Active power transmission line anti-galloping method and system

Abstract

The invention discloses an active power transmission line anti-galloping method and system, belongs to the technical field of power transmission line anti-galloping, and is used for solving the problems that most existing line anti-galloping modes are passive protection, the relevance between the existing line anti-galloping modes and a galloping monitoring device is poor, the galloping situation cannot be actively adjusted in time, and the anti-galloping effect is poor. And the circuit anti-galloping has hysteresis. The method comprises the steps of establishing an aerodynamic model of power transmission line galloping based on a longitudinal additional damping coefficient; determining a target damping coefficient according to real-time galloping information of the power transmission line and the aerodynamic model; and outputting a corresponding damping control signal according to the target damping coefficient so as to control an active damping anti-galloping device to carry out anti-galloping control on the power transmission line. Through establishment of a mathematical model and qualitative and quantitative analysis, the galloping amplitude of the power transmission line is more effectively inhibited, and the safety of the power transmission line is improved.

Description

Technical Field

[0001] The present invention relates to the technical field of power transmission line anti-galloping technology, and in particular to an active power transmission line anti-galloping method and system. Background Art

[0002] The current demand for power grid construction is developing rapidly, and the impact of power failures on economic production is becoming more and more serious, and the stability requirements for power transmission systems are becoming higher and higher. In the power transmission system, overhead transmission lines account for a large proportion, and line dancing is the main cause of line failures. In the existing power transmission lines, overhead line dancing occurs frequently, and the impact range of line dancing is large, the duration is long, and the destructiveness is great. It is easy to cause mechanical fatigue, wear, and burns on the conductors, which in turn causes line tripping, line breaking, and even damage to hardware, insulators or towers, causing immeasurable direct or indirect economic losses.

[0003] The existing line anti-dancing measures mainly involve the installation of anti-dancing hardware. Currently, the commonly used anti-dancing hardware mainly includes: ① weight anti-dancing device, ② detuned pendulum, ③ phase spacer, ④ wire clamp rotary spacer. These devices can reduce the dancing intensity of the line to a certain extent, but they cannot carry out targeted and real-time control and adjustment of the lines with stronger dancing. Moreover, these devices are not related to the sensors such as dancing detection in the transmission line. As a result, sometimes manual intervention is still required after the dancing signal is observed, and the line dancing situation cannot be handled in time. Although after years of research on anti-dancing management of conductors, anti-dancing devices have been greatly developed and improved, but due to different designs and application conditions, various anti-dancing devices are still passive protection devices. The dancing situation is discovered late and the remedial measures are slow, which leads to the lag of line anti-dancing and poor anti-dancing effect. Summary of the invention

[0004] The embodiment of the present invention provides an active transmission line anti-dancing method and system for solving the following technical problems: the existing line anti-dancing methods are mostly passive protection, and the correlation with the dancing monitoring device is poor, and the dancing situation cannot be adjusted in time and actively, and the line anti-dancing has a lag.

[0005] The embodiment of the present invention adopts the following technical solutions:

[0006] On the one hand, an embodiment of the present invention provides an active transmission line anti-galloping method, the method comprising: establishing an aerodynamic model of transmission line galloping based on a longitudinal additional damping coefficient;

[0007] Determining a target damping coefficient according to the real-time dancing information of the transmission line and the aerodynamic model;

[0008] According to the target damping coefficient, a corresponding damping control signal is output to control the active damping and anti-dancing device to perform anti-dancing control on the power transmission line.

[0009] In a feasible implementation manner, based on the longitudinal additional damping coefficient, establishing an aerodynamic model of the galloping of the transmission line specifically includes:

[0010] According to the three-degree-of-freedom mechanical model of the cable in the transmission line, the formula of the initial net plumb force acting on the cable per unit length is determined;

[0011] According to the initial net plumb force formula and the longitudinal additional damping coefficient, the motion equation of the freedom mechanics model is established;

[0012] When the wind direction angle of attack is equal to 0, the initial net plumb force formula is expanded by Taylor series to obtain the target net plumb force formula;

[0013] Substituting the target net plumb force formula into the equation of motion, the final expression of the aerodynamic model is obtained.

