CN114334546B - Sensorless switching-on/off displacement tracking control system and method of contactor - Google Patents
Sensorless switching-on/off displacement tracking control system and method of contactor Download PDFInfo
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- CN114334546B CN114334546B CN202111646128.1A CN202111646128A CN114334546B CN 114334546 B CN114334546 B CN 114334546B CN 202111646128 A CN202111646128 A CN 202111646128A CN 114334546 B CN114334546 B CN 114334546B
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Abstract
The invention relates to a sensorless opening and closing displacement tracking control system of a contactor, which comprises a whole process real-time parameter estimator, a double closed-loop control unit for controlling a suction inner ring by a displacement outer ring based on fuzzy logic, a suction single closed-loop control unit and a process control module; the estimator estimates the moving iron core displacement, electromagnetic suction force and spring counter force of the contactor in real time according to the detected coil current; the double closed-loop control unit for controlling the suction inner ring by the displacement outer ring based on fuzzy logic enables the moving iron core to displace in the starting and breaking process of the contactorxQuickly tracking reference displacement; the suction single closed-loop control unit is used for giving a preset suction reference value in the holding process so as to reliably suck the movable iron core and the fixed iron core; the process control module is used for switching the starting, maintaining and breaking processes of the contactor according to the time sequence, and controlling the reference suction force change-over switch to select a proper reference value to be used as the reference suction force. The invention realizes the accurate tracking of the opening and closing displacement of the movable iron core.
Description
Technical Field
The invention relates to the field of intelligent control of switches, in particular to a sensorless switching-on/off displacement tracking control system and method of a contactor.
Background
The contactor is used as a flexible control electrical appliance and is often combined with a phase selection switching technology, and is used for phasing switching of a capacitor bank, an empty-load transformer and an overhead line so as to inhibit surge current and operation overvoltage, thereby having great significance for safe and stable operation of a power system. The action characteristics of the contactor often have certain dispersibility due to the influence of the processing fineness of the mechanical structure, the external excitation condition and the environmental factors, so that the consistency of the opening and closing action time is poor, and the accuracy of phase selection control is seriously influenced.
In recent years, students at home and abroad have made a great deal of research work in the aspect of intelligent control of the contactor, coil excitation is from alternating current to direct current, the control technology is from open loop to closed loop, and the consistency of the action time of the contactor is still to be further researched although the performance of the contactor is improved.
Disclosure of Invention
Therefore, the invention aims to provide a sensorless switching-on/off displacement tracking control system and method for a contactor, which can realize accurate tracking of the switching-on/off displacement of a moving iron core and ensure reliable maintenance and energy-saving operation of the contactor.
In order to achieve the above purpose, the invention adopts the following technical scheme:
a sensorless opening and closing displacement tracking control system of a contactor comprises a whole process real-time parameter estimator, a double closed-loop control unit for controlling a suction inner ring by a displacement outer ring based on fuzzy logic, a suction single closed-loop control unit and a process control module; the whole-process real-time parameter estimator estimates the moving iron core displacement, electromagnetic suction force and spring counter force of the contactor in real time according to the detected coil current; the double closed-loop control unit for controlling the suction inner ring by the displacement outer ring based on the fuzzy logic enables the moving iron core displacement x to track the reference displacement rapidly in the starting and breaking process of the contactor; the suction single closed-loop control unit is used for giving a preset suction reference value in the holding process so as to reliably suck the movable iron core and the fixed iron core; the process control module is used for switching the starting, maintaining and breaking processes of the contactor according to the time sequence, and controlling the reference suction force switching switch to select a proper reference value to be used as the reference suction force of the current process.
Further, the real-time whole-process parameter estimator is specifically a contactor whole-process parameter estimator which is built by fitting a complex electromechanical coupling relation of an electromagnetic mechanism through a neural network and matching with a Darby mechanical motion equation.
Furthermore, the neural network adopts a single hidden layer BP neural network, in particular to a current i coil And displacementx is used as binary input, and after operation of 10 hidden layer nodes, electromagnetic attraction force F is output x . Network training using simulation data, input (x, i coil ) Obtaining F x And desired output F x * The comparison results in an error E for inversely correcting the weight w k ij And threshold b ij The method comprises the steps of carrying out a first treatment on the surface of the After training, the structural parameters are extracted and rewritten into an embedded form, so that the real-time estimation of electromagnetic suction force can be realized, and the construction of a suction force sub-model of the neural network is completed.
