A cooperative lifting control method for hoisting a bus duct of a substation

Abstract

The application relates to a cooperative lifting control method for hoisting a transformer substation pipe bus. Firstly, a three-stage reduction gearbox transmission structure and a three-phase asynchronous motor constant voltage frequency ratio speed regulation are modeled, and a second-order kinematics model of a winch is obtained; then, the winch cluster is regarded as a follower of a multi-agent system, a central control panel is regarded as a virtual leader of the multi-agent system, a navigation and following error and a neighborhood tracking error are defined according to a rope winding length and a rope winding speed of a frequency conversion winch node, and a distributed controller is designed for the winch cluster multi-agent system, so that the state following consistency of the virtual leader is realized by controlling multiple winches.

Description

Technical Field

[0001] This invention relates to the field of substation suspended tubular busbar construction, and more particularly to a collaborative lifting control method for substation tubular busbar hoisting. Background Technology

[0002] With rapid economic development and increasing electricity demand, the number of substations is growing, and busbars, as a crucial component of substation projects, are being used more and more widely. During substation construction, busbars, 40-60m long, need to be lifted from the ground to a certain height. Currently, the hoisting process mainly relies on manual observation of the busbar's condition and manual adjustment of the winch speed to ensure synchronous lifting. This method makes it difficult to guarantee balanced stress at each lifting point and can easily cause a skin effect at the weld seams, affecting its conductivity.

[0003] In the construction of the duct busbar hoisting, Ma Zhen et al. explored the construction scheme of the suspended duct busbar in the 330kV substation, analyzed the duct busbar parameters, pre-arching treatment, and improved hoisting procedures; Zhang Xiaobing et al. used a combination of winch and crane to hoist the suspended duct busbar in the 500kV Huangping substation. However, these construction schemes still have some shortcomings: (1) the accuracy of manual observation of the horizontal state of the duct busbar from the ground is poor due to the influence of height and angle; (2) it is impossible to sense the tension borne by each hoisting point, and the long length of the duct busbar leads to uneven stress between the hoisting points, causing bending. In summary, there is currently no synergistic lifting control method that can both ensure the quality of duct busbar hoisting and improve the efficiency of duct busbar hoisting. Summary of the Invention

[0004] The purpose of this invention is to provide a collaborative lifting control method for substation busbar hoisting, so as to overcome the existing defects in existing busbar hoisting construction.

[0005] To achieve the above objectives, the technical solution of this invention is: a collaborative lifting control method for substation busbar hoisting, providing a complete system consisting of 8 variable frequency winches, wire ropes, and a busbar; establishing a second-order kinematic model of the winches by combining a gearbox transmission model and a three-phase asynchronous motor constant voltage-frequency ratio speed regulation model; considering the winch cluster and the central control panel as followers and virtual leaders of a multi-agent system, respectively; designing a distributed controller for the multi-agent system, and deriving the controller parameter conditions that enable the multi-agent system to achieve state consistency based on the complex coefficient polynomial Herwitz stability condition; under the action of the distributed controller, multiple winches achieve state following consistency with the virtual leader, thereby achieving the purpose of synchronous horizontal lifting of the busbar.

[0006] In one embodiment of the present invention, the transmission model of the gearbox is as follows:

[0007]

[0008] In the formula, J, C and T m These are the moment of inertia, coefficient of viscous friction, and motive torque equivalent to a third-stage gear, T. l Represents the load torque, ω and Indicates the gearbox output speed and its derivative; T m =T e ((Z2Z4) / (Z1Z3)), T e The electromagnetic torque is J = J3 + J2(Z2 / Z1). 2 +J1((Z2Z4) / (Z1Z3)) 2 C = C3 + C2(Z2 / Z1) 2 +C1((Z2Z4) / (Z1Z3)) 2 Z1, Z2, Z3 and Z4 represent the number of teeth of the four gears in the gearbox, and their viscous friction coefficients and moments of inertia are C1, J1, C2, J2 and C3, J3, respectively.

