| At present,the high-voltage circuit breaker electric handcart generally adopts the opening and closing state of the auxiliary switch or a single sensor to monitor its movement state.However,the environment in the high-voltage switchgear is more complicated.High temperature and strong electromagnetic interference often cause the monitoring equipment of the handcart to be unstable or even fail.Therefore,the circuit breaker equipment failure caused by the unclear movement position of the handcart is very common,and the operation process is intelligent Not high,low security and other issues.In response to the above problems,this article uses multi-source information fusion technology and modern control theory to carry out research on the control system of high-voltage circuit breaker electric handcarts,and on this basis,designs a set of state recognition,control strategies,protection,and communication.Electric handcart control system.In this paper,the ultrasonic travel signal,video image signal,and auxiliary switch signal are selected as the motion monitoring volume of the electric handcart,and the status image of the handcart is analyzed by the difference value hash algorithm.Since the accuracy of each sensor for the target to be identified is affected by the degree of interference from the environment,the credibility of the evidence provided is different,so the DS evidence fusion algorithm based on credibility is introduced,and the probability is assigned to each sensor to construct the sensor ——Handcart position recognition credibility matrix,remove obvious abnormal error data before data fusion,after re-assigning probability and evidence reasoning,realize the multi-dimensional fusion of electric handcart motion monitoring,and the fusion result is used for electric handcart Drive control.According to the results of DS evidence fusion,a predictive controller based on the explicit model prediction(e MPC)algorithm is designed.This method only needs a simple query process and a linear function calculation process to realize the permanent magnet synchronous motor of the electric handcart Compared with the traditional MPC algorithm,the drive control with more accurate and stable speed has significantly improved calculation efficiency and is more suitable for integration in hardware systems.According to the system control target and predictive model,the cost function expression including the motor current,control increment and other variables is given,and then the predictive control model including the current and control increment state is established,and the motor current and control increment are observed,and Compensate in advance when predicting the response of the motor speed to improve the dynamic response capability of the speed when the current and the control increment are fluctuating.Subsequently,based on the above theory,the software and hardware of the electric handcart control system are designed.Finally,an experimental platform was built to test the multi-source fusion of the motion monitoring of the control system and the motion control of the handcart.Experimental data shows that the electric handcart control system method improves the fault tolerance of the electric handcart monitoring system,can realize the accurate judgment of the position of the handcart and the precise control of its motor,and can realize the handcart in the complex switch cabinet environment.Automatic speed regulation,emergency braking treatment,etc.,improve the reliability of the existing electric handcart remote operation technology,reduce the workload of on-site operation,improve the efficiency of operation and maintenance,and improve safety,which have practical application value. |
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