Wang Yifei, Xu Jianyuan, Li Wei, Liu Jinming
School of Electrical Engineering, Shenyang University of Technology, Shenyang, 110870, China.
School of Electrical Engineering, Liaoning Mechanical & Electrical College of Technology, Dandong, 118009, China.
Sci Rep. 2025 May 16;15(1):17039. doi: 10.1038/s41598-025-01859-6.
To mitigate the effects of motor load torque variations on the control performance of a 126 kV high voltage vacuum circuit breaker equipped with a motor driven operating mechanism, this paper presents the derivation of dynamic equations for the motor load torque. These equations, formulated using the Euler-Lagrange equation, Lagrange multipliers, and geometric constraints, are expressed in terms of a single independent variable: the angular displacement of the motor. Utilizing these equations, the load torque can be calculated in real-time using the motor position sensor feedback, and the motor control strategy is optimized through a feedforward method designed to actively compensate for load disturbances. Subsequently, an angular displacement trajectory has been designed to serve as a positional reference for the motor control, with the aim of enhancing the operational reliability of the operating mechanism. Furthermore, comparative control experiments have been conducted in the motor-breaker integrated experimental platform to assess the reduction in the motor's position tracking error, contact bouncing duration, and mechanical collision duration under the optimized motor control strategy. The obtained experimental results reveal the efficacy of the load torque dynamic equations established and their contribution to enhancing control accuracy and improving the operational reliability of the operating mechanism.
为减轻电机负载转矩变化对配备电机驱动操作机构的126 kV高压真空断路器控制性能的影响，本文推导了电机负载转矩的动力学方程。这些方程采用欧拉-拉格朗日方程、拉格朗日乘子和几何约束来构建，以单个自变量（电机的角位移）表示。利用这些方程，可通过电机位置传感器反馈实时计算负载转矩，并通过旨在主动补偿负载干扰的前馈方法优化电机控制策略。随后，设计了角位移轨迹作为电机控制的位置参考，以提高操作机构的运行可靠性。此外，在电机-断路器一体化实验平台上进行了对比控制实验，以评估优化后的电机控制策略下电机位置跟踪误差、触头弹跳持续时间和机械碰撞持续时间的减少情况。获得的实验结果揭示了所建立的负载转矩动力学方程的有效性及其对提高控制精度和改善操作机构运行可靠性的贡献。