[0009] In one embodiment of the present invention, the constant voltage-frequency ratio speed regulation model of the three-phase asynchronous motor is as follows:

[0010]

[0011] In the formula, T e T is the electromagnetic torque; p is the number of pole pairs of the motor, U1 is the stator phase voltage of the motor, ω1 is the motor power supply angular frequency, r2 is the stator resistance per phase, and s is the motor slip. When the asynchronous motor adopts constant voltage-frequency ratio control, U1 / ω1 is a constant value, and the electromagnetic torque T is changed by changing the motor power supply angular frequency ω1. e , where ω1=2πf, f is the frequency of the AC power supply for the asynchronous machine.

[0012] In one embodiment of the present invention, the electromagnetic torque of the three-phase asynchronous motor, after equivalent transformation, becomes the driving torque of the third-stage gear of the gearbox. The second-order kinematic model of the winch is written as:

[0013]

[0014] Where i = 1, 2…8 represents the number of the winch; x i =[v i l i ] T v i l i These represent the speed state and the rope length state of the winch, respectively; g i (x i ) represents a linear term related to the state; u i h iThe inputs and perturbations are for the model.

[0015] In one embodiment of the present invention, the model of the virtual navigator is as follows:

[0016]

[0017] Where l0, v0, and a0 represent the displacement, velocity, and acceleration of the virtual navigator, respectively.

[0018] In one embodiment of the present invention, the distributed controller designed for a multi-agent system, with the control input u of the winch node as follows:

[0019] u=-α(L+B)δ l -β(L+B)δ v -g(x)+1a0

[0020] In the formula, α and β are the controller gains; δ l =l-1l0 and δv=v-1v0 represent the navigation and following errors of the eight winch nodes, 1 represents a column vector with all elements being 1, and l=[l1,l2,…,l8] T This represents the winding length of the winch rope, v = [v1, v2, ..., v8]. T Let g(x) represent the speed of the winch, where g(x) = [g1(x1), g2(x2), ..., g8(x8)]. T Let x represent the linear terms of the model, where x = [x1 x2 … x8]. T Laplace and traction matrices corresponding to the communication topologies of L and B multi-agent networks.

[0021] In one embodiment of the present invention, the controller gain is:

[0022]

[0023] In the formula, λ i Let be the i-th eigenvalue of L+B, and Im{λ} i}、Re{λ i} represents the imaginary and real parts of the eigenvalue.

[0024] Compared with the prior art, the present invention has the following beneficial effects:

[0025] 1. The provided second-order kinematic model of the winch establishes a physical model of the winch's motion mechanism, provides an accurate dynamic description, and has a relatively clear physical meaning;

[0026] 2. Based on multi-agent technology, multiple winch nodes communicate with each other and cooperate to achieve horizontal hoisting of the main pipe, which has the advantages of high decision-making efficiency and fast response speed;

[0027] 3. This method designs a distributed controller based on a multi-agent system. Through precise calculation and control of the navigator following error and the neighborhood tracking error, it can achieve fast and accurate tracking of the virtual navigator.

[0028] 4. Stability conditions for controller parameters α and β are provided. These can be intuitively used to adjust the controller parameters, keeping the system stable and adapting to different operating conditions, thus reducing the complexity of system debugging and optimization. Attached Figure Description

[0029] Figure 1 This is a structural diagram of the pipe-bus collaborative lifting control method in an embodiment of the present invention;

[0030] Figure 2 This is a structural diagram of the pipe bus lifting coordinated control system in an embodiment of the present invention;

[0031] Figure 3 This is a structural diagram of a three-stage reduction gear in an embodiment of the present invention;

[0032] Figure 4 This is a communication topology diagram of the multi-agent system in an embodiment of the present invention;

[0033] Figure 5-6 This is a simulation diagram of the consistency between navigation and following in an embodiment of the present invention; Figure 5 For the rope length response at 8 winch nodes, Figure 6 This refers to the speed response of the winch node. Detailed Implementation

[0034] The technical solution of the present invention will now be described in detail with reference to the accompanying drawings.

