高压断路器用电机驱动机构路径动态规划方法

Dynamic Path Planning Method of MotorDrive Mechanism for High-voltage Circuit Breaker

电机驱动操动机构相较于传统操动机构结构简单,动作可控性强,极大的提高了断路器分合闸操作的可控性及可靠性。针对电机驱动机构的控制方法即机构的运动轨迹方法,提出了一种电机驱动机构的路径动态规划方法,由建立的电机输出轴与开关动触头之间的数学模型,推导开关动触头最佳运动轨迹和电机轴最佳输出曲线的数学关系,最后搭建126kV电机驱动操动机构试验平台,由试验平台所得的结果证明,提出的动态规划方法与预置曲线法相比,能够有效缩短运行时间,提高断路器的机械寿命。

Compared with the traditional operating mechanism,the motor-driven operating mechanism has simple structure and strong action controllability,which greatly improves the controllability and reliability of the opening and closing operation of the circuit breaker.Aiming at the control method of motor-driven mechanism,that is,the motion path method of the mechanism,this paper proposed a dynamic path planning method of the motor-driven mechanism.Based on the established mathematical model between the motor output shaft and the switch moving contact,the mathematical relationship between the optimal motion path of the switch moving contact and the optimal output curve of the switch moving contact was derived.Finally,a 126kV motor-driven operating mechanism test platform was built,which was proved by the results obtained from the test platform.Compared with the preset curve method,the dynamic programming method proposed in this paper can effectively shorten the operation time and improve the mechanical life of the circuit breaker.