A cable laying system and reactive power compensation method, device and storage medium thereof

Abstract

The present invention discloses a cable laying system and a reactive power compensation method, device and storage medium thereof. The system includes a power supply device, a cable and a plurality of laying devices for conveying the cable, each laying device includes: a laying device for conveying the cable, the laying device being connected to the power supply device; a reactive power compensation device connected in parallel with the laying device, the reactive power compensation device having a plurality of reactive power compensation gears, and different reactive power compensation gears corresponding to different compensation capacities; a sensor group for detecting the clamping force data of the laying device on the cable, and the current data flowing through the laying device, the clamping force data and the current data being used together to identify the model of the laying device; a control device for switching the reactive power compensation gear of the reactive power compensation device according to the clamping force data and the current data, so as to realize compensation capacity corresponding to compensation of the laying device based on the model of the laying device. The embodiment of the present invention can realize automatic distributed reactive power compensation for laying devices of different models, and the cost is low.

Description

Technical Field

[0001] The present invention relates to the technical field related to cable laying, and in particular to a cable laying system and a reactive power compensation method, device and storage medium thereof. Background Art

[0002] Cable laying equipment generally uses low-power asynchronous motors as power drive components. Its power factor under rated load is generally around 0.7~0.75, and it is even lower under no-load conditions, around 0.2. The widespread use of asynchronous motors in cable laying systems makes its load characteristics inductive. When operating in linkage mode (all laying equipment starts / stops at the same time), some laying equipment may be running at no-load, which will result in a low system power factor. At the same time, during the cable laying process, each laying equipment is distributed along the path, and the distance between the terminal equipment and the head power point is generally more than 600 meters. The low power factor of the laying equipment will lead to a large reactive current of the line and a large line loss. At present, the existing solution is to perform centralized dynamic reactive compensation at the power point to improve the power factor of the system and reduce the loss. However, the selected models and investment quantities of each laying equipment in the cable laying system often vary according to different laying projects or working conditions. If centralized dynamic reactive compensation is used at the power point, the configured reactive capacity will be more graded and the cost investment will be larger. Summary of the invention

[0003] The present invention aims to solve at least one of the technical problems existing in the prior art. To this end, the present invention provides a cable laying system that can realize automatic distributed reactive power compensation for laying equipment of different models at a low cost.

[0004] The present invention also provides a reactive power compensation method, a control device and a computer-readable storage medium for a cable laying system.

[0005] A cable laying system according to a first aspect of the present invention comprises a power supply device, a cable and a plurality of laying devices for conveying the cable, each of the laying devices comprising:

[0006] A laying device, used for conveying the cable, the laying device being connected to the power supply device;

[0007] A reactive power compensation device is connected in parallel with the laying equipment, wherein the reactive power compensation device has a plurality of reactive power compensation gears, and different reactive power compensation gears correspond to different compensation capacities;

[0008] A sensor group, used to detect the clamping force data of the laying equipment on the cable, and the current data flowing through the laying equipment, wherein the clamping force data and the current data are used to protect the cable and the laying equipment, and are also used to identify the model of the laying equipment;

[0009] A control device is respectively connected to the laying equipment, the reactive compensation device and the sensor group, and the control device is used to switch the reactive compensation gear of the reactive compensation device according to the clamping force data and the current data, so as to achieve a compensation capacity corresponding to the compensation of the laying equipment based on the model of the laying equipment.

[0010] The cable laying system according to the embodiment of the present invention has at least the following beneficial effects:

[0011] In the embodiment of the present invention, a reactive power compensation device is first provided for each laying device to realize distributed compensation of the cable laying system. For each laying device, the clamping force data of the laying device on the cable and the current data flowing through the laying device are detected by the sensor group and transmitted to the control device. The control device can identify the model of the laying device according to the clamping force data and the current data, determine the compensation capacity required for the model, and then switch the reactive power compensation device to the corresponding reactive power compensation gear to realize automatic distributed reactive power compensation for laying devices of different models at a low cost.

[0012] According to some embodiments of the present invention, the reactive power compensation device comprises:

[0013] A switching switch unit, comprising a control end, a switching input end and a plurality of switching output ends, wherein the control end is connected to the control device, and the switching input end is connected between the laying device and the power supply device;

[0014] A plurality of capacitor groups are connected to the plurality of switching output terminals in a one-to-one correspondence, and different capacitor groups have different compensation capacities; and the switching switch unit is used to control the access status of each of the capacitor groups.

[0015] According to some embodiments of the present invention, each of the capacitor groups includes three capacitors, and the three capacitors are connected to form a triangle structure in a triangle connection manner, and three vertices of the triangle structure are respectively connected to the switching unit.

[0016] According to some embodiments of the present invention, a main circuit contactor is further provided between the laying equipment and the power supply device, and the reactive power compensation device is connected to the load side of the main circuit contactor.

[0017] According to some embodiments of the present invention, the sensor group comprises:

[0018] A clamping force sensor, used for detecting the clamping force data of the laying equipment on the cable;

[0019] A current sensor is used to detect the current data flowing through the laying equipment.