[0035] Please refer to Figure 1 This invention provides a collaborative lifting control method for substation mainframe hoisting. Based on the three-stage reduction gearbox transmission structure and the constant voltage-frequency ratio speed regulation model of a three-phase asynchronous motor, a second-order kinematic model of the winch is obtained. The winch cluster is considered as a follower in a multi-agent system, and the central control panel is considered as a virtual navigator in the same system. A distributed controller is designed to control the winch cluster to follow the navigator's state, enabling the mainframe to be lifted horizontally. Specifically, the method includes the following steps:

[0036] Step 2, as follows Figure 3 The winch's gearbox is a three-stage gear reduction structure. Taking the third-stage gear as the object, a power model of the output end of the three-stage gearbox, i.e., the gearbox transmission model, is established:

[0037]

[0038] In the formula, J, C and T mThese are the moment of inertia, coefficient of viscous friction, and motive torque equivalent to a third-stage gear, T. l Represents the load torque, ω and Indicates the gearbox output speed and its derivative; T m =T e ((Z2Z4) / (Z1Z3)), T e The electromagnetic torque is J = J3 + J2(Z2 / Z1). 2 +J1((Z2Z4) / (Z1Z3)) 2 C = C3 + C2(Z2 / Z1) 2 +C1((Z2Z4) / (Z1Z3)) 2 Z1, Z2, Z3 and Z4 represent the number of teeth of the four gears in the gearbox, and their viscous friction coefficients and moments of inertia are C1, J1, C2, J2 and C3, J3, respectively.

[0039] Step 3: The three-phase asynchronous motor of the winch adopts constant voltage-frequency ratio speed regulation control, and its speed regulation model can be known as follows:

[0040]

[0041] In the formula, T e Where T is the electromagnetic torque; p is the number of pole pairs of the motor; U1 is the stator phase voltage of the motor; ω1 is the motor power supply angular frequency; r2 is the stator resistance per phase; and s is the motor slip. When an asynchronous motor uses constant voltage-frequency ratio control, U1 / ω1 is a constant value, and the electromagnetic torque T can be changed by changing the motor power supply angular frequency ω1. e , where ω1=2πf, f is the frequency of the AC power supply for the asynchronous machine.

[0042] Step 4: By combining the three-stage reduction gearbox transmission structure and the constant voltage-frequency ratio speed regulation model of the three-phase asynchronous motor, and considering the spatial attitude of the tube nut, the second-order kinematic model of the winch is obtained:

[0043]

[0044] In the formula, i = 1, 2…8 represents the number of the winch; x i =[v i l i ] T v i l i These represent the speed state and the rope length state of the winch, respectively; g i (x i ) represents a linear term related to the state; u i h i The inputs and perturbations are for the model.

[0045] Step 5: Treating the winch cluster as a follower in a multi-agent system and the central control tablet as a virtual navigator in the same system, a second-order navigator-follower multi-agent system is obtained. The virtual navigator model is as follows:

[0046]

[0047] In the formula, l0, v0, and a0 represent the displacement, velocity, and acceleration of the navigator, respectively.

[0048] Step 6: Based on the speed and rope length of the winch, define the navigation and following error and the neighborhood tracking error of the winch node:

[0049]

[0050] In the formula, l = [l1, l2, ..., l8] T This represents the winding length of the winch rope, v = [v1, v2, ..., v8]. T Indicates the speed of the winch; δ l =[δ l1 ,δ l2 ,…,δ l8 ] T The navigation and following error, δ, represents the length of the retrieval rope. v =[δ v1 ,δ v2 ,…,δ v8 ] T The navigation and following error represents the speed; e l =[e l1 e l2 …e l8 ] T e represents the neighborhood tracking error of the rope length. v =[e v1 e v2 …e v8 ] T The neighborhood tracking error represents the length of the retrieved rope; the Laplace matrix and traction matrix corresponding to the L and B multi-agent network communication topologies.

[0051] Furthermore, based on the pilot-following error and the neighborhood tracking error, the distributed controller matrix expression is designed as follows:

[0052] u=-α(L+B)δ l -β(L+B)δ v -g(x)+1a0

[0053] In the formula, α and β are the controller gains.

[0054] Step 7: Give the complex coefficient polynomial f(s) = s 2The Herwitz stability condition for +(a+jb)s+c+jd is: a>0 and abd+a 2 cd 2 Since >0, the controller gain condition for stabilizing the following error system is:

[0055]

[0056] In the formula, λ i Let be the i-th eigenvalue of matrix L+B.

[0057] Step 8, as follows Figure 4 The communication topology of the winch node is designed as an undirected graph with a chain structure, and the virtual navigator transmits state information to winch node 1.