Further, the contactor whole process parameter estimator established by matching with the darebel mechanical motion equation is specifically:
the contactor satisfies in the motion process:
wherein: Δf is the suction margin, m is the movable part equivalent mass, and a is the moving core acceleration.
Spring reaction force F f Is a unitary function of displacement x, expressed as:
F f ＝f(x) (2)
and (3) combining the formulas (1) and (2) and a neural network fitting model to construct the whole-process parameter estimator.
Further, the whole process parameter estimator consists of a neural network suction sub-model and a mechanical motion sub-model, and is used for estimating the real-time electromagnetic suction force F of the contactor starting, maintaining and breaking process x Reaction force F of spring f Moving core displacement x; f of mechanical movement submodel output by neural network x For input, the displacement x is output under the constraint of the motion equation, and then x is returned to the counter-force function and the neural network for the next calculation period F x 、F f And an estimate of x; the parameter estimator can iteratively calculate electromagnetic attraction force, spring counter force and moving iron core displacement of the whole dynamic process by only one external parameter of coil current, and complete real-time parameter estimation.
Further, the displacement outer ring based on the fuzzy logic controls the suction inner ring unit, an empirical rule between displacement error and suction allowance is constructed according to the linear relation between delta F and moving iron core acceleration, self-adaptive control of the displacement outer ring is completed, and a fuzzy controller adopts a typical dual-input single-output structure.
A control method of a sensorless opening and closing displacement tracking control system of a contactor comprises the following steps:
during start-up, reference suction switch selection F xref ＝F xref1 The method comprises the steps of carrying out a first treatment on the surface of the Reference displacement x ref The displacement outer ring is input simultaneously with the estimated displacement x, and the suction margin delta F, delta F and the estimated real-time spring counterforce F are output after the action of the fuzzy controller f Adding to obtain suction inner ring reference value F xref1 After F xref1 And F is equal to x After hysteresis comparison of the inner ring, PWM signal driving S is output 1 、S 2 To control the driving circuit to switch between +1 state and-1 state rapidly to make F x Fast tracking F xref1 Thereby enabling the movable iron core to estimate the displacement x and rapidly track the reference displacement x ref The contactor can complete the starting process according to a preset displacement curve;
when x is detected ref When the contact stroke is larger than the set contact stroke, the holding process starts to be switched into, and the suction force change-over switch is referenced to select F xref ＝F xref2 Then switching to suction single closed loop control, F xref2 And F is equal to x After the suction hysteresis comparison, a PWM signal is output to control S 1 、S 2 On-off state of F x Dynamically constant at F xref2 The contactor is reliably held;
when the contactor starts to turn into the breaking process, the reference suction change-over switch selects F again xref ＝F xref1 The method comprises the steps of carrying out a first treatment on the surface of the As with the control of the starting process x ref Output suction inner ring reference value F after x is subjected to displacement outer ring fuzzy control xref1 ，F xref1 And F is equal to x Hysteresis comparison, the control circuit state is switched between +1 state and-1 state rapidly, so that F x Tracking F xref1 Thereby making x track x ref The contactor completes the breaking process according to a preset displacement curve.
Further, the F xref2 The value method of (2) is as follows: a constant suction margin is superimposed on the estimated final reaction force of the spring to ensure reliable holding of the contactor.
Compared with the prior art, the invention has the following beneficial effects:
1. the invention realizes the accurate tracking of the opening and closing displacement of the movable iron core, thereby realizing the stability of the opening and closing action time;
2. in the holding process, only suction single closed-loop control is adopted, the suction force is always larger than the counter force by setting a constant suction allowance, and the coil current required by the suction force is automatically regulated according to the magnetic circuit magnetic resistance, so that the reliable holding and energy-saving operation of the contactor are considered.
3. The invention can realize real-time estimation of electromagnetic attraction force, spring counter force and moving iron core displacement of the contactor by only adopting the dynamic parameter of coil current.
Drawings
FIG. 1 is a control schematic of the present invention;
FIG. 2 is a schematic diagram of neural network suction estimation in accordance with an embodiment of the present invention;
FIG. 3 is a full process parameter estimator in accordance with one embodiment of the present invention;
FIG. 4 is a schematic diagram of the fuzzy control of the displacement outer ring in an embodiment of the present invention.
Detailed Description
The invention will be further described with reference to the accompanying drawings and examples.