[0020] A reactive power compensation method for a cable laying system according to a second aspect of the present invention is applied to the cable laying system as described in the first aspect of the present invention, and the method includes:

[0021] acquiring the clamping force data and the current data;

[0022] The reactive compensation gear of the reactive compensation device is switched according to the clamping force data and the current data, so as to achieve a compensation capacity corresponding to the compensation of the laying equipment based on the model of the laying equipment.

[0023] The reactive power compensation method for a cable laying system according to an embodiment of the present invention has at least the following beneficial effects:

[0024] In the embodiment of the present invention, a reactive power compensation device is first provided for each laying device to realize distributed compensation of the cable laying system. For each laying device, the clamping force data of the laying device on the cable and the current data flowing through the laying device are detected by the sensor group and transmitted to the control device. The control device can identify the model of the laying device according to the clamping force data and the current data, determine the compensation capacity required for the model, and then switch the reactive power compensation device to the corresponding reactive power compensation gear to realize automatic distributed reactive power compensation for laying devices of different models at a low cost.

[0025] According to some embodiments of the present invention, switching the reactive compensation gear of the reactive compensation device according to the clamping force data and the current data includes:

[0026] Determining a target model of the laying equipment according to the clamping force data and the current data;

[0027] Determining a target compensation capacity according to the target model;

[0028] Determining a target reactive power compensation gear from the plurality of reactive power compensation gears according to the target compensation capacity;

[0029] The control is switched to the target reactive power compensation gear to compensate the target compensation capacity for the laying equipment.

[0030] According to some embodiments of the present invention, the reactive power compensation device comprises a switching unit and a plurality of capacitor banks, the switching unit having a control end, a switching input end and a plurality of switching output ends, the control end is connected to the control device, the switching input end is connected between the laying device and the power supply device; the plurality of capacitor banks are connected to the plurality of switching output ends in a one-to-one correspondence, and the compensation capacities of different capacitor banks are different; the switching unit is used to control the access status of each of the capacitor banks;

[0031] The control switching to the target reactive power compensation gear comprises:

[0032] Determining a corresponding target capacitor bank according to the target reactive power compensation gear;

[0033] The target capacitor bank is connected by controlling the switching unit.

[0034] The control device according to the third aspect of the present invention comprises a memory, a processor and a computer program stored in the memory and executable on the processor, wherein the processor implements the reactive power compensation method for the cable laying system as described in the second aspect of the present invention when executing the computer program. Since the control device adopts all the technical solutions of the reactive power compensation method for the cable laying system of the above embodiment, it has at least all the beneficial effects brought by the technical solutions of the above embodiment.

[0035] The computer-readable storage medium according to the fourth aspect of the present invention stores computer-executable instructions, and the computer-executable instructions are used to execute the reactive power compensation method for the cable laying system as described in the second aspect of the present invention. Since the computer-readable storage medium adopts all the technical solutions of the reactive power compensation method for the cable laying system of the above embodiment, it at least has all the beneficial effects brought by the technical solutions of the above embodiment.

[0036] Other features and advantages of the present invention will be set forth in the description which follows, and in part will be apparent from the description, or may be learned by practice of the present invention. BRIEF DESCRIPTION OF THE DRAWINGS

[0037] The above and / or additional aspects and advantages of the present invention will become apparent and easily understood from the description of the embodiments in conjunction with the following drawings, in which:

[0038] Figure 1 is a distribution diagram of a cable laying system according to an embodiment of the present invention;

[0039] Figure 2 is a schematic diagram of a laying device according to an embodiment of the present invention;

[0040] Figure 3 is a schematic diagram of the clamping force from a top view according to an embodiment of the present invention;

[0041] Figure 4 is a schematic diagram of the clamping force at a side viewing angle according to an embodiment of the present invention;

[0042] Figure 5 is a curve diagram showing the relationship between the clamping force and the current of different types of laying equipment according to an embodiment of the present invention;

[0043] Figure 6 The present invention is a flowchart of a reactive power compensation method for a cable laying system according to an embodiment of the present invention.

[0044] Reference numerals:

[0045] A power supply device 100;

[0046] Cable 200;

[0047] Laying device 300, laying equipment 310, reactive power compensation device 320, switching switch unit 321, capacitor bank 322, current sensor 330, control device 340, main circuit contactor 350;

[0048] Control box 400. DETAILED DESCRIPTION

[0049] Embodiments of the present invention are described in detail below, examples of which are shown in the accompanying drawings, wherein the same or similar reference numerals throughout represent the same or similar elements or elements having the same or similar functions. The embodiments described below with reference to the accompanying drawings are exemplary and are only used to explain the present invention, and cannot be understood as limiting the present invention.

[0050] In the description of the present invention, if there is a description of first, second, etc., it is only for the purpose of distinguishing technical features, and cannot be understood as indicating or implying relative importance or implicitly indicating the number of the indicated technical features or implicitly indicating the order of the indicated technical features.