[0058] Step 9: Divide the pipe lifting process into three stages: acceleration, constant speed, and deceleration. Set different initial position and initial speed states for the eight winch nodes. Figure 5 For the rope length response at 8 winch nodes, Figure 6 For the speed response of the winch node. Even if the initial value of the winch node is v i l i Each has its own characteristics. Under the action of the distributed controller, the winch node can follow the virtual pilot state, that is, realize the horizontal improvement of the main unit.

[0059] The above are preferred embodiments of the present invention. Any changes made to the technical solution of the present invention that do not exceed the scope of the technical solution of the present invention shall fall within the protection scope of the present invention.

Claims

1. A coordinated lifting control method for substation ballast hoisting, providing a complete system consisting of 8 variable frequency winches, wire ropes, and ballast, characterized in that, A second-order kinematic model of the winch is established by combining the transmission model of the gearbox and the constant voltage-frequency ratio speed regulation model of the three-phase asynchronous motor; the winch cluster and the central control panel are respectively regarded as the follower and virtual navigator of the multi-agent system. A distributed controller is designed for a multi-agent system, and the controller parameter conditions that enable the multi-agent system to achieve state consistency are derived based on the complex coefficient polynomial Helvetics stability condition. Under the action of the distributed controller, multiple winches achieve state following consistency with the virtual navigator, thereby achieving the goal of synchronous improvement of the main control level. The transmission model of the gearbox is as follows: In the formula, J, C and T m These are the moment of inertia, coefficient of viscous friction, and motive torque equivalent to a third-stage gear, T. l Represents the load torque, ω and Indicates the gearbox output speed and its derivative; T m =T e ((Z2Z4) / (Z1Z3)), T e For electromagnetic torque; J = J3 + J2 (Z2 / Z1) 2 +J1 ((Z2Z4) / (Z1Z3)) 2 C = C3 + C2 (Z2 / Z1) 2 +C1 ((Z2Z4) / (Z1Z3)) 2 Z1, Z2, Z3 and Z4 represent the number of teeth of the four gears of the gearbox, and the viscous friction coefficients and moments of inertia of the four gears of the gearbox are C1, J1, C2, J2 and C3, J3 respectively. The constant voltage-frequency ratio speed regulation model for the three-phase asynchronous motor is as follows: In the formula, T e T is the electromagnetic torque; p is the number of pole pairs of the motor, U1 is the stator phase voltage of the motor, ω1 is the motor power supply angular frequency, r2 is the stator resistance per phase, and s is the motor slip. When the asynchronous motor adopts constant voltage-frequency ratio control, U1 / ω1 is a constant value, and the electromagnetic torque T is changed by changing the motor power supply angular frequency ω1. e Where ω1 = 2πf, f is the frequency of the AC power supply for the asynchronous machine; The electromagnetic torque of a three-phase asynchronous motor, after equivalent transformation, becomes the driving torque of the third-stage gear in a gearbox. The second-order kinematic model of the winch is written as: Where i = 1, 2… 8 represents the number of the winch; x i =[v i l i ] T v i l i These represent the speed state and rope length state of the winch, respectively; g i (x i ) represents a linear term related to the state, u i h i The input and perturbation of the model; The distributed controller designed for a multi-agent system, with the control input u of the winch node as follows: In the formula, α and β are the controller gains; δ l =l-1l0 and δv=v-1v0 represent the navigation and following errors of the eight winch nodes, 1 represents a column vector with all elements equal to 1, and l=[l1,l2,…,l8] T This represents the winding length of the winch rope, v = [v1, v2, ..., v8]. T This represents the speed of the winch, where i = 1, 2, ..., 8 are the winch numbers, and g(x) = [g1(x1), g2(x2), ..., g8(x8)]. T Let x represent the linear terms of the model, where x = [x1 x2 … x8]. T Laplace and traction matrices corresponding to the communication topologies of L and B multi-agent networks.

2. The collaborative lifting control method for substation mainframe hoisting according to claim 1, characterized in that, The model for the virtual navigator is: Where l0, v0, and a0 represent the displacement, velocity, and acceleration of the virtual navigator, respectively.

3. The collaborative lifting control method for substation mainframe hoisting according to claim 1, characterized in that, The controller gain is: In the formula, λ i Let be the i-th eigenvalue of L+B, and Im{λ} i }、Re{λ i } represents the imaginary and real parts of the eigenvalue.

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