[0014] In a feasible implementation, according to the degree of freedom mechanical model of the cable in the transmission line, the formula for the initial net plumb force acting on the cable per unit length is determined, specifically including:

[0015] Under the excitation of the cable structure model by the preset wind speed, the relative wind speed and the wind direction angle of attack to which the cable structure model is subjected are determined;

[0016] Determining a plumb force coefficient according to the relative wind speed, the preset wind speed, the lift coefficient, the drag coefficient, and the wind direction angle of attack;

[0017] The formula for the initial net plumb force acting on the cable structure model is obtained according to the air density, the preset wind speed, the windward size of the cable structure model and the plumb force coefficient.

[0018] In a feasible implementation manner, when the wind direction angle of attack is equal to 0, the initial net plumb force formula is expanded by Taylor series to obtain the target net plumb force formula, which specifically includes:

[0019] When the wind direction angle of attack is equal to 0, the Taylor series expansion is performed on the net plumb force formula, and the high-order components are discarded to obtain the first intermediate expression;

[0020] Substituting the expression of wind direction angle of attack and the partial differential formula of net plumb force / wind direction angle of attack into the first intermediate expression, a second intermediate expression is obtained;

[0021] The constant term in the second intermediate expression is discarded to obtain the target net plumb force formula; wherein the constant term is the lift when the wind direction angle of attack is equal to 0.

[0022] In a feasible implementation manner, after establishing the aerodynamic model of the galloping of the transmission line based on the longitudinal additional damping coefficient, the method further includes:

[0023] Extracting a damping term expression from the mathematical expression of the aerodynamic model;

[0024] Setting the damping term expression to be greater than or equal to 0, and extracting the stability condition of the aerodynamic model;

[0025] The stability condition is that the partial differential of lift coefficient / wind direction angle of attack is greater than or equal to 0.

[0026] In a feasible implementation manner, the target damping coefficient is determined according to the real-time dancing information of the transmission line and the aerodynamic model, specifically including:

[0027] Inputting the real-time dancing information into the aerodynamic model;

[0028] According to the stability condition of the aerodynamic model, the damping coefficient value in the aerodynamic model is solved, and the damping coefficient value is determined as the target damping coefficient.

[0029] On the other hand, an embodiment of the present invention further provides an active power transmission line anti-galloping system, the system comprising: a power transmission line online monitoring device, used to establish an aerodynamic model of power transmission line galloping based on a longitudinal additional damping coefficient; determine a target damping coefficient according to real-time galloping information of the power transmission line and the aerodynamic model; output a corresponding damping control signal according to the target damping coefficient;

[0030] An active shock-absorbing and anti-dancing device is used to perform anti-dancing control on the power transmission line according to the shock-absorbing control signal.

[0031] In a feasible implementation manner, the active shock absorbing and anti-dancing device includes a connecting hardware, a main hydraulic oil chamber, a secondary hydraulic oil chamber, a main hydraulic piston, a main piston connecting rod, a secondary hydraulic piston, a secondary piston connecting rod and a stepping motor;

[0032] The active shock-absorbing and anti-dancing device is installed between the pole tower and the transmission cable through the connecting hardware;

[0033] The main hydraulic piston is installed in the main hydraulic oil chamber, and the outer side of the main hydraulic piston is connected to the main piston connecting rod;

[0034] The space formed by the main hydraulic oil chamber and the main hydraulic piston is filled with hydraulic oil, and the main hydraulic oil chamber is connected to the auxiliary hydraulic oil chamber so that the hydraulic oil flows between the two oil chambers;

[0035] The auxiliary hydraulic piston is installed in the auxiliary hydraulic oil chamber, and the outer side of the auxiliary hydraulic piston is connected to the auxiliary piston connecting rod; the other side of the auxiliary piston connecting rod is connected to the stepping motor;

[0036] After receiving the control signal, the stepper motor controls the rotation of the secondary piston connecting rod to control the volume of the hydraulic oil in the main hydraulic oil chamber, thereby driving the telescopic movement of the main piston connecting rod to achieve the suppression of the dancing of the power transmission line.