[0051] In the description of the present invention, it should be understood that descriptions involving orientation, such as orientation or positional relationship indicated as up, down, etc., are based on the orientation or positional relationship shown in the drawings, and are only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be understood as a limitation on the present invention.

[0052] In the description of the present invention, it should be noted that, unless otherwise clearly defined, terms such as setting, installing, connecting, etc. should be understood in a broad sense, and technicians in the relevant technical field can reasonably determine the specific meanings of the above terms in the present invention in combination with the specific content of the technical solution.

[0053] Cable laying equipment generally uses low-power asynchronous motors as power drive components, and its power factor under rated load is generally around 0.7~0.75, and even lower under no-load conditions, around 0.2. The widespread use of asynchronous motors in cable laying systems makes their load characteristics inductive. When operating in linkage mode (all laying equipment 310 start / stop at the same time), some laying equipment 310 may run no-load, which will result in a low system power factor. At the same time, during the cable laying process, each laying equipment 310 is distributed along the path, and the distance between the terminal equipment and the head power source point is generally more than 600 meters. The low power factor of the laying equipment 310 will result in a large reactive current in the line and a large line loss. At present, the existing solution is to perform centralized dynamic reactive power compensation at the power supply point to improve the power factor of the system and reduce losses. However, the selected models and investment quantities of each laying equipment 310 in the cable laying system often vary according to different laying projects or working conditions. If centralized dynamic reactive power compensation is performed at the power supply point, it will lead to more configured reactive capacity levels and higher cost investment.

[0054] Based on this, an embodiment of the present invention provides a cable laying system that can realize automatic distributed reactive power compensation for laying equipment 310 of different models at a low cost.

[0055] The following will be combined Figures 1 to 6 A clear and complete description is given of the cable laying system of the embodiment of the present invention. Obviously, the embodiment described below is only a part of the embodiments of the present invention, not all of the embodiments.

[0056] According to the first aspect of the embodiment of the present invention, the cable laying system includes a power supply device 100, a cable 200 and a plurality of laying devices 300 for conveying the cable 200, each laying device 300 includes a laying device 310, a reactive power compensation device 320, a sensor group and a control device 340.

[0057] A laying device 310, used for conveying the cable 200, the laying device 310 is connected to the power supply device 100;

[0058] The reactive power compensation device 320 is connected in parallel with the laying equipment 310. The reactive power compensation device 320 has a plurality of reactive power compensation gears, and different reactive power compensation gears correspond to different compensation capacities.

[0059] A sensor group, used to detect the clamping force data of the laying device 310 on the cable 200, and the current data flowing through the laying device 310, the clamping force data and the current data are used to protect the cable 200 and the laying device 310, and are also used to identify the model of the laying device 310;

[0060] The control device 340 is connected to the laying equipment 310, the reactive compensation device 320 and the sensor group respectively. The control device 340 is used to switch the reactive compensation gear of the reactive compensation device 320 according to the clamping force data and the current data, so as to realize the compensation capacity corresponding to the laying equipment 310 based on the model of the laying equipment 310.

[0061] like Figure 1 As shown, multiple laying devices 300 are distributed along the laying path, and two adjacent laying devices 300 are generally spaced 50 meters apart, and the spacing distance can also be set according to actual conditions. In each laying device 300, the reactive compensation device 320, the current sensor 330, the control device 340 and the main circuit contactor 350 are all arranged in the control box 400. Each laying device 300 also includes a power cable reel. The first laying device 310 is powered by the power supply device 100 through the power cable reel-control box 400 to the laying device 310, and is connected to the next laying device 310. The reactive compensation device 320 equipped in the control box 400 of each laying device 310 performs on-site automatic reactive compensation for the laying device 310, forming a distributed compensation of the cable laying system, improving the power factor of the cable laying system, reducing losses, and reducing reactive current in long-distance power supply lines.

[0062] The sensor group includes a clamping force sensor and a current sensor 330. The clamping force sensor is used to detect the clamping force data of the laying device 310 on the cable 200; the current sensor 330 is used to detect the current data flowing through the laying device 310.

[0063] like Figure 3 and Figure 4 As shown, the crawlers on both sides of the laying equipment 310 clamp the cable 200, and the left and right crawlers are driven by the left and right asynchronous motors to convey the cable 200 forward. In this process, the laying equipment 310 exerts a forward conveying force on the cable 200. At the same time, the cable 200 will inevitably be subject to the friction resistance of the crawlers. The cable 200 is at a constant speed, so there is a force balance relationship between the conveying force and the friction resistance, and then:

[0064] ;Formula (1)

[0065] in, For the transmission force, For friction resistance.

[0066] The friction resistance exists in the clamping force on the cable 200 on both sides of the crawler, and then:

[0067] =2u ;Formula (2)

[0068] in, is the friction resistance, u is the friction coefficient, For the clamping force.

[0069] Since the conveying force cannot be measured directly, the conveying force, that is, the output of the laying equipment 310, can be obtained indirectly by measuring the clamping force.