Referring to fig. 1, the coil driving circuit comprises a coil driving circuit and a control system, wherein in the coil driving circuit, AC/DC is used as an input power source, and the coil driving circuit is used for alternating current and direct current 1 Is a rectifier bridge, C 1 Is a filter capacitor S 1 、S 2 Is an electronic switch D 1 、D 2 For the fast recovery diode, the input power supply passes through B 1 Rectifying and C 1 After filtering, stable direct-current voltage U is obtained c . According to S 1 、S 2 The switch state of (a) divides the circuit state, when S 1 、S 2 Positive U when simultaneously conducting c The coil can be rapidly excited by applying the magnetic field to two ends of the coil, and the state of the circuit is defined as +1 state. When S is 1 、S 2 At the same time cut off, the coil current passes through D 1 、D 2 During freewheeling, negative U c The coil can be demagnetized rapidly by applying the capacitor at two ends, and the state of the circuit is defined as-1 state. The current sensor is shown for detecting coil current. The whole process of starting, maintaining and breaking the contactor adopts PWM closed-loop control to adjust the action time of +1 state and-1 state, thereby controlling the excitation state of the electromagnetic system and creating hardware conditions for displacement tracking control.
In the present embodiment, the control system controls the coil current i detected by the current sensor coil Sending the magnetic flux into a parameter estimator to estimate the moving core displacement x and electromagnetic attraction force F of the contactor in real time x Spring reaction force F f . In the starting and breaking process of the contactor, a double closed-loop control structure of a displacement outer ring control suction inner ring is adopted, so that the moving iron core displacement x quickly tracks the reference displacement x ref The method comprises the steps of carrying out a first treatment on the surface of the The holding process adopts a suction single closed-loop control structure, and a proper suction reference value is given to ensure that the movable and static iron cores are reliably attracted and operate in an energy-saving way. The process control module is responsible for switching the starting, maintaining and breaking processes of the contactor according to the time sequence and controlling the reference suction force switching switch to select a proper reference value to be used as the reference suction force F of the current process xref 。
During start-up, reference suction switch selection F xref ＝F xref1 . Reference displacement x ref The displacement outer ring is input simultaneously with the estimated displacement x, and the suction margin delta F, delta F and the estimated real-time spring counterforce F are output after the action of the fuzzy controller f Adding to obtain suction inner ring reference value F xref1 After F xref1 And F is equal to x After hysteresis comparison of the inner ring, PWM signal driving S is output 1 、S 2 To control the driving circuit to switch between +1 state and-1 state rapidly to make F x Fast tracking F xref1 Thereby enabling the movable iron core to estimate the displacement x and rapidly track the reference displacement x ref The contactor can complete the starting process according to a preset displacement curve.
When x is detected ref When the contact stroke is larger than the set contact stroke, the holding process starts to be switched into, and the suction force change-over switch is referenced to select F xref ＝F xref2 ，F xref2 The value method of (2) is as follows: a constant suction margin is superimposed on the estimated final reaction force of the spring to ensure reliable holding of the contactor. Then switching to suction single closed loop control, F xref2 And F is equal to x After the suction hysteresis comparison, a PWM signal is output to control S 1 、S 2 On-off state of F x Dynamically constant at F xref2 The contactor is reliably held.
When the contactor starts to turn into the breaking process, the reference suction change-over switch selects F again xref ＝F xref1 . As with the control of the starting process x ref Output suction inner ring reference value F after x is subjected to displacement outer ring fuzzy control xref1 ，F xref1 And F is equal to x Hysteresis comparison, the control circuit state is switched between +1 state and-1 state rapidly, so that F x Tracking F xref1 Thereby making x track x ref The contactor completes the breaking process according to a preset displacement curve.
In the embodiment, the whole process parameter estimator consists of a neural network suction sub-model and a mechanical motion sub-model and is used for estimating the real-time electromagnetic suction force F of the contactor starting, maintaining and breaking process x Reaction force F of spring f And the moving core is displaced x. F of mechanical movement submodel output by neural network x For input, the displacement x is output under the constraint of the motion equation, and then x is returned to the counter-force function and the neural network for the next calculation period F x 、F f And an estimate of x. The parameter estimator can iteratively calculate the electromagnetic attraction force, the spring counter force and the moving iron core displacement of the whole dynamic process by only one external parameter of coil current, complete the real-time parameter estimation and construct the parameter estimator in FIG. 1.
In this embodiment, the neural network suction sub-model is based on a single hidden layer BP neural network, selecting a 2-10-1 three-layer network shown in FIG. 2: current i coil And the displacement x is used as binary input, and after operation of 10 hidden layer nodes, the electromagnetic attraction force F is output x . Network training using simulation data, input (x, i coil ) Obtaining F x And desired output F x * The comparison results in an error E for inversely correcting the weight w k ij And threshold b ij . After training, the structural parameters are extracted and rewritten into an embedded form, so that the real-time estimation of electromagnetic suction force can be realized, and the construction of a suction force sub-model of the neural network is completed.