[0037] Compared with the prior art, the active transmission line anti-galloping method and system provided by the embodiment of the present invention has the following beneficial effects:

[0038] The present invention combines a power transmission line dancing monitoring sensor with an active anti-dancing device. According to the line dancing information detected by the line dancing sensor, an aerodynamic model is used for analysis to calculate the damping coefficient that can stabilize the power transmission line. Then, the driving force required to suppress the dancing of the power transmission line is calculated according to the damping coefficient. The control signal is output to the active shock-absorbing anti-dancing device in real time. According to the feedback of the line dancing situation, real-time and active dancing suppression can be performed to form an automatic closed-loop control. Moreover, the entire system can realize continuous optimization and adjustment of the algorithm through remote control without the need for hardware upgrade and maintenance. Different dancing suppression algorithms can be set for the dancing situations of different lines in different regions, with strong compatibility and greatly reduced types of equipment. Finally, the present invention, through the establishment of a mathematical model and qualitative and quantitative analysis, proves that the present invention can more effectively suppress the dancing amplitude of the transmission line and improve the safety of the transmission line compared with other methods. BRIEF DESCRIPTION OF THE DRAWINGS

[0039] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the following briefly introduces the drawings required for use in the embodiments or the prior art descriptions. Obviously, the drawings described below are only some embodiments recorded in the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without creative work. In the drawings:

[0040] Figure 1 A flow chart of an active transmission line anti-galloping method provided by an embodiment of the present invention;

[0041] Figure 2 A schematic diagram of a three-degree-of-freedom mechanical model of a cable provided in an embodiment of the present invention;

[0042] Figure 3 A schematic diagram of the relationship between a plumb force coefficient and a wind direction angle of attack provided in an embodiment of the present invention;

[0043] Figure 4A schematic diagram of the structure of an active power transmission line anti-dancing system provided by an embodiment of the present invention;

[0044] Figure 5 A schematic diagram of the structure of a hydraulic shock absorbing device provided in an embodiment of the present invention;

[0045] Figure 6 A schematic diagram of the installation of an active power transmission line anti-dancing system provided by an embodiment of the present invention;

[0046] Description of reference numerals:

[0047] 1. First connecting hardware; 2. Main hydraulic oil chamber; 3. Hydraulic oil; 4. Main hydraulic piston; 5. Second connecting hardware; 6. Auxiliary hydraulic oil chamber; 7. Auxiliary piston connecting rod; 8. Stepper motor; 9. Auxiliary hydraulic piston; 10. Main piston connecting rod; 11. Pole tower; 12. Transmission line online monitoring device; 13. Photovoltaic solar panel; 14. Solar panel mounting bracket; 15. Active shock-absorbing and anti-dancing device; 16. Dancing sensor; 17. Transmission line; 18. Signal transmission wire. DETAILED DESCRIPTION

[0048] In order to enable those skilled in the art to better understand the technical solutions in the present invention, the technical solutions in the embodiments of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of this specification, all other embodiments obtained by ordinary technicians in this field without creative work should fall within the scope of protection of the present invention.

[0049] The embodiment of the present invention provides an active transmission line anti-galloping method, such as Figure 1 As shown, the active transmission line anti-galloping method specifically includes steps S101-S103:

[0050] S101. Based on the longitudinal additional damping coefficient, an aerodynamic model of the dancing of the transmission line is established.

[0051] Firstly, according to the three-degree-of-freedom mechanical model of the cable in the transmission line, the formula of the initial net plumb force acting on the cable per unit length is determined; then, according to the initial net plumb force formula and the longitudinal damping coefficient, the motion equation of the degree-of-freedom mechanical model is established.

[0052] Specifically, under the excitation of the cable structure model by the preset wind speed, the relative wind speed and the wind direction angle of attack to which the cable structure model is subjected are determined. The plumb force coefficient is determined according to the relative wind speed, the preset wind speed, the lift coefficient, the drag coefficient and the wind direction angle of attack. The initial net plumb force formula acting on the cable structure model is obtained according to the air density, the preset wind speed, the windward size of the cable structure model and the plumb force coefficient.

[0053] As a feasible implementation method, Figure 2 A schematic diagram of a three-degree-of-freedom mechanical model of a cable provided in an embodiment of the present invention. According to the three-degree-of-freedom mechanical model, under the excitation of wind speed U, the cable model generates vibration in the y direction, and the vibration speed is Therefore, when the cable model vibrates up and down, there is a relative wind speed U r , the wind direction angle of attack (i.e. the angle between the relative wind speed and the wind speed) is α, and there is

[0054] The formula for the initial net plumb force acting on the cable model per unit length is: F y =(1 / 2)ρU 2 DC y Where, C y =(Ur2 / U2)*(C L cosα+C D sinα), C y is the plumb force (plumb vertical) coefficient, C L is the lift coefficient, C D is the drag coefficient, D is the windward size of the cable structure model (i.e. the height size perpendicular to the wind direction), and ρ is the air density.

