CN105790662B - A kind of high-tension switch gear displacement sensor error detection method - Google Patents
A kind of high-tension switch gear displacement sensor error detection method Download PDFInfo
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Abstract
The present invention provides a kind of high-tension switch gear displacement sensor error detection method, and described method includes following steps：S1, the control parameter that host computer sets the rotary motion curve of simulated high-pressure switch contact motion process, and converts rotary motion curve to servo motor drive controller are sent to servo motor drive controller, driving servo motor rotation；S2, servo motor drive controller compares the practical rotary motion curve of the rotary motion curve and servo motor of host computer setting, and the output of servo motor drive controller is adjusted, keep the practical rotary motion curve of servo motor consistent with the rotary motion curve that host computer is set；S3, host computer analysis calculate, the rotary motion curve of the servo motor of display standard displacement sensor and tested displacement sensor, and calculate the error of standard displacement sensor.This method can quickly, the easy adaptability for completing to be tested displacement sensor and accuracy detection, greatly save time and the cost of detection.
Description
Technical field
The present invention relates to a kind of error detection method, in particular to a kind of high-tension switch gear displacement sensor error
Detection method.
Background technology
The contact position and kinematic parameter of high-voltage switch gear are directly related to its electric property, thus manufacturer and user couple
This more and more pays close attention to.With the development of intelligent power grid technology, the machine performance of high-voltage switch gear is accurately and reliably monitored
It is the important means for ensureing high-voltage switch gear normal operation.Currently, more common in the method for monitoring high-voltage switch gear machine performance
Be relevant linear type displacement sensor to be installed on the moving contact drive link of high-voltage switch gear or in the transmission shaft of moving contact
The upper rotary-type displacement sensor of installation.
Accurate measure of displacement sensor is the reliable important prerequisite for monitoring high-voltage switch gear machine performance, right both at home and abroad at present
The research of high-tension switch gear mechanical motion state sensing technology and application document are more, but the error-detecting to sensor and school
Test etc. less studies have reported that.The displacement sensor dynamic detection side for especially combining the motion feature of high-tension switch gear to propose
Method there is no such technique study both at home and abroad.
Accordingly, it is desirable to provide a kind of new technical solution, with detect displacement sensor dynamic process accuracy of measurement,
High-voltage switch gear applicability of the displacement sensor for different trips is verified simultaneously, solves the displacement sensor of intelligent high-pressure switch
Error-detecting problem.
Invention content
In order to solve the above problem in the presence of the prior art, a kind of high-tension switch gear of present invention offer is passed with displacement
Sensor error detection method.This method simulates different switch over travel curves using the high-speed rotation of servo motor, and will be tested
The displacement sensor of examination is compared with standard transducer.Displacement sensor on the one hand can be detected in dynamic mistake by the method
On the other hand the accuracy of measurement of journey can verify high-voltage switch gear applicability of the displacement sensor for different trips.For solution
Certainly the displacement sensor error-detecting of intelligent high-pressure switch plays an important role.
Technical solution provided by the invention is：A kind of high-tension switch gear displacement sensor error detection method, changes
It is into place：Described method includes following steps：
Step S1, host computer set the rotary motion curve of simulated high-pressure switch contact motion process, and by the rotation
The control parameter that curve movement is converted into servo motor drive controller is sent to the servo motor drive controller, and driving is watched
Motor rotation is taken, to simulated high-pressure switch movement；
Step S2, the rotary motion curve of the servo motor drive controller host computer setting and described is watched
Take the practical rotary motion curve of motor, and according to comparison result adjust the servo motor drive controller output current and
Voltage keeps the practical rotary motion curve of the servo motor consistent with the rotary motion curve that the host computer is set；
Step S3, the host computer are analyzed, are calculated, showing the standard displacement sensor and the tested displacement sensor
The rotary motion curve of the servo motor measured, and the tested displacement sensor is calculated with reference to the standard displacement sensing
The error of device.
Preferably, in the step S1, the host computer converts the rotary motion curve to the servo motor
Rotational angle controlled quentity controlled variable θrefIt is input to the servo motor drive controller, the control as the servo motor drive controller
Parameter processed.