[0070] Depend on Figure 5 It can be seen that the corresponding relationship between the clamping force and the current of the laying equipment 310 of different models is different. Therefore, the model of the laying equipment 310 can be determined by detecting the clamping force data of the laying equipment 310 on the cable 200 and the current data flowing through the laying equipment 310. The laying equipment 310 of different models is controlled by the control device 340 of the same model. In order to make the reactive power compensation device 320 applicable to a variety of laying equipment 310 of different specifications at the same time, the model of the laying equipment 310 is identified by converting the load characteristics of the transmission force (corresponding to the output of the laying equipment 310)-current of the laying equipment 310 into the clamping force-current relationship in the present invention. According to the model of the laying equipment 310, the required compensation capacity can be determined, and then the reactive power compensation device 320 is switched to the corresponding reactive power compensation gear to realize the compensation capacity corresponding to the laying equipment 310 based on the model of the laying equipment 310.

[0071] In the embodiment of the present invention, the inductive reactive power required by the asynchronous motor during operation consists of two parts: one part is the reactive power required by the excitation branch, and the other part is the reactive power required by the load branch. For the asynchronous motor, the reactive power required under different loads is basically the same, that is, the main difference is the reactive power required for excitation. Therefore, in the present invention, only the excitation power is compensated, that is, the compensation capacity is:

[0072] .9 ;Formula (3)

[0073] in, To compensate for capacity, is the no-load current, is the rated voltage.

[0074] When the reactive power compensation device 320 is connected in parallel with the laying equipment 310, the current in the reactive power compensation device 320 will offset most of the inductive current, thereby achieving the purpose of reactive power compensation.

[0075] In the embodiment of the present invention, the laying equipment 310 is mainly divided into three specifications, corresponding to three asynchronous motors with different powers. Each laying equipment 310 includes two left asynchronous motors and right asynchronous motors of the same model. The compensation capacity is calculated according to the preset target compensation power factor of the asynchronous motor, generally according to the compensation to cos =0.95 To calculate, then:

[0076] '=2 ;Formula (4)

[0077] in, ' The compensation capacity required for laying equipment 310, is the rated power of the asynchronous motor corresponding to the laying equipment 310, is the power factor angle before compensation, is the power factor angle after compensation, and Calculated based on the target compensation power factor.

[0078] At the same time, the compensation capacity required for laying equipment 310 should not exceed the reactive power required for the aforementioned excitation, then:

[0079] ' 2 ;Formula (5)

[0080] The rated powers of the asynchronous motors of the three laying equipment 310 are respectively , and , the corresponding required compensation capacity is recorded as '、 ' and ' ,like ,but ' ' ' .

[0081] For example, the three types of laying equipment 310 are equipment 1, equipment 2 and equipment 3, and the required compensation capacity corresponding to equipment 1, equipment 2 and equipment 3 is recorded as '、 ' and ' , '、 ' and 'The corresponding reactive power compensation gears are gear 1, gear 2 and gear 3 respectively.

[0082] In the initial state, the reactive compensation gear of the reactive compensation device 320 is 0 (i.e., no compensation). After the control device 340 obtains the clamping force data and the current data, if the model of the laying equipment 310 is identified as equipment 1, the reactive compensation gear of the reactive compensation device 320 is controlled to be switched to gear 1; if the model of the laying equipment 310 is identified as equipment 2, the reactive compensation gear of the reactive compensation device 320 is controlled to be switched to gear 2; if the model of the laying equipment 310 is identified as equipment 3, the reactive compensation gear of the reactive compensation device 320 is controlled to be switched to gear 3, and so on, so as to realize the compensation capacity corresponding to the compensation of the laying equipment 310 based on the model of the laying equipment 310.

[0083] According to the cable laying system of the embodiment of the present invention, the embodiment of the present invention firstly provides a reactive power compensation device 320 for each laying device 310 to realize the distributed compensation of the cable laying system. For each laying device 310, the clamping force data of the laying device 310 on the cable 200 and the current data flowing through the laying device 310 are detected by the sensor group and transmitted to the control device 340. The control device 340 can identify the model of the laying device 310 according to the clamping force data and the current data, determine the compensation capacity required for the model, and then switch the reactive power compensation device 320 to the corresponding reactive power compensation gear, so as to realize the automatic distributed reactive power compensation for different models of laying devices 310, and the cost is low.

[0084] In some embodiments of the present invention, reference Figure 2 The reactive power compensation device 320 includes a switching unit 321 and a plurality of capacitor groups 322 .

[0085] The switching unit 321 has a control end, a switching input end and a plurality of switching output ends, the control end is connected to the control device 340, and the switching input end is connected between the laying device 310 and the power supply device 100;

[0086] The plurality of capacitor groups 322 are connected to the plurality of switching output terminals in a one-to-one correspondence, and the compensation capacities of different capacitor groups 322 are different; the switching switch unit 321 is used to control the access status of each capacitor group 322 .