In this embodiment, the contactor satisfies the following during movement:
wherein: Δf is the suction margin, m is the movable part equivalent mass, and a is the moving core acceleration.
Spring reaction force F f Is a unitary function of displacement x, and can be expressed as:
F f ＝f(x) (2)
and (3) combining the (1) and (2) with a neural network fitting model to construct the whole-process parameter estimator shown in fig. 3.
In this embodiment, the fuzzy control does not need to establish an accurate mathematical model between Δf and x, and can complete the adaptive control of the displacement outer ring only by constructing an empirical rule between displacement error and suction margin according to the linear relationship between Δf and moving core acceleration. The fuzzy controller adopts a typical dual-input single-output structure, and the principle is as shown in fig. 4: reference displacement x ref Comparing with the estimated displacement x to obtain a displacement error e x ，e x The displacement error change rate e is obtained after differentiation v ，e x And e v The two values are input into a fuzzy controller together, fuzzy reasoning is carried out according to a constructed fuzzy rule table after fuzzification treatment, then defuzzification calculation is carried out, and then accurate suction allowance delta F, delta F and estimated real-time counterforce F can be output f Superimposed to obtain reference suction force F xref1 And further completing fuzzy control of the displacement outer ring.
TABLE 1 fuzzy logic rule List
Input language variable e x ，e v The language value sets of the output language variable Δf are all set to { NL, NS, Z, PS, PL }, i.e., { negative large, negative small, zero, positive small, positive large }, and the language value sets of the output language variable Δf are also set to { NL, NS, Z, PS, PL }, and a possible fuzzy logic rule table is shown in table 1: the rule table has consistency, continuity and completeness, and guarantees are provided for continuous output of the controller.
The foregoing description is only of the preferred embodiments of the invention, and all changes and modifications that come within the meaning and range of equivalency of the claims are therefore intended to be embraced therein.
Claims (8)
1. The sensorless opening and closing displacement tracking control system of the contactor is characterized by comprising a whole process real-time parameter estimator, a double closed-loop control unit for controlling a suction inner ring by a displacement outer ring based on fuzzy logic, a suction single closed-loop control unit and a process control module; the whole-process real-time parameter estimator estimates the moving iron core displacement, electromagnetic suction force and spring counter force of the contactor in real time according to the detected coil current; the double closed-loop control unit for controlling the suction inner ring by the displacement outer ring based on the fuzzy logic enables the moving iron core displacement x to track the reference displacement rapidly in the starting and breaking process of the contactor; the suction single closed-loop control unit is used for giving a preset suction reference value in the holding process so as to reliably suck the movable iron core and the fixed iron core; the process control module is used for switching the starting, maintaining and breaking processes of the contactor according to the time sequence, and controlling the reference suction force switching switch to select a proper reference value to be used as the reference suction force of the current process.
2. The sensorless opening and closing displacement tracking control system of the contactor according to claim 1 is characterized in that the whole-process real-time parameter estimator is specifically a contactor whole-process parameter estimator established by fitting a complex electromechanical coupling relation of an electromagnetic mechanism through a neural network and matching with a Darby mechanical motion equation.
3. The sensorless opening and closing displacement tracking control system of the contactor according to claim 2, wherein the neural network adopts a single hidden layer BP neural network, in particular a current i coil And the displacement x is used as binary input, and after operation of 10 hidden layer nodes, the electromagnetic attraction force F is output x； Network training using simulation data, input (x, i coil ) Obtaining F x And desired output F x * The comparison results in an error E for inversely correcting the weight w k ij And threshold b ij The method comprises the steps of carrying out a first treatment on the surface of the After training, the structural parameters are extracted and rewritten into an embedded form, so that the real-time estimation of electromagnetic suction force can be realized, and the construction of a suction force sub-model of the neural network is completed.
4. The sensorless opening and closing displacement tracking control system of the contactor according to claim 3, wherein the contactor whole process parameter estimator is built by matching with the darebel mechanical motion equation, specifically:
the contactor satisfies in the motion process:
wherein: Δf is a suction margin, m is a movable part equivalent mass, a is a movable iron core acceleration;
spring reaction force F f Is a unitary function of displacement x, expressed as:
F f ＝f(x) (2)
and (3) combining the formulas (1) and (2) and a neural network fitting model to construct the whole-process parameter estimator.
