the closing characteristic deviations caused by wind load vibration and temperature and humidity drift introduced by the outdoor environment, and maintain the achieved results of action interval compression. In one embodiment, the data processing unit uses the energizing sequence of the closing coil with delay configuration to drive the pole-mounted vacuum circuit breaker to complete one closing action.

[0088] Specifically, during the closing operation, the data processing unit samples the level of the auxiliary switch output terminal, captures the rising edge timestamp of the level transition corresponding to the moment the auxiliary switch flips, and reads the contact closing speed value at the same timestamp. The acquisition of the contact closing speed value depends on the output crank arm angular velocity and the rotation radius. The output crank arm angular velocity is acquired in real time by a rotary encoder mounted on the crank arm spindle, and the rotation radius is a known design parameter inherent to the mechanical structure of this type of circuit breaker, for example, 0.15 meters. The data processing unit calculates the contact closing speed value according to the formula v=wr, where v is the contact closing speed, w is the output crank arm angular velocity, and r is the rotation radius. Then, the contact closing speed value is compared with a preset calibrated closing speed range, which is a reasonable closing speed range measured during bench testing of this pole-mounted vacuum circuit breaker model at the factory stage, for example, 0.9 to 1.3 meters per second.

[0089] In one embodiment, the calibrated closing speed range is between 0.8 m / s and 1.2 m / s. Based on the comparison results of whether the value falls within or outside the range, the consistency verification result of the auxiliary switch flipping time and the contact closing speed is obtained.

[0090] It is understood that the two branches of the consistency verification result correspond to two processing paths for the angular velocity fall-off inflection point identification parameters.

[0091] Specifically, regarding the consistency verification result, if the contact closing speed value falls within the calibrated closing speed range, it indicates that the energizing timing of the closing coil with delay configuration is stable under the current outdoor attitude, and the first-order differential sampling interval used for identifying the current angular velocity fall-off inflection point remains unchanged; if the contact closing speed value deviates from the calibrated closing speed range, it indicates that outdoor environmental disturbances have caused attitude drift, and the data processing unit gradually reduces the first-order differential sampling interval according to the magnitude of the deviation.

[0092] For example, a first reduction threshold is set to 0.1 m / s and a second reduction threshold is set to 0.2 m / s. These thresholds are determined based on 10% and 20% of the closing speed calibration interval width, respectively. When the closing speed deviation is less than 0.1 m / s, the first-order differential sampling interval (default 1 ms) remains unchanged; when the deviation is between 0.1 and 0.2 m / s, the sampling interval is reduced by one sampling cycle; when the deviation exceeds 0.2 m / s, it is reduced by two sampling cycles. The calculated deviation is used as input. When the deviation is less than the first reduction threshold, the first-order differential sampling interval remains unchanged. When the deviation is between the first and second reduction thresholds, the first-order differential sampling interval is reduced by one sampling cycle. When the deviation exceeds the second reduction threshold, it is reduced by two sampling cycles. The adjusted sampling interval is used as the iterative parameter output for the next angular velocity fall-off inflection point identification, thereby forming a record of the improved accuracy of angular velocity fall-off inflection point identification.

[0093] It should be noted that the shorter the sampling interval of the first-order difference method, the more finely the angular velocity difference between two adjacent sampling positions is characterized, and the more accurate the identification of the fall start position and the slope extreme value position. Furthermore, the data processing unit verifies the effect of the action interval compression.

[0094] Specifically, the data processing unit uses the difference between the closing command timestamp in the closing coil energization sequence with delay configuration and the time when the pole-mounted vacuum circuit breaker completed the previous opening operation as the opening-to-closing action interval value, and compares the action interval value with a preset interval compression threshold.

[0095] Preferably, the interval compression threshold is determined based on the overall opening and closing action time specification of the pole-mounted vacuum circuit breaker, for example, 40 milliseconds. If the action interval value does not exceed the interval compression threshold, the energizing sequence of the closing coil with delay configuration is retained as the driving sequence for the next closing action; if the action interval value exceeds the interval compression threshold, the data processing unit is triggered to revert to the closing permission trigger timing correction stage to re-determine the reference time, avoiding the reverse extension of the action interval.

[0096] In one embodiment, the data processing unit obtains the system time at the time of the closing operation as a timestamp segment, the energization sequence of the closing coil with delay configuration as a timing segment, and the angular velocity fall-off inflection point identification parameter updated based on the reduced sampling interval as an identification parameter segment. The data processing unit merges the above timing segment, identification parameter segment, and timestamp segment into the opening and closing control entries, and all entries are concatenated in the order of the closing operation to form the final optimized opening and closing control sequence.