[0087] Each capacitor group 322 includes three capacitors, which are connected to form a triangle structure in a triangle connection manner, and the three vertices of the triangle structure are respectively connected to the switching unit 321. Different capacitor groups 322 are configured with three capacitors of different capacitance values ​​to achieve different compensation capacities of different capacitor groups 322. The number of capacitor groups 322 is equal to the number of models and types of the laying equipment 310 of the cable laying system in the embodiment of the present invention.

[0088] In an embodiment of the present invention, there are three capacitor groups 322, and the corresponding switching switch has three reactive power compensation gears. After the control device 340 identifies the model of the corresponding laying equipment 310 according to the clamping force data and the current data, it controls the switching switch to control the switching of the three capacitor groups 322 to achieve the corresponding compensation capacity for the laying equipment 310 based on the model of the laying equipment 310.

[0089] It should be noted that the embodiment of the present invention only uses three capacitor groups 322 as an example for specific description, and the specific number of capacitor groups 322 needs to be determined according to the number of models and types of the laying equipment 310, which cannot be regarded as a limitation of the present invention.

[0090] In a specific embodiment, the three types of laying equipment 310 are equipment 1, equipment 2 and equipment 3, and the required compensation capacity corresponding to equipment 1, equipment 2 and equipment 3 is recorded as '、 ' and ' , '、 ' and ' The corresponding reactive power compensation gears are gear 1, gear 2 and gear 3. The three capacitor groups 322 are respectively recorded as A capacitor group 322, B capacitor group 322 and C capacitor group 322.

[0091] Specifically, when the switch unit 321 is in gear position 1, the capacitor group A 322 is put into use, and the compensation capacity of the device 1 is ' When the switch unit 321 is in position 2, the capacitor group B 322 is put into use, and the compensation capacity of the device 2 is ' When the switch unit 321 is in position 3, the capacitor group C 322 is put into use, and the compensation capacity of the device 3 is ' Only one capacitor bank 322 is put into use at a time, and the switching unit 321 and the A capacitor bank 322, the B capacitor bank 322, and the C capacitor bank 322 form a combination of different compensation capacities and are connected in parallel to the laying equipment 310 side to achieve reactive power compensation of different capacities.

[0092] In some embodiments of the present invention, reference Figure 2 A main circuit contactor 350 is also provided between the laying equipment 310 and the power supply device 100 , and the reactive power compensation device 320 is connected to the load side of the main circuit contactor 350 .

[0093] In order to avoid over-compensation caused by the reactive power compensation device 320 still being connected to the circuit when the asynchronous motor is stopped, the reactive power compensation device 320 is connected to the load side of the main circuit contactor 350 of the laying equipment 310. When the main circuit contactor 350 is closed, the laying equipment 310 is started, and the reactive power compensation device 320 is put into use; when the main circuit contactor 350 is disconnected, the laying equipment 310 is shut down, and the reactive power compensation device 320 is cut off; after the cut off, the capacitor in the reactive power compensation device 320 discharges to the asynchronous motor coil of the laying equipment 310, and the switching unit 321 is reset to gear 0. That is, the reactive power compensation device 320 of the embodiment of the present invention will be put into use when the laying equipment 310 is started, and cut off when it is stopped.

[0094] The following will be combined Figures 1 to 6 A clear and complete description is given of the reactive power compensation method for the cable laying system according to the embodiment of the present invention. Obviously, the embodiment described below is only a part of the embodiments of the present invention, but not all of the embodiments.

[0095] The reactive power compensation method of a cable laying system according to the second aspect of the present invention is applied to the cable laying system of the first aspect of the present invention, and the method includes:

[0096] Obtain clamping force data and current data;

[0097] The reactive compensation gear of the reactive compensation device 320 is switched according to the clamping force data and the current data, so as to compensate the laying equipment 310 for a corresponding compensation capacity based on the model of the laying equipment 310 .

[0098] like Figure 1 As shown, multiple laying devices 300 are distributed along the laying path, and two adjacent laying devices 300 are generally spaced 50 meters apart, and the spacing distance can also be set according to actual conditions. In each laying device 300, the reactive power compensation device 320 and the control device 340 are both arranged in the control box 400, and each laying device 300 also includes a power cable reel. The first laying device 310 is powered by the power supply device 100 through the power cable reel-control box 400 to the laying device 310, and is connected to the next laying device 310. The reactive power compensation device 320 equipped in the control box 400 of each laying device 310 performs on-site automatic reactive power compensation for the laying device 310, forming a distributed compensation of the cable laying system, improving the power factor of the cable laying system, reducing losses, and reducing reactive current in long-distance power supply lines.

[0099] The sensor group includes a clamping force sensor and a current sensor 330. The clamping force sensor is used to detect the clamping force data of the laying device 310 on the cable 200; the current sensor 330 is used to detect the current data flowing through the laying device 310.

[0100] like Figure 3 and Figure 4 As shown, the crawlers on both sides of the laying equipment 310 clamp the cable 200, and the left and right crawlers are driven by the left and right asynchronous motors to convey the cable 200 forward. In this process, the laying equipment 310 exerts a forward conveying force on the cable 200. At the same time, the cable 200 will inevitably be subject to the friction resistance of the crawlers. The cable 200 is at a constant speed, so there is a force balance relationship between the conveying force and the friction resistance, and then:

[0101] ;Formula (1)

[0102] in, For the transmission force, For friction resistance.

