2013 2nd International Conference on Electric Power Equipment
- Matsue, Japan
Research on Velocity Control Methods for
Driving Motor of 126l<V High Voltage Circuit
Breal<er
TENG Yunl,2 WANG Yifeil,2 LIN Xinl,2
l
School of Electrical Engineering, Shenyang University of Technology, Shenyang, 110870, Liaoning Province, China
2
Liaoning Province Key Laboratory of Safe Operation and Monitoring of Power Grid, Shenyang, 110870, Liaoning
Province, China
Abstract- Based on the new motor operating mechanism of
providing a pretightening force for the contact, and
high voltage circuit breaker, a set of permanent magnet
eliminating the effect of the short-circuit electromotive
brushless
force and offering a part of opening energy. But in the
DC(PMBLDC)
motor
is
designed,
and
an
operating mechanism control device, of which the core is
closing process, motor operating mechanism must be
the digital signal processor (TMS320F28335 DSP), is built.
able to overcome the reaction force of contact spring [6].
And control technology of pulse width modulation is
It needs to control the speed of motor mechanism and
applied. By detecting contact displacement ,and changing
overcome the reaction force of contact spring, which
the duty ration simultaneously,
can be obtained by maintenance of closing.
the problems that the
contact speed of 126kV high voltage circuit breaker is
This thesis uses the PMBLDC motor to drive high
uncontrollable and that at the ending of dividing and
voltage circuit breaker and apply regulation and control
will be
technology of pulse width modulation. And also by the
solved. The online test on 126kV vacuum circuit breaker
means of the control system which comprises of power
shows that the operating mechanism of the PMBLDC
electronic devices and the digital signal processor (DSP),
motor drives high voltage circuit breaker through PWM
to detect the contact displacement, and change the duty
connecting,
the
machinery
collides
intensively
technique , which can achieve the aim of controlling the
ration simultaneously. It not only makes the speed of
speed of the high voltage circuit breaker contact and
circuit breaker contact adjustable, but also meets the
improving the reliability of circuit breaker's operation.
demand of the properties of the arc chute. By force of
Keywords- 126kV high voltage circuit breaker; PMBLDC;
the dead spot maintenance of the circuit breaker and the
PWM technique
closing process of reducing speed the reliability of
closing is guaranteed. When opened, it relies on the
I.
At
present,
mechanism,
INTRODUCTION
electromagnetic
pneumatic
mechanism are
the
mechanism,
mechanism
operating
co-effect of both motor mechanism and compression of
and
mechanism
spring
hydraulic
which
is
commonly used [1]. During recent years, the motor
operating mechanism driven by the motor power driver
components
has
gradually
been
popular
for
the
advantages of a few moving parts and small action
dispersion [2-5]. The motor operating mechanism use
capacitor instead of spring or compressing air to store,
control and operate the energy, which outputs to the
motor operating mechanism that will put the moving
contact in motion through power electronic devices
from storage capacitor. In the process of on- and- off the
vacuum circuit breaker, it is demanded that the moving
contact should have a very high instant speed so as to
maintain its ability of arc extinguishing. At the ending
of the opening process, it is suggested that the speed of
moving contact should be reduced in order to diminish
the impact. At the same time, the circuit breaker is
equipped
with
contact
spring,
which
will
be
compressed when the closing process comes to an end,
Fund project: Project supported by National Natural Science
Foundation of China (51177104) and National Natural Science
Foundation of Liaoning province (2009220012)
May 16,2013
the spring, guaranteeing the instant speed of circuit
breaker and improving the reliability of its work.
II.