5. The sensorless opening and closing displacement tracking control system of contactor of claim 4, wherein said overall process parameter estimator is a neural network suction sub-model anda mechanical motion sub-model for estimating the real-time electromagnetic attraction force F of the contactor in the starting, maintaining and breaking process x Reaction force F of spring f Moving core displacement x; f of mechanical movement submodel output by neural network x For input, the displacement x is output under the constraint of the motion equation, and then x is returned to the counter-force function and the neural network for the next calculation period F x 、F f And an estimate of x; the parameter estimator can iteratively calculate electromagnetic attraction force, spring counter force and moving iron core displacement of the whole dynamic process by only one external parameter of coil current, and complete real-time parameter estimation.
6. The sensorless opening and closing displacement tracking control system of the contactor according to claim 1, wherein the displacement outer ring based on fuzzy logic controls the suction inner ring unit, an empirical rule between displacement error and suction allowance is built according to a linear relation between delta F and moving iron core acceleration, self-adaptive control of the displacement outer ring is completed, and a fuzzy controller adopts a typical dual-input single-output structure.
7. The control method of a sensorless opening/closing displacement tracking control system of a contactor according to any one of claims 1 to 6, comprising:
during start-up, reference suction switch selection F xref ＝F xref1 The method comprises the steps of carrying out a first treatment on the surface of the Reference displacement x ref The displacement outer ring is input simultaneously with the estimated displacement x, and the suction margin delta F, delta F and the estimated real-time spring counterforce F are output after the action of the fuzzy controller f Adding to obtain suction inner ring reference value F xref1 After F xref1 And F is equal to x After hysteresis comparison of the inner ring, PWM signal driving S is output 1 、S 2 To control the driving circuit to switch between +1 state and-1 state rapidly to make F x Fast tracking F xref1 Thereby enabling the movable iron core to estimate the displacement x and rapidly track the reference displacement x ref The contactor can complete the starting process according to a preset displacement curve;
when x is detected ref When the contact stroke is larger than the set contact stroke, the holding process starts to be switched into, and the suction force change-over switch is referenced to select F xref ＝F xref2 Then switching to suction single closed loop control, F xref2 And F is equal to x After the suction hysteresis comparison, a PWM signal is output to control S 1 、S 2 On-off state of F x Dynamically constant at F xref2 The contactor is reliably held;
when the contactor starts to turn into the breaking process, the reference suction change-over switch selects F again xref ＝F xref1 The method comprises the steps of carrying out a first treatment on the surface of the As with the control of the starting process x ref Output suction inner ring reference value F after x is subjected to displacement outer ring fuzzy control xref1 ，F xref1 And F is equal to x Hysteresis comparison, the control circuit state is switched between +1 state and-1 state rapidly, so that F x Tracking F xref1 Thereby making x track x ref The contactor completes the breaking process according to a preset displacement curve.
8. The control method of a sensorless opening and closing displacement tracking control system of a contactor according to claim 7, wherein the F xref2 The value method of (2) is as follows: a constant suction margin is superimposed on the estimated final reaction force of the spring to ensure reliable holding of the contactor.
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| CN101866777A (en) * | 2010-05-14 | 2010-10-20 | 东南大学 | Reverse flux-weakening control type intelligent permanent magnet contactor with no position sensor |
| CN106597934A (en) * | 2016-12-08 | 2017-04-26 | 上海电机学院 | Intelligent control method for optimizing permanent magnet contactor |
| CN113268868A (en) * | 2021-05-17 | 2021-08-17 | 福州大学 | Method for estimating overall process moving core displacement of electromagnetic switch |
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| CN107924786B (en) * | 2016-03-17 | 2019-05-10 | 富士电机机器制御株式会社 | The operation coil-driving apparatus of electronic of electromagnetic contactor |
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|---|---|---|---|---|
| CN101866777A (en) * | 2010-05-14 | 2010-10-20 | 东南大学 | Reverse flux-weakening control type intelligent permanent magnet contactor with no position sensor |
| CN106597934A (en) * | 2016-12-08 | 2017-04-26 | 上海电机学院 | Intelligent control method for optimizing permanent magnet contactor |
| CN113268868A (en) * | 2021-05-17 | 2021-08-17 | 福州大学 | Method for estimating overall process moving core displacement of electromagnetic switch |
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| Wang, Xianbing 等.Analysis of Dynamic Characteristics of Permanent Magnet Contactor With Sensorless Displacement Profile Control.IEEE Transactions on Magnetics.2010,第46卷(第6期),1633-1636. * |
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