Six-degree-of-freedom conductor galloping monitoring method, system and device

A technology of wire dancing and degree of freedom, applied in the field of data processing, can solve the problems of large amount of calculation, low precision, and susceptibility to electromagnetic interference in image processing, and achieve the effect of improving monitoring accuracy and broadening the use scene

Pending Publication Date: 2022-03-11
BEIJING GUOWANG FUDA SCI & TECH DEV
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0005] Acceleration information three-degree-of-freedom algorithm: The three-degree-of-freedom algorithm mainly uses acceleration to perform secondary integration to obtain displacement and velocity. The measured value of the accelerometer is expressed in the carrier coordinate system, so the data obtained by integration cannot be converted to inertial coordinates system, so the application scenarios are limited and can only be used in limited wire galloping scenarios
In addition, if the wire is accompanied by twisting during galloping, the three-freedom algorithm will not work
[0006] Use image monitoring algorithm: the cost of image equipment is high, and the amount of calculation of image processing is relatively large. There are certain requirements for the installation position and orientation of monitoring equipment, and it cannot be used normally in some rainy, snowy and foggy weather.
[0007] GPS monitoring: GPS can directly observe the speed and position of the carrier, but the accuracy is relatively low, and it is susceptible to electromagnetic interference. At the same time, the power consumption of the GPS module is high, and the battery-powered battery life is short, so the battery must be replaced more frequently. Increased maintenance costs, or consider sustainable power supply solutions for equipment, such as solar power, etc.

Method used

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  • Six-degree-of-freedom conductor galloping monitoring method, system and device

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Embodiment 1

[0067] Such as figure 1 As shown, the present invention discloses a six-degree-of-freedom wire galloping monitoring method, the method comprising:

[0068] Step S1: using an inertial sensor to obtain raw data; the raw data is the acceleration and angular velocity in the carrier coordinate system;

[0069] Step S2: using the fast Fourier transform method to determine the wire galloping frequency and the wire galloping period according to the angular velocity;

[0070] Step S3: Using the quaternion method, determine the carrier displacement group corresponding to the i-th dancing cycle according to the original data and the initial attitude quaternion; the carrier displacement group includes n carrier displacements at different times;

[0071] Step S4: Determine whether i is less than or equal to N; if i is less than or equal to N, set i=i+1, use the updated attitude quaternion as the initial attitude quaternion of the i-th dance cycle, and return " Step S3"; if i is greater t...

Embodiment 2

[0117] Such as figure 2 As shown, the present invention also provides a six-degree-of-freedom wire galloping monitoring system, the system comprising:

[0118] The acquiring module 201 is configured to acquire raw data; the raw data is acceleration and angular velocity in the carrier coordinate system.

[0119] The parameter determination module 202 is configured to determine the wire galloping frequency and the wire galloping period according to the angular velocity by using a fast Fourier transform method.

[0120] The carrier displacement group determination module 203 is used to determine the carrier displacement group corresponding to the i-th dancing cycle according to the original data and the initial posture quaternion by using the quaternion method; the carrier displacement group includes n carrier displacements at different times.

[0121] Judgment module 204, is used for judging whether i is less than or equal to N; If i is less than or equal to N, then make i=i+1...

Embodiment 3

[0133] The invention discloses a wire galloping monitoring device with six degrees of freedom. The device includes a microprocessor MCU (Microcontroller Unit), an inertial sensor (IMU) and a housing 2. The microprocessor is connected to the inertial sensor, and the inertial sensor collects The acceleration and angular velocity in the carrier coordinate system are sent to the microprocessor, so that the microprocessor uses the method in Embodiment 1 to calculate the wire galloping frequency and wire galloping amplitude.

[0134] Such as image 3 As shown, Y0 is the cross section of the wire 1, the inertial sensor (not shown in the figure) and the microprocessor 3 are installed inside the housing 2, and the housing 2 is rigidly connected to the wire 1.

[0135] The MCU processes the acceleration and angular velocity collected by the inertial sensor. Because the IMU can only measure the acceleration and angular velocity of the carrier coordinate system, and the final focus is on...

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Abstract

The invention discloses a six-degree-of-freedom conductor galloping monitoring method, system and device. The method comprises the following steps: firstly, determining a conductor galloping frequency and a conductor galloping period according to an angular velocity by adopting a fast Fourier transform method; and then, a quaternion method is adopted, carrier displacement groups corresponding to the N galloping periods are determined according to the original data and the initial attitude quaternion, and finally, the conductor galloping amplitude is calculated according to the carrier displacement groups in the N galloping periods. The scheme disclosed by the invention not only can widen the application scene of conductor galloping monitoring, but also can improve the monitoring precision.

Description

technical field [0001] The invention relates to the technical field of data processing, in particular to a six-degree-of-freedom wire galloping monitoring method, system and device. Background technique [0002] After the eccentric icing occurs on the wires of overhead transmission lines, when the wind blows on the wires with non-circular cross-section due to the icing, a certain amount of aerodynamic force will be generated, which will induce a low frequency (about 0.1-3Hz) in the wires. 1. The self-excited oscillation with large amplitude, because of its shape of flying up and down, looks like a dragon dance, which is called dancing. [0003] While my country's power grid is developing rapidly with the growth of the national economy, it is also frequently harassed by meteorological disasters. Ice galloping of overhead conductors is a form of disaster with high frequency, wide range of influence and great loss. [0004] At present, the current wire galloping monitoring me...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G01H17/00G01P15/02G06F17/14G06F17/16
CPCG01H17/00G01P15/02G06F17/142G06F17/16
Inventor 赵爽赵睿郑鹏超周翩庞洪亮田宇晟蔡光柱张逸娲赵建豪于洪亮王威杨振马俊朋曹向勇贺晓宇高安洁尹磊刘梦柳
Owner BEIJING GUOWANG FUDA SCI & TECH DEV
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