[0103] The friction resistance exists in the clamping force on the cable 200 on both sides of the crawler, and then:

[0104] =2u ;Formula (2)

[0105] in, is the friction resistance, u is the friction coefficient, For the clamping force.

[0106] Since the conveying force cannot be measured directly, the conveying force, that is, the output of the laying equipment 310, can be obtained indirectly by measuring the clamping force.

[0107] Depend on Figure 5 It can be seen that the corresponding relationship between the clamping force and the current of the laying equipment 310 of different models is different. Therefore, the model of the laying equipment 310 can be determined by detecting the clamping force data of the laying equipment 310 on the cable 200 and the current data flowing through the laying equipment 310. The laying equipment 310 of different models is controlled by the control device 340 of the same model. In order to make the reactive power compensation device 320 applicable to a variety of laying equipment 310 of different specifications at the same time, the model of the laying equipment 310 is identified by converting the load characteristics of the transmission force (corresponding to the output of the laying equipment 310)-current of the laying equipment 310 into the clamping force-current relationship in the present invention. According to the model of the laying equipment 310, the required compensation capacity can be determined, and then the reactive power compensation device 320 is switched to the corresponding reactive power compensation gear to realize the compensation capacity corresponding to the laying equipment 310 based on the model of the laying equipment 310.

[0108] According to the reactive power compensation method of the cable laying system of the embodiment of the present invention, the embodiment of the present invention firstly sets a reactive power compensation device 320 corresponding to each laying device 310 to realize the distributed compensation of the cable laying system. For each laying device 310, the clamping force data of the laying device 310 on the cable 200 and the current data flowing through the laying device 310 are detected by the sensor group and transmitted to the control device 340. The control device 340 can identify the model of the laying device 310 according to the clamping force data and the current data, determine the compensation capacity required for the model, and then switch the reactive power compensation device 320 to the corresponding reactive power compensation gear, so as to realize the automatic distributed reactive power compensation of the laying devices 310 of different models at low cost.

[0109] In some embodiments of the present invention, reference Figure 2 and Figure 5 , switching the reactive compensation gear of the reactive compensation device 320 according to the clamping force data and the current data, including:

[0110] Determine the target model of the laying equipment 310 according to the clamping force data and the current data;

[0111] Determine the target compensation capacity according to the target model;

[0112] Determining a target reactive power compensation gear from a plurality of reactive power compensation gears according to a target compensation capacity;

[0113] The control is switched to the target reactive power compensation gear to compensate the installation equipment 310 with the target compensation capacity.

[0114] In the embodiment of the present invention, the inductive reactive power required by the asynchronous motor during operation consists of two parts: one part is the reactive power required by the excitation branch, and the other part is the reactive power required by the load branch. For the asynchronous motor, the reactive power required under different loads is basically the same, that is, the main difference is the reactive power required for excitation. Therefore, in the present invention, only the excitation power is compensated, that is, the compensation capacity is:

[0115] .9 ;Formula (3)

[0116] in, To compensate for capacity, is the no-load current, is the rated voltage.

[0117] When the reactive power compensation device 320 is connected in parallel with the laying equipment 310, the current in the reactive power compensation device 320 will offset most of the inductive current, thereby achieving the purpose of reactive power compensation.

[0118] In the embodiment of the present invention, the laying equipment 310 is mainly divided into three specifications, corresponding to three asynchronous motors with different powers. Each laying equipment 310 includes two left asynchronous motors and right asynchronous motors of the same model. The compensation capacity is calculated according to the preset target compensation power factor of the asynchronous motor, generally according to the compensation to cos =0.95 To calculate, then:

[0119] '=2 ;Formula (4)

[0120] in, ' The compensation capacity required for laying equipment 310, is the rated power of the asynchronous motor corresponding to the laying equipment 310, is the power factor angle before compensation, is the power factor angle after compensation, and Calculated based on the target compensation power factor.

[0121] At the same time, the compensation capacity required for laying equipment 310 should not exceed the reactive power required for the aforementioned excitation, then:

[0122] ' 2 ;Formula (5)

[0123] The rated powers of the asynchronous motors of the three laying equipment 310 are respectively , and , the corresponding required compensation capacity is recorded as '、 ' and ' ,like ,but ' ' ' .

[0124] For example, the three types of laying equipment 310 are equipment 1, equipment 2 and equipment 3, and the required compensation capacity corresponding to equipment 1, equipment 2 and equipment 3 is recorded as '、 ' and ' , '、 ' and ' The corresponding reactive power compensation gears are gear 1, gear 2 and gear 3 respectively.