[0055] A degree of freedom mechanical model based on the additional damping coefficient in the y direction is constructed, and its motion equation is: Among them, ξ y is the additional damping coefficient in the y direction, K y is the elastic coefficient of the cable structure model, ω y is the natural frequency of the model, and its value is:

[0056] Furthermore, when the wind direction angle of attack is equal to 0, the initial net plumb force formula is expanded by Taylor series to obtain the target net plumb force formula. The target net plumb force formula is substituted into the motion equation to obtain the final expression of the aerodynamic model.

[0057] Specifically, when the wind direction angle of attack is equal to 0, the Taylor series expansion is performed on the net plumb force formula, and the high-order components are discarded to obtain the first intermediate expression; the expression of the wind direction angle of attack and the partial differential formula of the net plumb force / wind direction angle of attack are substituted into the first intermediate expression to obtain the second intermediate expression. The constant term in the second intermediate expression is discarded to obtain the target net plumb force formula; where the constant term is the lift when the wind direction angle of attack is equal to 0.

[0058] As a feasible implementation method, Figure 3 A schematic diagram of the relationship between a plumb force coefficient and a wind direction angle of attack provided in an embodiment of the present invention is shown in FIG. Figure 3 As shown, when the wind direction angle of attack is small, the plumb force coefficient C y We can make a Taylor series expansion around α = 0 and discard the high-order components after the expansion to obtain the first intermediate expression: In the above formula, o is the origin in the three-degree-of-freedom mechanical model.

[0059] When the angle of attack is small, we have: Substituting this formula into the first intermediate expression, we get the second intermediate expression: In the second intermediate expression, the first term C L (α=0) reflects the lift when α=0, which is a constant. It only has static effect and has nothing to do with vibration, that is, it has no effect on instability, so it is ignored when discussing the stability of the system, and the target net plumb force formula is obtained:

[0060] Then, the target net plumb force formula is substituted into the motion equation of the degree of freedom mechanical model to obtain:

[0061] is the second-order derivative of y.

[0062] After transposing the above equation, the final expression of the aerodynamic model can be obtained:

[0063]

[0064] S102: Acquire real-time dancing information of the transmission line, and determine a target damping coefficient according to the real-time dancing information and an aerodynamic model.

[0065] Specifically, the damping term expression is extracted from the mathematical expression of the aerodynamic model, and the damping term expression is set to be greater than or equal to 0, and the stability condition of the aerodynamic model is extracted. The stability condition is: the partial differential of the lift coefficient / wind direction angle of attack is greater than or equal to 0. Then the real-time dancing information is input into the aerodynamic model. According to the stability condition of the aerodynamic model, the value of the longitudinal additional damping coefficient in the aerodynamic model is solved and determined as the target damping coefficient.

[0066] As a feasible implementation method, whether the vibration system of the aerodynamic model is stable depends on whether its damping term is positive or negative. In the final expression of the aerodynamic model, the damping term is the vibration velocity The coefficient of When the damping term of the system is positive, remove Except for , all other parameters in the formula are positive numbers, so when When , the above formula must be established, and the vibration system is stable. Therefore, the partial differential of the lift coefficient / wind direction angle of attack is This is the stability condition of the aerodynamic model.

[0067] The real-time dancing information of the transmission line is collected by the dancing sensor, the actual parameter values ​​are substituted into the aerodynamic model formula, and the solution is obtained under stable conditions. When the longitudinal additional damping coefficient ξ y The target damping coefficient is obtained by adjusting the value of

[0068] S103. Output a corresponding damping control signal according to the target damping coefficient to control the active damping anti-dancing device to perform anti-dancing control on the power transmission line.

[0069] Specifically, according to the relationship formula between the damping force and the damping coefficient, the damping force required to achieve the target damping coefficient is calculated, and then the motor rotation angle is calculated according to the damping force, and the calculated motor rotation angle is sent to the active shock absorption and anti-dancing device in the form of a control signal. The active shock absorption and anti-dancing device pulls or pushes the transmission line in the opposite direction of the current dancing direction to perform model negative feedback. Repeat the operations of S101-S103 until the aerodynamic model tends to be stable and the line dancing is offset.

[0070] In order to verify the anti-dancing effect of the aerodynamic model proposed in this application, this application also established a finite element model of the transmission line based on the aerodynamic model using ANSYS software to analyze the anti-dancing effect of the present invention and estimate parameters.