Further, the rotary motion curve of servo motor described in the standard displacement sensor, and by the servo
The actual speed n and actual rotation angle, θ of motor feed back to the servo drive controller.
Preferably, the servo motor is three-phase permanent-magnetic synchronous motors, and the standard displacement sensor is high-precision light
Grid device；The shaft of the standard displacement sensor and the tested displacement sensor and the three-phase permanent-magnetic synchronous motors passes through
Shaft coupling is co-axially mounted.
Preferably, in the step S2, the servo motor drive controller uses idref=0 control strategy controls institute
Servo motor rotation is stated, the rotary motion curve one of the rotary motion curve and host computer setting of the servo motor is made
It causes, wherein idrefFor the d shaft current controlled quentity controlled variables of the servo motor.
Further, the idref=0 control strategy includes the following steps：
1) the actual rotation angle, θ for the servo motor that standard displacement sensor is fed back is set relative to host computer
Rotational angle controlled quentity controlled variable θrefDeviation signal be input to position pi regulator, pass through the position pi regulator generate setting turn
Fast controlled quentity controlled variable nref；
2) actual speed n for the servo motor that standard displacement sensor is fed back is controlled relative to the setting speed
Measure nrefDeviation signal be input to speed pi regulator, pass through the speed pi regulator generate setting q shaft current controlled quentity controlled variables
iqref；
3) the arbitrary biphase current i in the three-phase permanent-magnetic synchronous motors is detectedAAnd iB, and to the electric current iAAnd iB
Clarke transformation is carried out, the electric current i of α axis directions is obtainedαWith the electric current i of β axis directionsβ；
4) to the electric current iαAnd iβPark is carried out to convert to obtain q shaft current components iqWith d shaft current components id；
5) by the d shaft currents component idRelative to the d shaft currents controlled quentity controlled variable idrefCurrent deviation be input to d axis electricity
Flow pi regulator；D axis, which is generated, by the d shaft currents pi regulator sets voltage control quantity Udref；
6) by the q shaft currents component iqRelative to the q shaft currents controlled quentity controlled variable iqrefCurrent deviation be input to q axis electricity
Pi regulator is flowed, generating q axis by the q shaft currents pi regulator sets voltage control quantity Uqref；
7) to the q shaft voltages controlled quentity controlled variable UqrefWith the d shaft voltages controlled quentity controlled variable UdrefPark inverse transformations are carried out, α axis is obtained
The voltage control quantity U in directionαrefWith the voltage control quantity U of β axis directionsβref；
8) to the voltage control quantity UαrefWith the voltage control quantity UβrefIt carries out SVPWM operations and obtains six road IGBT drives
Dynamic signal is respectively connected to the control terminal of three-phase inverter, and the input of the three-phase inverter connects DC power supply, and output meets institute
State the three phase mains input interface of servo motor；The three-phase inverter under the control of the IGBT drive signals, hand over by output
Galvanic electricity is to the servo motor, to control actual speed n and the torque of the servo motor.
Preferably, in the step S3, the standard displacement sensor and the tested displacement sensor pass through special screen
It covers cable to connect with signal processing circuit, the signal processing circuit is connect by Ethernet interface with host computer；The standard
The rotary motion curve of servo motor described in displacement sensor and the tested displacement sensor, and the result measured is led to
Cross signal processing circuit be transferred to host computer carry out display and error calculation.
Compared with immediate technical solution, the present invention has following marked improvement：
1, this method can be accelerated with simulated high-pressure switchgear contact, hit and slow down, shake rebound motion state and feature；
2, detection method provided by the invention is simple and reliable, it is easy to accomplish, using servo motor simulated high-pressure switchgear,
The detection to sensor accuracy can be realized without high-tension switch gear ontology；
3, technical solution provided by the invention sets the rotary motion song of simulated high-pressure switch contact movement by host computer
Line, it can be achieved that under different voltages grade or unlike signal high-tension switch gear stroke characteristic simulation, can quickly, easy complete
The adaptability of tested displacement sensor and accuracy detection, greatly save time and the cost of detection.