[0125] In the initial state, the reactive compensation gear of the reactive compensation device 320 is 0 (i.e., no compensation). After the control device 340 obtains the clamping force data and the current data, if the model of the laying equipment 310 is identified as equipment 1, the reactive compensation gear of the reactive compensation device 320 is controlled to be switched to gear 1; if the model of the laying equipment 310 is identified as equipment 2, the reactive compensation gear of the reactive compensation device 320 is controlled to be switched to gear 2; if the model of the laying equipment 310 is identified as equipment 3, the reactive compensation gear of the reactive compensation device 320 is controlled to be switched to gear 3, and so on, so as to realize the compensation capacity corresponding to the compensation of the laying equipment 310 based on the model of the laying equipment 310.

[0126] In some embodiments of the present invention, reference Figure 2 and Figure 5 The reactive power compensation device 320 includes a switching switch unit 321 and a plurality of capacitor groups 322. The switching switch unit 321 has a control end, a switching input end and a plurality of switching output ends. The control end is connected to the control device 340, and the switching input end is connected between the laying device 310 and the power supply device 100. The plurality of capacitor groups 322 are connected to the plurality of switching output ends in a one-to-one correspondence, and the compensation capacities of different capacitor groups 322 are different. The switching switch unit 321 is used to control the access status of each capacitor group 322.

[0127] Control switching to the target reactive power compensation gear, including:

[0128] Determine a corresponding target capacitor bank 322 according to the target reactive power compensation gear;

[0129] The target capacitor group 322 is accessed by switching the switch unit 321 .

[0130] Each capacitor group 322 includes three capacitors, which are connected to form a triangle structure in a triangle connection manner, and the three vertices of the triangle structure are respectively connected to the switching unit 321. Different capacitor groups 322 are configured with three capacitors of different capacitance values ​​to achieve different compensation capacities of different capacitor groups 322. The number of capacitor groups 322 is equal to the number of models and types of the laying equipment 310 of the cable laying system in the embodiment of the present invention.

[0131] In an embodiment of the present invention, there are three capacitor groups 322, and the corresponding switching switch has three reactive power compensation gears. After the control device 340 identifies the model of the corresponding laying equipment 310 according to the clamping force data and the current data, it controls the switching switch to control the switching of the three capacitor groups 322 to achieve the corresponding compensation capacity for the laying equipment 310 based on the model of the laying equipment 310.

[0132] It should be noted that the embodiment of the present invention only uses three capacitor groups 322 as an example for specific description, and the specific number of capacitor groups 322 needs to be determined according to the number of models and types of the laying equipment 310, which cannot be regarded as a limitation of the present invention.

[0133] In a specific embodiment, the three types of laying equipment 310 are equipment 1, equipment 2 and equipment 3, and the required compensation capacity corresponding to equipment 1, equipment 2 and equipment 3 is recorded as '、 ' and ' , '、 ' and ' The corresponding reactive power compensation gears are gear 1, gear 2 and gear 3. The three capacitor groups 322 are respectively recorded as A capacitor group 322, B capacitor group 322 and C capacitor group 322.

[0134] Specifically, when the switch unit 321 is in gear position 1, the capacitor group A 322 is put into use, and the compensation capacity of the device 1 is ' When the switch unit 321 is in position 2, the capacitor group B 322 is put into use, and the compensation capacity of the device 2 is ' When the switch unit 321 is in position 3, the capacitor group C 322 is put into use, and the compensation capacity of the device 3 is ' Only one capacitor bank 322 is put into use at a time, and the switching unit 321 and the A capacitor bank 322, the B capacitor bank 322, and the C capacitor bank 322 form a combination of different compensation capacities and are connected in parallel to the laying equipment 310 side to achieve reactive power compensation of different capacities.

[0135] In addition, an embodiment of the present invention further provides a control device 340, which includes: a memory, a processor, and a computer program stored in the memory and executable on the processor. The processor and the memory may be connected via a bus or other means.

[0136] The memory, as a non-transient computer-readable storage medium, can be used to store non-transient software programs and non-transient computer executable programs. In addition, the memory may include a high-speed random access memory, and may also include a non-transient memory, such as at least one disk storage device, a flash memory device, or other non-transient solid-state storage device. In some embodiments, the memory may optionally include a memory remotely disposed relative to the processor, and these remote memories may be connected to the processor via a network. Examples of the above-mentioned network include, but are not limited to, the Internet, an intranet, a local area network, a mobile communication network, and combinations thereof.

[0137] The non-transient software program and instructions required to implement the reactive power compensation method for the cable laying system of the above embodiment are stored in the memory, and when executed by the processor, the reactive power compensation method for the cable laying system of the above embodiment is executed.

[0138] The device embodiments described above are merely illustrative, and the units described as separate components may or may not be physically separated, that is, they may be located in one place or distributed on multiple network units. Some or all of the modules may be selected according to actual needs to achieve the purpose of the solution of this embodiment.

[0139] In addition, an embodiment of the present invention also provides a computer-readable storage medium, which stores computer-executable instructions, and the computer-executable instructions are executed by a processor or a controller, for example, by the above-mentioned processor, so that the above-mentioned processor can execute the reactive power compensation method of the cable laying system in the above-mentioned embodiment.