WORKING PRINCIPLE ON OPERATING MECHANISM
OF THE PERMANENT- MAGNET BRUSHLESS DC MOTOR
Fig. 1 and Fig. 2 is a schematic diagram about the
structure of the 126kV vacuum circuit breaker with
PMBLDC motor mechanism. BLDC motor is connected
to the axis of circuit breaker through the flange. The
rotation of the PMBLDC motor causes the circuit
breaker horizontal crank arm AB to move, which pushes
insulated rod BC to do vertical motion. The motor
begins from the original position Bo, rotating 64and
compressing the contact spring to B1 to complete the
process of closing. When A, B, C, three points are on
the same line, that is, on the diagram (b), the points A,
B], C1 are on the same line, the tangent force acting
from the point B of the circle is 0. Meanwhile, because
of the reaction force of the compressed spring, A, B, C
three points stabilize on the same line,
forming a
self-maintenance dead spot. when switched on, the
circuit through the insolating drive circuit. Adjusting the
motor overcomes the maintenance force of the dead spot,
completing the opening operation on the joint effect of
duty ratio of PWM leads to the change of the current
the contact spring and motor.
amplitude, which can reach the aim of regulating the
motor' rotating speeds as well as electromagnetic torque.
I 26kYhigh voltage vacuum
When the signal detected by voltage and current sensor
fits the overvoltage or under voltage, DSP will cease
producing PWM, and top IGBI of the inverter circuit so
as to achieve the purpose of protection.
Fig. 1.
The connection of the vacuum circuit breaker and motor
Movmg
contect
1 __ '
C,
L1J
_L
pnncipal'(jsJiAC
\. I ..:
' '
; 1 ClfCilltbreaker
i i-- bar
C::JiOl-,""m"
III.
Fig. 3.
III II
11
1 11
I V II
I AII
1111 I
1I1
1 I
I ttl, I
I I /ir. I
1'1 \. I
II/ \1
IV.
4l-----Bo
collision that took place is
Longltudmal figure
theory, states that:
t.
on
VJ,
(1)
Therefore,
system with TMS320F2S335 as its core, aiming at
strategy
VI,
The Newton's mechanics
Motion the circuit breaker
The brushless motor operating mechanism control
control
that the speeds before and after collision are
respectively, and that the time taken for the instant
OPERATING MECHANISM CONTROL SYSTEM
CONTROL STRATEGY
When switched off, assuming the force of collision is
F,
PRINCIPLE ON STRUCTURE OF THE MOTOR
launching
Principle on the motor operating mechanism control
system
"
I,,,
motorrotor
Fig. 2.
/}l;vertravel
D
--t-/ - I
n
t c1ea !ncebetween
: \ /ir ,lcDlltact;
driving
F=(mvrmvJJlt
(2)
F(t)=mdvldt=ma(t)
(3)
According to the formulas of electrical machinery,
motor,
(4)
controlling its speed of rotation, reducing the speed
when it is close to the closing or opening place, reduce
(5)
the speed of moving contact in order to weaken the
impact to circuit breaker. The Schematic diagram of the
In the formula, Pem stands for electromagnetic power;
principle on control system is shown in Fig. 3.
Q for motor angular velocity; erfor torque coefficient;
Motor operating mechanism control system mainly
cP for air-gap flux.
includes: inverter circuit, isolating drive circuit, position
detection
circuit,
as
well
as
circuit
of
According to the power conservation theory,
charging
discharging of a capacitor. 3SOV alternating current
(6)
outputs AC through three-phase voltage regulator, and
DC voltage can be obtained by the means of rectifier
In the formula, P2 stands for the output power of
filter, which can change the opening and closing storage
electric motor; Po for the energy storage of circuit
capacitor. When the capacitor voltage is close to the set
breaker spring; Peme for the mechanical loss during the
voltage,
process of contact movement.
DSP will send a
control signal,
stopping
charging the capacitor. The capacitor voltage flows
As can be seen from formula 6, the power delivers to
through the inverter circuit, serving as three-phase input
the motor through circuit breaker, and converts to the
of the motor. DSP receives PWM in a certain order
kinetic energy of the circuit breaker contact as well as
produced by position detective signal, which controls
conservation energy of the spring. The whole process
the IGBT shutdown of the main circuit of the inverter
follows the energy conservation. Therefore, the speeds
before and after collision
VI. Vb
respectively, determines
the force of collision F when switched off, which is
provided for circuit breaker by the motor. As can be
seen in the formula 3, F(t) can be reduced when the
demand
of
the
closing
operation
power
is
met,
meanwhile the difference of the speeds before and after
collision is reduced,
and that is
the instantaneous
acceleration, in order to weaken the impact to circuit
breaker.