Description of the drawings
Fig. 1 is hardware block diagram provided by the invention；
Fig. 2 is the installation diagram of servo motor and standard displacement sensor and tested displacement sensor in Fig. 1；
Fig. 3 is the control principle drawing of servo motor drive controller.
Wherein：1- is tested displacement sensor；2- is tested displacement sensor bracket；3- standard displacement sensors；4- servo electricity
Machine support；5- servo motors；6- servo motor power supply terminals.
Specific implementation mode
For a better understanding of the present invention, it is done further with example, present disclosure with reference to the accompanying drawings of the specification
Explanation.
The present invention realizes the error-detecting of high-tension switch gear displacement sensor by detecting system as shown in Figure 1；
Detecting system is mainly by servo motor, servo motor drive controller, standard displacement sensor, tested displacement sensor, signal
Processing circuit and host computer composition；Wherein servo motor is three-phase permanent-magnetic synchronous motors, standard displacement sensor is high-precision
Rasterizer；Servo motor drive controller is connected by control and protection unit with 220V AC powers.
The mounting structure schematic diagram of servo motor and standard displacement sensor and tested displacement sensor is as shown in Figure 2：It watches
It takes motor and tested displacement sensor is supported by holder respectively, rasterizer and servo motor shaft are bound up on by positive coupling
Together, positive coupling end connection coaxial with the realization of tested sensor.Motor high speed motions, entire system of connections tool
Standby good dynamic stability, it is ensured that rasterizer, tested sensor eccentric degree are allowing within the scope of 10um.
The other end of servo motor is connected by three phase mains interface with servo motor drive controller；
When detecting system works, the rotary motion for providing simulated high-pressure switch contact motion process by host computer first is bent
Line, and by the control parameter that rotary motion Curve transform is servo motor drive controller, driving servo motor rotates；Servo is driven
Movement controller, come the rotating speed and output torque of control servomotor, realizes motor high-speed starting by change servo motor electric current,
To the movement accelerator of simulated high-pressure switch contact, the angle displacement relationship fed back by standard displacement sensor is implemented
Big torque reversal braking, to the shock braking process and concussion springback process of analog switch moving contact.
As shown in Figure 3：Servo motor drive controller uses " idref=0 " control strategy, control servomotor rotation,
Wherein idrefFor the current control parameter of servo motor d axis directions；Its specific control mode is：The rotary motion of host computer setting
Curve is equivalent to rotor rotational angle controlled quentity controlled variable θref, the actual rotation angle, θ measured by standard displacement sensor is opposite
In the rotational angle controlled quentity controlled variable θ of host computer settingrefDeviation signal be input to position pi regulator, pass through the position PI tune
It saves device and generates setting speed controlled quentity controlled variable nref；The actual speed n of the servo motor of standard displacement sensor feedback turns relative to setting
Fast controlled quentity controlled variable nrefDeviation signal be input to speed pi regulator, pass through the speed pi regulator generate q shaft current controlled quentity controlled variables
iqref.The electric current for detecting the arbitrary two-phase of three-phase permanent-magnetic synchronous motors, converts by Clark, obtains the electric current i of α axis directionsα
With the electric current i of β axis directionsβ。iαAnd iβIt converts to obtain the electric current i of q axis directions using ParkqWith the electric current i of d axis directionsd, iqWith
idWith q shaft current controlled quentity controlled variables iqrefWith d shaft current controlled quentity controlled variables idrefCurrent deviation pass through electric current pi regulator generate q shaft voltages
Controlled quentity controlled variable UqrefWith d shaft voltage controlled quentity controlled variables Udref, UqrefAnd UdrefThe voltage control quantity of α axis directions is obtained by Park inverse transformations
UαrefWith the voltage control quantity U of β axis directionsβref；UαrefAnd UβrefSVPWM operations are carried out again obtains six road IGBT drive signals point
Be not linked into the control terminal of three-phase inverter, the input terminal of three-phase inverter is connected with the output end of rectifier bridge, rectifier bridge it is defeated
Enter end by control and protection unit to be connected with 220V AC powers；Rectifier bridge converts 220V electric mains to defeated after DC power supply
Enter to three-phase inverter；The output end of three-phase inverter is connected with the three-phase power input end of servo motor, and three-phase inverter exists
Different three-phase voltage and electric current are generated under the control of six road IGBT drive signals, is input in servo motor, and then controls electricity
Motivation rotates；So that the rotary motion curve of servo motor is consistent with the rotary motion curve that host computer is set.