[0140] It will be appreciated by those skilled in the art that all or some of the steps and systems in the methods disclosed above may be implemented as software, firmware, hardware, and appropriate combinations thereof. Some or all physical components may be implemented as software executed by a processor, such as a central processing unit, a digital signal processor, or a microprocessor, or as hardware, or as an integrated circuit, such as an application-specific integrated circuit. Such software may be distributed on a computer-readable medium, which may include a computer storage medium (or non-transitory medium) and a communication medium (or transient medium). As known to those skilled in the art, the term computer storage medium includes volatile and non-volatile, removable and non-removable media implemented in any method or technology for storing information (such as computer-readable instructions, data structures, program modules, or other data). Computer storage media include, but are not limited to, RAM, ROM, EEPROM, flash memory or other memory technology, CD-ROM, digital versatile disk (DVD) or other optical disk storage, magnetic cassettes, magnetic tapes, disk storage or other magnetic storage devices, or any other medium that can be used to store desired information and can be accessed by a computer. Furthermore, it is well known to those skilled in the art that communication media typically embodies computer readable instructions, data structures, program modules, or other data in a modulated data signal such as a carrier wave or other transport mechanism, and may include any information delivery media.

[0141] The embodiments of the present invention are described in detail above in conjunction with the accompanying drawings, but the present invention is not limited to the above embodiments, and various changes can be made within the knowledge scope of ordinary technicians in the relevant technical field without departing from the purpose of the present invention.

Claims

1. A cable laying system, characterized in that: The invention comprises a power supply device, a cable and a plurality of laying devices for conveying the cable, each of the laying devices comprising: A laying device, used for conveying the cable, the laying device being connected to the power supply device; A reactive power compensation device is connected in parallel with the laying equipment, wherein the reactive power compensation device has a plurality of reactive power compensation gears, and different reactive power compensation gears correspond to different compensation capacities; A sensor group, used to detect the clamping force data of the laying equipment on the cable, and the current data flowing through the laying equipment, wherein the clamping force data and the current data are used to protect the cable and the laying equipment, and are also used to identify the model of the laying equipment; A control device is respectively connected to the laying equipment, the reactive power compensation device and the sensor group, and is used to determine a target model of the laying equipment according to the clamping force data and the current data, determine a target compensation capacity according to the target model, determine a target reactive power compensation gear from a plurality of reactive power compensation gears according to the target compensation capacity, and control switching to the target reactive power compensation gear to compensate the laying equipment for the target compensation capacity.

2. The cable laying system according to claim 1, characterized in that: The reactive power compensation device comprises: A switching switch unit, comprising a control end, a switching input end and a plurality of switching output ends, wherein the control end is connected to the control device, and the switching input end is connected between the laying device and the power supply device; A plurality of capacitor groups are connected to the plurality of switching output terminals in a one-to-one correspondence, and different capacitor groups have different compensation capacities; and the switching switch unit is used to control the access status of each of the capacitor groups.

3. The cable laying system according to claim 2, characterized in that: Each of the capacitor groups includes three capacitors, and the three capacitors are connected to form a triangle structure in a triangle connection manner, and the three vertices of the triangle structure are respectively connected to the switching unit.

4. The cable laying system according to claim 1, characterized in that: A main circuit contactor is also provided between the laying equipment and the power supply device, and the reactive power compensation device is connected to the load side of the main circuit contactor.

5. The cable laying system according to claim 1, characterized in that: The sensor group includes: A clamping force sensor, used for detecting the clamping force data of the laying equipment on the cable; A current sensor is used to detect the current data flowing through the laying equipment.

6. A reactive power compensation method for a cable laying system, characterized in that: Applied to the cable laying system as claimed in any one of claims 1 to 5, the method comprises: acquiring the clamping force data and the current data; Determining a target model of the laying equipment according to the clamping force data and the current data; Determining a target compensation capacity according to the target model; Determining a target reactive power compensation gear from the plurality of reactive power compensation gears according to the target compensation capacity; The control is switched to the target reactive power compensation gear to compensate the target compensation capacity for the laying equipment.

7. The reactive power compensation method for a cable laying system according to claim 6, characterized in that: The reactive power compensation device comprises a switching switch unit and a plurality of capacitor banks, wherein the switching switch unit has a control end, a switching input end and a plurality of switching output ends, wherein the control end is connected to the control device, and the switching input end is connected between the laying equipment and the power supply device; the plurality of capacitor banks are connected to the plurality of switching output ends in a one-to-one correspondence, and the compensation capacities of different capacitor banks are different; The switching unit is used to control the access status of each capacitor bank; The control switching to the target reactive power compensation gear comprises: Determining a corresponding target capacitor group according to the target reactive power compensation gear; The target capacitor bank is connected by controlling the switching unit.

8. A control device comprising a memory, a processor and a computer program stored in the memory and executable on the processor, characterized in that: When the processor executes the computer program, the reactive power compensation method for the cable laying system according to claim 6 or 7 is implemented.

9. A computer-readable storage medium storing computer-executable instructions, characterized in that: The computer executable instructions are used to execute the reactive power compensation method for a cable laying system as claimed in claim 6 or 7.

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