Based on the analyses above, in order to ensure the
CI
20
.to
60
80
100
1 20
time/ms.
HO
160
180
200
opening and closing speed, simultaneously weaken the
Fig. 5.
impact to the circuit breaker caused by fast speed when
The motor current of closing at Capacitor voltage 300 V
the the process of opening and closing comes to an end,
- The moto r Angle
the duty ratio variation should be from 99% to 50%. [n
this way, when switched on, the motor will have a very
"
"
high instant speed as the duty ration reaches 99%, which
is close to DC, ensuring the arc extinguishing ability of
circuit breaker. At the end of the opening, the duty
ration and rotating speed reduce, weakening the impact
to the circuit breaker. When switched off, the motor
reduces its rotating speed at the end, and weaken the
(I
20
'0
E<I
80
contact bounce, which matches with the dead spot
maintenance, ensuring the closing.
Fig. 6.
100
120
time/ms
uo
160
1IlO
:200
The motor angular displacement of closing at Capacitor
voltage 300 V
[n
the
THE EXPERIMENTAL RESEARCH
Because
experiment,
126kV
ZW 0-126/2000-40
the
current
of
brushless
motor
needs
commutation, phase current is part of a sine curve. After,
indoor vacuum circuit breaker and a permanent-magnet
the motor winding gets power, 10ms later, it begins to
brushless DC motor form a test platform of motor
run. During 0-60mm, the open distance is equivalent to
operating mechanism. [t is shown in Fig. 4.
0-40.32of motor angel as to the side of its spin axis. [n
the process of closing, the motor winding changes two
phases, it changes phase each 60 electrical angle (30
mechanical angle). Soon after the first commutation, it
covers the open distance at 68ms.During this process,
the motor undergoes another commutation, and the
current amplitude climbs up to l30A. Due to the preload
which is produced, when the motor compresses contact
spring, after covering the open distance, the motor
begins to compress contact spring and then go to the
heavy work process. In the process, current amplitude
and output electromagnetic torque begin to increase and
the resistance torque also gradually increases as the
contact spring is compressed. When the angle is 52.32,
Fig. 4. Test platform of motor operating mechanism
the time is 79ms, its current amplitude increases to
The measurement of the speed of high voltage circuit
breaker
moving
contact
can
be
obtained
by
InA, under the influence of the resistance torque.
the
Electromagnetic torque output by motor increases
measurement of the motor angle with the angular
further, and begins to compress spring once again.
displacement sensor. Its measuring range is 360, the
When the motor rotates towards 64and gradually enter
resistance is 5KO, and the accuracy is 0.1 %,the power
the circuit breaker's dead spot, the reaction force of
is DC 15V.
collected
spring on the tangential
The motor winding current signal is
with
LT208-S7
Hall
effect
compensated
0.5%,
force of the motor shaft
gradually reduces. When it reaches the dead spot, the
the
tangential force becomes O. The mechanism self-holds
response time is less than Ius. In the experiment, the
relying the way that the dead spot and mechanical limit
capacitor voltage is charged to 300V, the duty ratio is
maintain. The motor stall current climbs up to 235A
varied from 99% to 50%.
after switched off. In the process of closing, the time
magnetic field sensor . Its accuracy is
Fig.
is
the
current
waveform
of
the
motor
circuit breaker contacts use during the 113 of the process
three-phase winding when switched off, the charge
is about
voltage being 300V. Fig. 6 is the angular waveform of
1. 95m/s ,the closing time is 68ms.
motor when switched off.
Ilms,
the average closing time is about
As is shown in the closing angle displacement curve,
about 2.64m/s, the opening time is 41ms. As is shown in
when the contacts cover the open distance, that is, at
68ms, the curve has a bounce of 3.when converted to
the opening angular displacement curve, at the end of
the 60mm contact open distance, the bounce of contact
the opening, motor has a bounce of less than 4.
is less than 5mm.