[0097] It should be noted that the calibration closing speed range, the reduction threshold gradient of the first-order differential sampling interval composed of the first reduction threshold and the second reduction threshold, and the interval compression threshold can all be configured individually at the factory stage for specific pole-mounted vacuum circuit breaker models. This allows the real-time verification and continuous optimization process to adapt to various outdoor pole-mounted circuit breaker implementation scenarios, in order to cope with closing attitude deviations caused by wind load vibration and temperature and humidity drift, and maintain dynamic correction capabilities.

[0098] The above description is merely an example and illustration of the structure of the present invention. Those skilled in the art can make various modifications or additions to the specific embodiments described, or use similar methods to replace them, as long as they do not deviate from the structure of the invention or exceed the scope defined in the claims, all of which should fall within the protection scope of the present invention.

Claims

1. A method for coordinated control of the opening and closing process of a pole-mounted vacuum circuit breaker, characterized in that, The method includes: The angular velocity data sequence of the output crank arm is obtained from the angular velocity acquisition module, and the contact closing speed is recorded synchronously at the moment of auxiliary switch flipping. The position of the angular velocity drop inflection point is determined by performing time sequence analysis on the data sequence. Calculate the phase interval for kinetic energy recovery of the circuit breaker based on the position of the inflection point of the angular velocity drop, extract the rebound amplitude of the output crank arm within the phase interval for kinetic energy recovery of the circuit breaker, and evaluate whether the phase interval for kinetic energy recovery of the circuit breaker has entered the stable phase through the rebound amplitude convergence analysis. Once the analysis confirms that the output crank arm has entered the stable phase, the closing coil energization sequence is extracted from the coil energization control unit. Combined with the preset spring torque superposition model, the closing permission triggering time is re-determined to compress the action interval from opening to closing. Based on the newly determined closing permission triggering time, a closing advance permission signal is generated, and the slope trend of the first segment of the closing speed curve under the reverse inertia of the connecting rod is simulated to identify the contact impact force distribution in the early stage of closing. After obtaining the contact impact force distribution at the initial closing stage, the potential bounce amplitude is evaluated using a contact bounce amplification and suppression algorithm, and the trigger delay time of the coil energization control unit is determined accordingly. The closing coil energization sequence is updated according to the determined trigger delay time, and the contact bounce amplification caused by the superposition of spring torque and connecting rod in the opposite inertia phase is avoided under the output crank arm rebound phase. By updating the closing coil energizing sequence, the consistency between the auxiliary switch flipping time and the contact closing speed is verified in real time. Based on the verification consistency results, the accuracy of angular velocity fallback inflection point identification is continuously improved and the action interval compression effect is maintained to obtain the final optimized opening and closing control sequence.

2. The method for coordinated control of the opening and closing process of a pole-mounted vacuum circuit breaker according to claim 1, characterized in that, The process involves acquiring the output crank arm angular velocity data sequence from the angular velocity acquisition module, synchronously recording the contact closing speed at the moment the auxiliary switch flips, and determining the angular velocity drop inflection point position through time-series analysis of the data sequence, including: The raw angular velocity signal of the output crank arm is filtered by moving average, and the timestamps are marked according to the acquisition order to form an angular velocity data sequence with time sequence labels; The instantaneous angular velocity value is retrieved from the rising edge timestamp of the auxiliary switch level transition, and the contact closing speed is calculated based on the rotation radius of the output crank arm. The slope is calculated point by point using the first-order difference method. The zero-crossing position where the slope transitions from positive to negative is taken as the starting position of the fallback. The sampling position where the absolute value of the slope is extremely large is tracked backward as the inflection point of the angular velocity fallback.

3. The method for coordinated control of the opening and closing process of a pole-mounted vacuum circuit breaker according to claim 1, characterized in that, The step of calculating the tripping kinetic energy recovery phase interval based on the angular velocity fallback inflection point position, extracting the output crank arm rebound amplitude within this interval, and evaluating whether the tripping kinetic energy recovery phase interval has entered the stable phase through rebound amplitude convergence analysis includes: Using the inflection point of the angular velocity fall back as the starting boundary, the zero-crossing sampling point where the angular velocity crosses zero and enters the reverse interval is scanned backward as the ending boundary, and the continuous sampling segment is extracted to obtain the phase interval of the circuit breaker kinetic energy recovery. The difference in angular velocity between adjacent local maxima and local minima is used as the single rebound amplitude, and the rebound amplitude sequence is obtained by arranging them in the order of occurrence. The attenuation ratio sequence is obtained by comparing the adjacent rebound amplitudes. If multiple consecutive attenuation ratios are less than the preset convergence threshold, it is evaluated that the phase interval of the tripping kinetic energy recovery has entered the stable phase.