[0071] The present invention first sets the inherent basic parameters of the transmission line in the software, as shown in Table 1:

[0072] Table 1

[0073]

[0074]

[0075] Then, according to the Cable280 (three-dimensional three-node quadratic line) unit in the ANSYS software, each node has three translational degrees of freedom of x, y, and z. The material properties supported by this unit are used: ① elasticity ② isotropic hardening plasticity ③ additional mass ④ additional damping coefficient (control characteristics of the present invention) ⑤ initial strain, three-degree-of-freedom modeling is performed and the dancing data is analyzed.

[0076] The transmission line suppression curve of the present invention is compared and analyzed with the curves of other existing methods for suppressing line dancing. According to the analysis results, it can be seen that, by establishing a mathematical model and performing qualitative and quantitative analysis, the present invention can more effectively suppress the dancing amplitude of the transmission line and improve the safety of the transmission line compared with the method of suppressing line dancing by using a detuned pendulum and a spacer bar.

[0077] In addition, the embodiment of the present invention also provides an active transmission line anti-dancing system, such as Figure 4 As shown in the figure, the active transmission line anti-galloping system specifically includes:

[0078] The online monitoring device for power transmission lines is used to establish an aerodynamic model of power transmission line galloping based on the longitudinal additional damping coefficient; determine a target damping coefficient according to the real-time galloping information of the power transmission line and the aerodynamic model; and output a corresponding damping control signal according to the target damping coefficient;

[0079] An active shock-absorbing and anti-dancing device is used to perform anti-dancing control on the power transmission line according to the shock-absorbing control signal.

[0080] As a feasible implementation, the active power transmission line anti-dancing system also includes a dancing sensor for collecting the dancing information of the power transmission line, including at least information such as the dancing amplitude, dancing direction, and dancing frequency. The system also includes a photovoltaic solar panel and a lithium iron phosphate battery. The photovoltaic solar panel is used to power the dancing sensor, the power transmission line online monitoring device, the active shock-absorbing anti-dancing device, and the lithium iron phosphate battery.

[0081] like Figure 4As shown, the photovoltaic solar panel converts solar energy into electrical energy to provide energy for the equipment. When the transmission line dances, the dance sensor collects the dance signal, converts the physical quantity into an electrical signal, and wirelessly transmits it to the transmission line online monitoring device. The transmission line online monitoring device is the core module of the present invention, which is responsible for wireless communication with the sensor and the server. After analyzing and processing the collected signals, the control signal is calculated and output according to the aerodynamic model. After the control signal is input into the motor drive chip, the active shock absorption and anti-dancing device is driven to control the motor, and the output parameters are adjusted in real time according to the line dance signal, and the active shock absorption and anti-dancing device is controlled to expand and contract, thereby completing the dance suppression and ensuring the reliable operation of the transmission line.

[0082] Further, Figure 5 A schematic diagram of the structure of a hydraulic shock absorbing device provided in an embodiment of the present invention is shown in FIG. Figure 5 As shown, the active shock absorbing and anti-dancing device includes a first connecting hardware 1, a second connecting hardware 5, a main hydraulic oil chamber 2, an auxiliary hydraulic oil chamber 6, a main hydraulic piston 4, a main piston connecting rod 10, an auxiliary hydraulic piston 9, an auxiliary piston connecting rod 7 and a stepper motor 8.

[0083] The main hydraulic piston 4 is installed in the main hydraulic oil chamber 2, and the outer side of the main hydraulic piston 4 is connected to the main piston connecting rod 10, and the other end of the main piston connecting rod 10 is connected to the second connecting hardware 5. The space formed by the main hydraulic oil chamber 2 and the main hydraulic piston 4 is filled with hydraulic oil 3, and the main hydraulic oil chamber 2 is connected to the auxiliary hydraulic oil chamber 6, so that the hydraulic oil 3 can flow between the two oil chambers.

[0084] The auxiliary hydraulic piston 9 is installed in the auxiliary hydraulic oil chamber 6 , and the outer side of the auxiliary hydraulic piston 9 is connected to the auxiliary piston connecting rod 7 ; the other side of the auxiliary piston connecting rod 7 is connected to the stepping motor 8 .