Fig.
is
By opening the e can be seen, the motor brake at the
the
current
waveform
of
three-phase winding when switched on,
the
motor
end of a less than 4 rebound, equivalent to the 60mm
contact distance,
the charge
bounce is less than 6mm.
When
voltage being 300V.Fig. 8 is the angular wave form of
converted to the 60mm contact open distance,
motor when switched on. For the impact of environment
bounce of contact is less than 6mm.
noise,
waveform
interference
signals
are
the
relatively
VI.
serIOus.
CONCLUSION
In the control system with TMS320F28335 as its core,
the PWM control of permanent- magnet brushless DC
motor
operating
characteristic
is
mechanism
controlling
is
the
obtained.
power
of
The
motor
operating mechanism directly. By changing the driving
signal duty ratio and rotating speed of the motor, motor
can have a quite high speed at the point of opening and
*Q
100
1;0
'4Q
time-/ms
1050
''
;00
;:;:0
closing, ensuring the circuit breaker's on-and-off speed
;'"
and meeting the demand of extinguishing arc chamber.
At the end of the opening and closing, motor will have a
Fig. 7.
low speed so as to weaken the mechanical collision.
The motor current of opening at Capacitor voltage 300 V
Through the experiment on 126kV circuit breaker, it can
not only reach the average opening and closing speed of
the circuit breaker arc extinguish chamber, but also
weaken the impact to the circuit breaker caused by the
high
on-and-off
speed,
and
improve
the
working
reliability and the ability of intelligent operation.
ACKNOLEDGMENT
o
:II(l
100
120
time/ms
un
1bO
1aO
200
220
240
Supported by Department of Science and Technology
of
Fig. 8.
Liaoning
Program
(2009220012);
supported
by
NSFC(51177104).
The motor angular displacement of opening at Capacitor
voltage 300 V
REFERENCES
The analysis of the opening process is as follows. The
motor winding is energized, and the current of motor
winding rises. After lOms, the motor begins to rotate,
and the motor winding undergoes two commutations.
During the process,
current
reaches
94A.
[I]
Lin Xin, Modern high-voltage electrical technology[M],
Beijing: China Machine Press,2011,pp. 283-299.
[2]
Lin Xin, Xun Jianyuan,Gao Huijun. calculation and analyses
of permanent magnetic actuator dynamic behavior[J].
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[3]
Lin Xin, Gao Guijun, Cai Zhiyuan. Magnetic field
calculation and dynamic behavior analysis of the permanent
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[4]
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operating mechanism for high voltage AC circuit breaker[J].
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[5]
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[6]
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breaker[M]. Beijing: China Machine Press,2002.
[7]
Lin Xin, Wang Xiaoyu, Xu Jianyuan, Wang Deshun.
Research of Seif'adapting Single Neuron PID Control in
Permanent Magnetic Linear Servo Motor Operating
Mechnism of High Voltage Circuit Breaker, Electrical
Engineering,2008(9),pp. 68-73.
[8]
Lin Xin, Li Yongxiang, Xu Jianyuan.
Dynamic
Characteristics Analysis of Linear Motor Actuator for
Driving High Voltage Circuit Breaker[J]. High Voltage
Apparatus,2009, 2(45), pp. 7-10.
the maximum of the winding
When
it
is
34ms,the
motor
winding begins to change phase. In the practical process
of commutation, the existence of motor inductance
causes continued flow, making a phase current undergo
a decline in the commutation. Therefore, there is 3ms
delaying time when the motor changes phases. When
the dead spot of the operating mechanism is opened, the
contact spring begins to release the potential kept in the
closing. On account of the spring's potential, after 41ms
the opening current ,in the tangential direction of the
motor axis, makes the moving of motor faster, increases
EMF, and reduces the current of motor winding. The
motor's rotating speed and EMF can't change suddenly
until the second commutation. After that, motor puts the
moving contact in motion, and motor current begins to
rise. At 90ms, motor completes the opening process.
The current at the later period, which is the stall current
E-mailofauthors:[email protected]
of motor, is 252A.
For the opening process, the average opening speed is