It, can be with simulated implementation height by changing the parameter of position pi regulator, speed pi regulator and electric current pi regulator
Compress switch the friction speed and the excess of stroke of moving contact.
Standard displacement sensor and tested displacement sensor are connect by shielded cable special with signal processing circuit.Signal
Processing circuit is realized by Ethernet interface and host computer and is connected.Host computer is connect with servo motor drive controller simultaneously, real
Now the parameter setting of servo controller and state are controlled.
It is read and record standard displacement sensor and tested displacement by signal processing circuit in servo motor motion process
The signal of sensor.Gathered data is exported to curve movement analysis software and is compared by host computer, and calculates displacement
The parameters such as (rotation angle), speed, the excess of stroke, so that it is determined that the accuracy of tested displacement sensor.
Finally it should be noted that：The above embodiments are merely illustrative of the technical scheme of the present invention and are not intended to be limiting thereof, to the greatest extent
Invention is explained in detail with reference to above-described embodiment for pipe, those of ordinary skills in the art should understand that：Still
The specific implementation mode of the present invention can be modified or replaced equivalently, and without departing from any of spirit and scope of the invention
Modification or equivalent replacement, are intended to be within the scope of the claims of the invention.
Claims (7)
1. a kind of high-tension switch gear displacement sensor error detection method, it is characterised in that：The method includes walking as follows
Suddenly：
Step S1, host computer set the rotary motion curve of simulated high-pressure switch contact motion process, and by the rotary motion
The control parameter that curve is converted into servo motor drive controller is sent to the servo motor drive controller, driving servo electricity
Machine rotates, to simulated high-pressure switch movement；
The servo drive controller is realized by changing servo motor electric current come the rotating speed and output torque of control servomotor
Motor high-speed starting, to the movement accelerator of simulated high-pressure switch contact, the angle fed back by standard displacement sensor
Displacement relation implements big torque reversal braking, to the shock braking process and concussion springback process of analog switch moving contact；
Step S2, the rotary motion curve and servo electricity of the servo motor drive controller host computer setting
The practical rotary motion curve of machine, and adjust according to comparison result the output current and electricity of the servo motor drive controller
Pressure, keeps the practical rotary motion curve of the servo motor consistent with the rotary motion curve that the host computer is set；
The institute of the standard displacement sensor and tested displacement sensor is analyzed, calculates, being shown to step S3, the host computer
The rotary motion curve of servo motor is stated, and calculates the error for being tested displacement sensor with reference to the standard displacement sensor.
2. a kind of high-tension switch gear displacement sensor error detection method as described in claim 1, it is characterised in that：
In the step S1, the rotational angle that the host computer converts the rotary motion curve to the servo motor controls
Measure θrefIt is input to the servo motor drive controller, the control parameter as the servo motor drive controller.
3. a kind of high-tension switch gear displacement sensor error detection method as claimed in claim 2, it is characterised in that：
The rotary motion curve of servo motor described in the standard displacement sensor, and the reality of the servo motor is turned
Fast n and actual rotation angle, θ feed back to the servo drive controller.
4. a kind of high-tension switch gear displacement sensor error detection method as described in claim 1, it is characterised in that：
The servo motor is three-phase permanent-magnetic synchronous motors, and the standard displacement sensor is high-precision rasterizer；The mark
The shaft of level displacement sensor and the tested displacement sensor and the three-phase permanent-magnetic synchronous motors is coaxial by shaft coupling
Installation.
5. a kind of high-tension switch gear displacement sensor error detection method as claimed in claim 4, it is characterised in that：
In the step S2, the servo motor drive controller uses idref=0 control strategy controls the servo motor rotation
Turn, keeps the rotary motion curve of the servo motor consistent with the rotary motion curve that the host computer is set, wherein idrefFor
The d shaft current controlled quentity controlled variables of the servo motor.