[0085] After receiving the control signal, the stepper motor 8 controls the rotation of the secondary piston connecting rod 7 to control the volume change of the hydraulic oil 3 in the main hydraulic oil chamber 2, thereby driving the telescopic movement of the main piston connecting rod 10, causing the active shock-absorbing and anti-dancing device to perform an overall telescopic change, thereby achieving the suppression of the dancing of the power transmission line.

[0086] Figure 6 A schematic diagram of an installation of an active transmission line anti-dancing system provided by an embodiment of the present invention is shown in FIG. Figure 6 As shown, the active shock-absorbing and anti-dancing device is connected between the tower 11 and the power transmission line 17 through the first connecting hardware 1 and the second connecting hardware 5, and the installation angle is 45°.

[0087] The transmission line online monitoring device 12 is installed on the pole tower 11, and the photovoltaic solar panel 13 is installed through the solar panel mounting bracket 14. At the same time, the active shock absorption and anti-dancing device 15 is connected between the pole tower 11 and the transmission line 17 through the first connecting hardware 1 and the second connecting hardware 5. Two active shock absorption and anti-dancing devices 15 are installed between each adjacent pole tower 11, and a plurality of dancing sensors 16 are installed on the transmission line 17. The active shock absorption and anti-dancing device 15 can transmit data with the transmission line online monitoring device 12 through wireless transmission technology, and can also transmit data with the transmission line online monitoring device 12 through the signal transmission wire 18.

[0088] The basic control principle of the present invention is that when the power transmission line 17 dances, the dance sensor 16 outputs the dance information, which is wirelessly transmitted to the power transmission line online monitoring device 12. The power transmission line online monitoring device 12 processes the information through an aerodynamic model and outputs a control signal. The control signal is transmitted to the active shock-absorbing and anti-dancing device 15 through wireless transmission or signal transmission wire 18. The active shock-absorbing and anti-dancing device 15 controls the line to move in the opposite direction of the current dancing direction to offset the line dancing. According to different types of pole towers 11, different styles of connection hardware 1, 5 can be designed and selected.

[0089] The dancing sensor 17 involved in the present invention includes a solar panel on the top thereof and transmits signals via a wireless network, so it has no electrical connection with other parts of the device.

[0090] It should be noted that the active shock-absorbing and anti-dancing device 15 needs to be adjusted accordingly according to the application scenario. If it is installed on a metal pole tower, insulation treatment is required between the transmission line cable and the pole tower. For example, an insulating rod composed of a glass fiber epoxy resin core rod and a silicone rubber umbrella skirt is added between the connecting cable and the anti-dancing device.

[0091] In addition, through the compatibility and scalability of the transmission line online monitoring device, this system can upload data, remotely monitor, and monitor in real time through the original monitoring device. When necessary, manual remote takeover can be performed to control the transmission line anti-dancing device in batches. In addition, if the cable monitored by the dancing sensor is in a stable state, the controller can be shut down remotely to reduce system power consumption.

[0092] The systems, devices, modules or units described in the above embodiments may be implemented by computer chips or entities, or by products with certain functions. A typical implementation device is a computer. Specifically, the computer may be, for example, a personal computer, a laptop computer, a cellular phone, a camera phone, a smart phone, a personal digital assistant, a media player, a navigation device, an email device, a game console, a tablet computer, a wearable device, or a combination of any of these devices.

[0093] For the convenience of description, the above device is described in various units according to their functions. Of course, when implementing this specification, the functions of each unit can be implemented in the same or multiple software and / or hardware.

[0094] Those skilled in the art will appreciate that the embodiments of this specification may be provided as methods, systems, or computer program products. Therefore, the embodiments of this specification may be in the form of complete hardware embodiments, complete software embodiments, or embodiments in combination with software and hardware. Moreover, the embodiments of this specification may be in the form of a computer program product implemented in one or more computer-usable storage media (including but not limited to disk storage, CD-ROM, optical storage, etc.) that contain computer-usable program code.

[0095] This specification is described with reference to the flowcharts and / or block diagrams of the methods, devices (systems), and computer program products according to the embodiments of this specification. It should be understood that each process and / or box in the flowchart and / or block diagram, as well as the combination of the processes and / or boxes in the flowchart and / or block diagram, can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, a special-purpose computer, an embedded processor, or other programmable data processing device to produce a machine, so that the instructions executed by the processor of the computer or other programmable data processing device generate instructions for implementing the processes in the flowchart and / or block diagram. Figure 1 A process or multiple processes and / or boxes Figure 1 A device that provides the functions specified in a block or multiple blocks.

