【作者】 王亮；

【导师】 徐建源；

【作者基本信息】 沈阳工业大学 ， 电力系统及其自动化， 2014， 博士

【摘要】 为满足智能电网建设对智能化设备的需求，提高高压断路器的操控性能及运行可靠性，应用现代智能控制技术的电机操动机构得到越来越多的关注。本论文研究以126kV高压真空断路器为控制对象的电机操动机构技术，并对断路器开断与关合的运动特性、电机结构的定转子设计及仿真、运动过程控制方法、驱动控制技术和实际工程应用等方面进行了深入研究。在本文中，主要的研究工作如下：（1）建立并求解126kV高压真空断路器电机驱动的动力学方程，给出了永磁驱动电机的设计参数选取的依据和方法。同时，分析和计算了电机机构直接驱动断路器分合闸操作的特征参数，深入研究了电机机构的结构设计参数对断路器分合闸操作的速度特性影响。为增加永磁电机机构的可控性，并减小永磁电机的体积，在分析表贴式、燕尾槽表贴埋入型、直线内嵌型和外V内嵌型等4种驱动电机转子的设计方案基础上，提出多槽双层表贴埋入式定子及转子永磁电机改进设计方案。（2）研究建立了考虑IGBT和反并二极管特性的永磁电机操动机构动态数学模型。通过深入分析伺服电机操动机构各组成环节，给出伺服电机操动机构控制系统电流环、速度环、位置环等控制模型，并对真空灭弧室触头速度特性进行曲线跟踪仿真。仿真结果表明，应用常规PID控制方法的电机机构的触头速度曲线跟踪，系统响应时间慢，在前15ms内有较大偏差。（3）针对真空断路器伺服电机机构的控制系统特点，结合常规PID响应速度快的优点，提出了一种永磁电机机构的模糊免疫PID速度随动跟踪智能控制方法，依据空间矢量PWM调节控制的机理，实现了电压幅值的连续调节。仿真结果表明：与传统PID控制相比，该智能控制方法，可以有效的减小系统的跟踪误差，具有较高的鲁棒性，并且能对断路器永磁电机操动机构动态性能进行精确的速度跟踪随动控制。（4）针对所研究的控制对象非线性、大惯量、瞬时起动、大电流等特点，为方便实现复杂控制算法以及系统的实时性，研制了DSP28335+FPGA+单片机多CPU结构全数字化断路器伺服电机操动机构控制系统。并给出控制系统主要电路设计方法，研制出样机并进行了实验，实验结果表明，该控制系统参数在PWM为1kHz，占空比为80%时，126kV真空断路器机械参数为：合闸时间为40ms，分闸时间为30ms；平均合闸速度分别为2.42m/s，平均分闸速度分别为3.45m/s。验证了电机操动机构技术对高压真空断路器控制的有效性。（5）以126kV高压真空断路器的机械特性为测试对象，建立了电机操动机构控制实验系统，并针对断路器不同的运行状态：分/合闸操作、自动重合闸、分阶段速度调控及速度跟踪等实验分别进行研究。实验结果与设计理论对比分析结果表明：所研究的永磁摆角力矩电机操动机构及控制系统满足设计要求，可以对高压真空断路器运行状态进行有效控制。更多还原

【Abstract】 In order to satisfy the demands of the intelligent equipments on the smart gridconstruction, and to improve the control performance and operation reliability of the highvoltage circuit breaker, the motor operating mechanism with application of modernintelligent control technology is getting more attention. This topic sets the motor operatingmechanism of a126kV high voltage vacuum circuit breaker as the research object. Thisthesis has further studied the movement characteristics of circuit breaker opening andclosing operation, the design simulation of the driving motor stator, the method of theprocess control, the driving control technology, and the practical engineering applications.In this thesis, the main research has been done as follows:(1) The thesis establishes and solves the dynamic equation of126kV high voltagevacuum circuit breaker motor mechanism, provides the basis and method for theparameters selection of the circuit breaker permanent magnet motor, calculates thecharacteristic parameters of motor driving circuit breaker during the closing and openingoperation of the operating mechanism, and analyzes the influence of the design parameterson the circuit breaker device operating speed. In order to increase the controllability of thepermanent magnet motor and to reduce the volume and moment inertia of the permanentmagnet motor, the thesis bases on the design schemes of4types of drive motor rotor,including analysis surface mounting type, dovetail groove surface mounting type, linearembedded type and outside V embedded type. It proposes the multiple slots double layersurface mounting type and design improvement of stator&rotor of permanent magnetmotor.(2) Dynamic mathematical modeling of permanent magnet motor institutions whichhave considered the characteristics of IGBT and reverse diode is studied. Through in-depthanalysis of servomotor mechanism of each link, the simulation model about servo motorcontrol system including current loop, speed loop, and position loop is proposed. And thesimulation of tracing the curve of the dynamic contact velocity characteristic is given. Theresults show that the system response time is long, and there is a big deviation in the startof the15ms when motor speed curve is traced with conventional PID control method. (3) Aiming at the characteristics of vacuum circuit breaker mechanism permanentmagnet motor servo control system, and combining the advantage of fast response speed ofthe conventional PID, a fuzzy immune PID speed tracking intelligent control method forpermanent magnet motor institutions is proposed in the thesis. The control method is basedon the principle of space vector PWM control to achieve continuous adjustability ofvoltage space vector. The simulation results show that this intelligent control method caneffectively reduce the error of the system tracking compared with the traditional PIDcontrol. The method has high robustness, and can accurately trace and momentarily controlthe dynamic performance of the permanent magnet motor.(4) Aiming at the controlled object’s nonlinearity, large inertia, instant-start, heavycurrent, circuit breaker servo motor system for achieving complex control algorithm,DSP28335+FPGA+MCU multi-cpu structure has been developed. In the thesis the maincircuit designing methods of control system is presented and the prototype is developedand tested. Experiment results have shown that when these system parameters set PWM as1KHz and duty cycle as80%, these parameters of126kV breaker become closing time of40ms, opening time of30ms, the average closing speed of2.42m/s, and the averageopening speed of3.45m/s, which therefore validate the system.(5) The experiment chose mechanical properties of126kV high-voltage vacuumcircuit breaker as the test object, and established the motor drive control experiment system.Aiming at studying the different circuit breaker operation states, the experiments onclosing operation, opening operation, automatic reclosing, speed control in stages and ratetracking have been conducted respectively. Indeed, both the experimental results andcontrast analysis results of design theory show that the design requirements about the driveand control system of motor drive control system with the permanent magnet swingingangle torque can be met, and the operating status about high voltage vacuum circuitbreaker can be effectively controlled.更多还原