6. a kind of high-tension switch gear displacement sensor error detection method as claimed in claim 5, it is characterised in that：
The idref=0 control strategy includes the following steps：
1) rotation for setting the actual rotation angle, θ for the servo motor that standard displacement sensor is fed back relative to host computer
Angle controlled quentity controlled variable θrefDeviation signal be input to position pi regulator, pass through the position pi regulator generate setting speed control
Amount n processedref；
2) actual speed n for the servo motor for feeding back standard displacement sensor is relative to the setting speed controlled quentity controlled variable
nrefDeviation signal be input to speed pi regulator, pass through the speed pi regulator generate setting q shaft current controlled quentity controlled variables
iqref；
3) the arbitrary biphase current i in the three-phase permanent-magnetic synchronous motors is detectedAAnd iB, and to the electric current iAAnd iBIt carries out
Clarke is converted, and obtains the electric current i of α axis directionsαWith the electric current i of β axis directionsβ；
4) to the electric current iαAnd iβPark is carried out to convert to obtain q shaft current components iqWith d shaft current components id；
5) by the d shaft currents component idRelative to the d shaft currents controlled quentity controlled variable idrefCurrent deviation be input to d shaft currents PI
Adjuster；D axis, which is generated, by the d shaft currents pi regulator sets voltage control quantity Udref；
6) by the q shaft currents component iqRelative to the q shaft currents controlled quentity controlled variable iqrefCurrent deviation be input to q shaft currents PI
Adjuster generates q axis by the q shaft currents pi regulator and sets voltage control quantity Uqref；
7) to the q shaft voltages controlled quentity controlled variable UqrefWith the d shaft voltages controlled quentity controlled variable UdrefPark inverse transformations are carried out, α axis directions are obtained
Voltage control quantity UαrefWith the voltage control quantity U of β axis directionsβref；
8) to the voltage control quantity UαrefWith the voltage control quantity UβrefIt carries out SVPWM operations and obtains six road IGBT driving letters
It number is respectively connected to the control terminal of three-phase inverter, the input of the three-phase inverter connects DC power supply, and output connects described watch
Take the three phase mains input interface of motor；The three-phase inverter exports alternating current under the control of the IGBT drive signals
To the servo motor, to control actual speed n and the torque of the servo motor.
7. a kind of high-tension switch gear displacement sensor error detection method as described in claim 1, it is characterised in that：
In the step S3, the standard displacement sensor and the tested displacement sensor pass through shielded cable special and signal
Processing circuit connects, and the signal processing circuit is connect by Ethernet interface with host computer；The standard displacement sensor and
The rotary motion curve of servo motor described in the tested displacement sensor, and the result measured is passed through into signal processing electricity
Road is transferred to host computer and carries out display and error calculation.
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| CN201410821582.XA CN105790662B (en) | 2014-12-26 | 2014-12-26 | A kind of high-tension switch gear displacement sensor error detection method |
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| JPH10332420A (en) * | 1997-05-30 | 1998-12-18 | Satoshi Kiyono | Autonomous calibrating method for sensor |
| CN101813752A (en) * | 2010-04-20 | 2010-08-25 | 武汉新电电气技术有限责任公司 | High voltage switch dynamic characteristics tester |
| CN101949804B (en) * | 2010-08-31 | 2013-07-10 | 中国科学院力学研究所 | Test method of electromagnetic micro-force tester based on flexible support technology |
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2014
- 2014-12-26 CN CN201410821582.XA patent/CN105790662B/en active Active
Patent Citations (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH10332420A (en) * | 1997-05-30 | 1998-12-18 | Satoshi Kiyono | Autonomous calibrating method for sensor |
| CN101813752A (en) * | 2010-04-20 | 2010-08-25 | 武汉新电电气技术有限责任公司 | High voltage switch dynamic characteristics tester |
| CN101949804B (en) * | 2010-08-31 | 2013-07-10 | 中国科学院力学研究所 | Test method of electromagnetic micro-force tester based on flexible support technology |
Non-Patent Citations (1)
| Title |
|---|
| 基于PMAC的时栅位移传感器直驱式的误差修正***研究;杨继森 等;《机床与液压》;20130531;第41卷(第9期);第10-13页 * |
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