[0096] These computer program instructions may also be stored in a computer-readable memory capable of directing a computer or other programmable data processing device to operate in a specific manner, so that the instructions stored in the computer-readable memory produce an article of manufacture comprising an instruction device, which implements the process Figure 1 A process or multiple processes and / or boxes Figure 1 A function specified in one or more boxes.

[0097] These computer program instructions can also be loaded onto a computer or other programmable data processing device so that a series of operating steps are executed on the computer or other programmable device to produce a computer-implemented process, thereby providing instructions for implementing the process. Figure 1 A process or multiple processes and / or boxes Figure 1 The steps for the functions specified in one or more boxes.

[0098] In a typical configuration, a computing device includes one or more processors (CPU), input / output interfaces, network interfaces, and memory.

[0099] The memory may include non-permanent storage in a computer-readable medium, random access memory (RAM) and / or non-volatile memory in the form of read-only memory (ROM) or flash RAM. The memory is an example of a computer-readable medium.

[0100] Computer readable media include permanent and non-permanent, removable and non-removable media that can be implemented by any method or technology to store information. Information can be computer readable instructions, data structures, program modules or other data. Examples of computer storage media include, but are not limited to, phase change memory (PRAM), static random access memory (SRAM), dynamic random access memory (DRAM), other types of random access memory (RAM), read-only memory (ROM), electrically erasable programmable read-only memory (EEPROM), flash memory or other memory technology, compact disk read-only memory (CD-ROM), digital versatile disk (DVD) or other optical storage, magnetic cassettes, magnetic tape magnetic disk storage or other magnetic storage devices or any other non-transmission media that can be used to store information that can be accessed by a computing device. As defined herein, computer readable media does not include temporary computer readable media (transitory media), such as modulated data signals and carrier waves.

[0101] It should also be noted that the terms "include", "comprises" or any other variations thereof are intended to cover non-exclusive inclusion, so that a process, method, commodity or device including a series of elements includes not only those elements, but also other elements not explicitly listed, or also includes elements inherent to such process, method, commodity or device. In the absence of more restrictions, the elements defined by the sentence "comprises a ..." do not exclude the existence of other identical elements in the process, method, commodity or device including the elements.

[0102] This specification may be described in the general context of computer-executable instructions executed by a computer, such as program modules. Generally, program modules include routines, programs, objects, components, data structures, etc. that perform specific tasks or implement specific abstract data types. This specification may also be practiced in distributed computing environments where tasks are performed by remote processing devices connected through a communication network. In a distributed computing environment, program modules may be located in local and remote computer storage media, including storage devices.

[0103] Each embodiment in this specification is described in a progressive manner, and the same or similar parts between the embodiments can be referred to each other, and each embodiment focuses on the differences from other embodiments. In particular, for the device, equipment, and non-volatile computer storage medium embodiments, since they are basically similar to the method embodiments, the description is relatively simple, and the relevant parts can be referred to the partial description of the method embodiment.

[0104] The above is a description of a specific embodiment of the specification. Other embodiments are within the scope of the appended claims. In some cases, the actions or steps recorded in the claims can be performed in an order different from that in the embodiments and still achieve the desired results. In addition, the processes depicted in the drawings do not necessarily require the specific order or continuous order shown to achieve the desired results. In some embodiments, multitasking and parallel processing are also possible or may be advantageous.

[0105] The above description is only one or more embodiments of this specification and is not intended to limit this specification. For those skilled in the art, one or more embodiments of this specification may have various changes and variations. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of one or more embodiments of this specification shall be included in the scope of the claims of this specification.

Claims

1. An active transmission line anti-galloping method, characterized in that: The method comprises: Based on the longitudinal additional damping coefficient, an aerodynamic model of the transmission line galloping is established; Determining a target damping coefficient according to the real-time dancing information of the transmission line and the aerodynamic model; According to the target damping coefficient, a corresponding damping control signal is output to control the active damping and anti-dancing device to perform anti-dancing control on the power transmission line.