4. The method for coordinated control of the opening and closing process of a pole-mounted vacuum circuit breaker according to claim 1, characterized in that, When the analysis confirms that the output crank arm has entered the stable phase, the energizing sequence of the closing coil is extracted from the coil energizing control unit, and the closing permission triggering timing is re-determined in conjunction with the preset spring torque superposition model, so as to compress the action interval from opening to closing, including: Using the start timestamp of the stable region phase as the reference time anchor point, the energizing sequence of the closing coil includes the closing command timestamp, the start timestamp of the closing coil current rising from zero, and the arrival timestamp of the current reaching the rated operating value. The energizing sequence file is obtained by aligning the occurrence order to the reference time anchor point. The spring torque superposition model pre-establishes a mapping table of the superposition relationship between the output crank arm angular position and the closing spring torque and the opening residual reverse torque. Within the angular position range corresponding to the phase in the stable region, the angular position sub-interval with the smallest algebraic sum absolute value is retrieved, and the time offset of the starting point of the angular position sub-interval is used as the correction amount for the closing permission triggering timing. The correction amount is superimposed with the closing command timestamp to obtain the redefined closing permission triggering time. The interval between the opening completion time and the closing permission triggering time is the compressed action interval.

5. The method for coordinated control of the opening and closing process of a pole-mounted vacuum circuit breaker according to claim 1, characterized in that, The process of generating an advance closing permission signal based on the redefined closing permission triggering timing, simulating the slope trend of the initial segment of the closing speed curve under the reverse inertia of the connecting rod, and identifying the contact impact force distribution in the initial closing phase includes: The timestamp of the redefined closing permission triggering time is used as the rising edge of the closing advance permission signal, and the moment when the closing coil current climbs to the rated operating value is used as the falling edge. The high-level pulse segment is filled to obtain the closing advance permission signal with the pre-trigger mark. The closing speed curve was numerically derived using rigid body dynamics equations, and the slope was calculated point by point. The absolute value of the slope was mapped to the contact impact force level, and the contact impact force distribution in the initial closing stage was obtained by organizing the data in chronological order.

6. The method for coordinated control of the opening and closing process of a pole-mounted vacuum circuit breaker according to claim 1, characterized in that, After obtaining the contact impact force distribution at the initial closing stage, a contact bounce amplification and suppression algorithm is used to evaluate the potential bounce amplitude, and the trigger delay time of the coil energization control unit is determined accordingly, including: By pre-establishing a mapping table of the correspondence between impact force level and contact surface rebound displacement through the contact bounce amplification and suppression algorithm, and configuring the amplification and suppression coefficient for the bounce amplitude superposition, each impact force level is mapped to a rebound displacement along the time axis of the contact impact force distribution in the initial closing stage. The amplification and suppression coefficient is multiplied at the points where adjacent displacements have the same sign to obtain the corrected rebound displacement. The potential bounce amplitude sequence with time sequence is obtained by arranging them in time order. The sampling position with the maximum positioning amplitude is used as the bouncing peak anchor point. The difference between the timestamp corresponding to the bouncing peak anchor point and the rising edge timestamp of the closing advance permission signal is used as the bouncing peak offset. This offset is then added to the preset delay reference amount to obtain the candidate value of the trigger delay duration. If the candidate value does not exceed the preset delay value upper limit threshold, it is adopted as the final trigger delay duration; if it exceeds the threshold, the upper limit threshold is adopted as the final trigger delay duration and written into the trigger delay register of the coil energization control unit.

7. The method for coordinated control of the opening and closing process of a pole-mounted vacuum circuit breaker according to claim 1, characterized in that, The step of updating the closing coil energization sequence according to the determined trigger delay duration, and avoiding the amplification of contact bounce caused by the superposition of spring torque and connecting rod inertia under the rebound phase of the output crank arm, includes: The final trigger delay duration of the coil energizing control unit is inserted between the instruction timestamp and the current rise start timestamp in the closing coil energizing sequence to obtain the closing coil energizing sequence with delay configuration; Drive the closing coil according to the energization sequence of the closing coil with the time delay configuration, and offset the starting moment of the closing spring torque from the peak moment of the connecting rod's reverse inertia on the time axis.

8. The method for coordinated control of the opening and closing process of a pole-mounted vacuum circuit breaker according to claim 1, characterized in that, The process involves real-time verification of the consistency between the auxiliary switch flipping time and the contact closing speed using the updated closing coil energizing sequence. Based on the verification consistency results, the accuracy of angular velocity descent inflection point identification is continuously improved while maintaining the action interval compression effect, resulting in the final optimized opening and closing control sequence, including: The rising edge timestamp of the level transition of the auxiliary switch is collected in real time, and the contact closing speed value is collected synchronously. The result of consistency verification is obtained by comparing it with the preset calibrated closing speed range. If the sample falls within the interval, the current first-order difference method sampling interval remains unchanged; if it deviates, the sampling interval is reduced by the amount of deviation and used as the next inflection point identification iteration parameter. The difference between the closing command timestamp and the opening completion time is used as the action interval value. If it does not exceed the preset interval compression threshold, the closing coil energization sequence and the enhanced identification parameters are combined and written into the opening and closing control entry.

Images