2. The active transmission line anti-galloping method according to claim 1, characterized in that: The aerodynamic model of the transmission line galloping is established based on the longitudinal additional damping coefficient, which specifically includes: According to the three-degree-of-freedom mechanical model of the cable in the transmission line, the formula of the initial net plumb force acting on the cable per unit length is determined; According to the initial net plumb force formula and the longitudinal additional damping coefficient, the motion equation of the freedom mechanics model is established; When the wind direction angle of attack is equal to 0, the initial net plumb force formula is expanded by Taylor series to obtain the target net plumb force formula; Substituting the target net plumb force formula into the equation of motion, the final expression of the aerodynamic model is obtained.

3. The active transmission line anti-galloping method according to claim 2, characterized in that: According to the degree of freedom mechanical model of the cable in the transmission line, the formula of the initial net plumb force acting on the cable per unit length is determined, including: Under the excitation of the cable structure model by the preset wind speed, the relative wind speed and the wind direction angle of attack to which the cable structure model is subjected are determined; Determining a plumb force coefficient according to the relative wind speed, the preset wind speed, the lift coefficient, the drag coefficient, and the wind direction angle of attack; The formula for the initial net plumb force acting on the cable structure model is obtained according to the air density, the preset wind speed, the windward size of the cable structure model and the plumb force coefficient.

4. The active transmission line anti-dancing method according to claim 2, characterized in that: When the wind direction angle of attack is equal to 0, the initial net plumb force formula is expanded by Taylor series to obtain the target net plumb force formula, which specifically includes: When the wind direction angle of attack is equal to 0, the Taylor series expansion of the net plumb force formula is performed, and the high-order components are discarded to obtain the first intermediate expression; Substituting the expression of wind direction angle of attack and the partial differential formula of net plumb force / wind direction angle of attack into the first intermediate expression, a second intermediate expression is obtained; The constant term in the second intermediate expression is discarded to obtain the target net plumb force formula; wherein the constant term is the lift when the wind direction angle of attack is equal to 0.

5. The active transmission line anti-galloping method according to claim 1, characterized in that: After establishing the aerodynamic model of the transmission line galloping based on the longitudinal additional damping coefficient, the method further includes: Extracting a damping term expression from the mathematical expression of the aerodynamic model; Setting the damping term expression to be greater than or equal to 0, and extracting the stability condition of the aerodynamic model; The stability condition is that the partial differential of lift coefficient / wind direction angle of attack is greater than or equal to 0.

6. The active transmission line anti-galloping method according to claim 5, characterized in that: According to the real-time dancing information of the transmission line and the aerodynamic model, the target damping coefficient is determined, specifically including: Inputting the real-time dancing information into the aerodynamic model; According to the stability condition of the aerodynamic model, the damping coefficient value in the aerodynamic model is solved, and the damping coefficient value is determined as the target damping coefficient.

7. An active transmission line anti-dancing system, characterized in that: The system comprises: The online monitoring device for power transmission lines is used to establish an aerodynamic model of power transmission line galloping based on the longitudinal additional damping coefficient; determine a target damping coefficient according to the real-time galloping information of the power transmission line and the aerodynamic model; and output a corresponding damping control signal according to the target damping coefficient; An active shock-absorbing and anti-dancing device is used to perform anti-dancing control on the power transmission line according to the shock-absorbing control signal.

8. The active power transmission line anti-dancing system according to claim 7, characterized in that: The active shock-absorbing and anti-dancing device includes a connecting fitting, a main hydraulic oil chamber, a secondary hydraulic oil chamber, a main hydraulic piston, a main piston connecting rod, a secondary hydraulic piston, a secondary piston connecting rod and a stepping motor; The active shock-absorbing and anti-dancing device is installed between the pole tower and the transmission cable through the connecting hardware; The main hydraulic piston is installed in the main hydraulic oil chamber, and the outer side of the main hydraulic piston is connected to the main piston connecting rod; The space formed by the main hydraulic oil chamber and the main hydraulic piston is filled with hydraulic oil, and the main hydraulic oil chamber is connected to the auxiliary hydraulic oil chamber so that the hydraulic oil flows between the two oil chambers; The auxiliary hydraulic piston is installed in the auxiliary hydraulic oil chamber, and the outer side of the auxiliary hydraulic piston is connected to the auxiliary piston connecting rod; the other side of the auxiliary piston connecting rod is connected to the stepping motor; After receiving the control signal, the stepper motor controls the rotation of the secondary piston connecting rod to control the volume of the hydraulic oil in the main hydraulic oil chamber, thereby driving the telescopic movement of the main piston connecting rod to achieve the suppression of the dancing of the power transmission line.

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