Substation primary lead wiring board reinstallation control method and system

Abstract

The invention relates to a transformer substation primary lead wiring board reinstallation control method and system, and belongs to the technical field of transformer substation engineering, and the method comprises the steps that a reinstallation auxiliary device is placed at a designated operation position, and the reinstallation auxiliary device comprises a variable speed motor, a steel wire disc and a steel wire rope; the free end of the steel wire rope is connected with a wiring board to be installed, the initial weight of the wiring board to be installed is obtained through a force sensor, a speed sensor is arranged on the wiring board to be installed and used for detecting the real-time speed of the wiring board to be installed, and a position sensor is arranged on the wiring board to be installed and used for detecting the real-time speed of the wiring board to be installed; the position sensor is used for detecting the height of the wiring board to be installed; setting initial rotation parameters of the variable speed motor according to the initial weight, wherein the initial rotation parameters comprise an initial rotation speed and an initial direction; according to the invention, the accuracy and safety of the reassembly process are ensured, and the labor intensity of workers is reduced.

Description

Technical Field

[0001] The invention relates to a method and system for controlling the reinstallation of a primary lead wiring board in a transformer substation, and belongs to the technical field of transformer substation engineering. Background Art

[0002] In a substation, the main function of the primary lead is to connect different power equipment. At present, in various scenarios such as equipment technical transformation and overhaul, equipment testing, and wiring board heating treatment, the wiring board on one side of the steel core aluminum stranded wire needs to be removed. After maintenance, the wiring board needs to be reinstalled. The restoration of the lead wiring board is a high-altitude operation, which involves risks such as falling from a high altitude, electric shock, being hit by objects, and mechanical injuries. The traditional method uses human methods such as shoulder carrying, hand pulling, and hand pushing to restore it. There are many people involved and the installation time is long, which will cause great physical exhaustion for maintenance personnel and final members, and the high-altitude operation time is long, increasing the on-site operation risk. Therefore, there is an urgent need for a substation primary lead wiring board reinstallation control method and system, which can improve the degree of automation of wiring board reinstallation and ensure the accuracy and safety of the reinstallation process. Summary of the invention

[0003] In order to overcome the above-mentioned shortcomings in the prior art, the present invention designs a substation primary lead terminal board reinstallation control method and system, which ensures the accuracy and safety of the reinstallation process and reduces the labor intensity of workers.

[0004] In order to achieve the above object, the present invention adopts the following technical solution:

[0005] Technical Solution 1

[0006] A method for controlling the reinstallation of a primary lead wiring board in a substation, comprising the following steps:

[0007] The reassembly auxiliary device is placed at a designated working position, wherein the reassembly auxiliary device comprises a variable speed motor, a wire drum and a wire rope, wherein the output shaft of the variable speed motor is connected to the wire drum, one end of the wire rope is connected to the wire drum, and a force sensor is arranged on the wire rope, wherein the force sensor is used to detect the traction force of the wire rope;

[0008] Connecting the free end of the steel wire rope to the wiring board to be installed, and obtaining the initial weight of the wiring board to be installed through a force sensor, wherein the wiring board to be installed is provided with a speed sensor, the speed sensor is used to detect the real-time speed of the wiring board to be installed, and the wiring board to be installed is provided with a position sensor, the position sensor is used to detect the height of the wiring board to be installed;

[0009] Setting initial rotation parameters of the variable speed motor according to the initial weight, wherein the initial rotation parameters include an initial rotation speed and an initial direction;

[0010] The speed sensor is used to obtain the real-time speed of the wiring board to be installed, and the motion state of the wiring board to be installed is determined according to the real-time speed, wherein the motion state includes a uniform motion state and a variable speed motion state;

[0011] If the movement state of the wiring board to be installed is a uniform movement state, the real-time speed is compared with the preset speed, and the initial speed of the variable speed motor is adjusted according to the comparison result;

[0012] If the movement state of the terminal block to be installed is a variable speed movement state, the traction force of the wire rope and the height of the terminal block to be installed are obtained;

[0013] The load-bearing weight of the reinstallation auxiliary device is determined according to the height of the terminal block to be installed; the initial speed of the variable speed motor is adjusted according to the load-bearing weight and the traction force so that the terminal block to be installed reaches the predetermined position for reinstallation.

[0014] Furthermore, setting the initial rotation parameters of the variable speed motor according to the initial weight specifically includes:

[0015] A first weight and a second weight are preset, and the first weight is smaller than the second weight;

[0016] setting an initial speed of the variable speed motor according to a relationship between the initial weight and the first weight and the second weight;

[0017] If the initial weight is less than the first weight, determining the initial speed of the variable speed motor to be the first speed N1;

[0018] If the initial weight is greater than or equal to the first weight, and the initial weight is less than the second weight, determining that the initial speed of the variable speed motor is the second speed N2;

[0019] If the initial weight is greater than or equal to the second weight, the initial rotation speed of the variable speed motor is determined to be a third rotation speed N3; and N1>N2>N3.

[0020] Furthermore, comparing the real-time speed with the preset speed specifically includes:

[0021] If the real-time speed is less than or equal to the preset speed, the initial speed of the variable speed motor is not adjusted;

[0022] If the real-time speed is greater than the preset speed, a speed difference between the real-time speed and the preset speed is determined, and an initial speed of the variable speed motor is adjusted according to the speed difference.

[0023] Furthermore, adjusting the initial speed of the variable speed motor according to the speed difference specifically includes:

[0024] A first speed difference value and a second speed difference value are preset, and the first speed difference value is smaller than the second speed difference value;

[0025] setting a speed adjustment coefficient according to the relationship between the speed difference and the first speed difference and the second speed difference, and adjusting the initial speed Ni based on the set speed adjustment coefficient;

[0026] If the speed difference is less than the first speed difference, the speed adjustment coefficient is set to the first preset adjustment coefficient a1, and the initial speed is adjusted to a1*Ni;

[0027] If the speed difference is greater than or equal to the first speed difference, and the speed difference is less than the second speed difference, the speed adjustment coefficient is set to the second preset adjustment coefficient a2, and the initial speed is adjusted to a2*Ni;

[0028] If the speed difference is greater than or equal to the second speed difference, the speed adjustment coefficient is set to the third preset adjustment coefficient a3, and the initial speed is adjusted to a3*Ni;

[0029] Among them, 1>a1>a2>a3>0;

[0030] Among them, i=1, 2, 3.

[0031] Further, determining the bearing weight of the reinstallation auxiliary device according to the height of the wiring board to be installed specifically includes:

[0032] The wiring board to be installed is fixedly connected to the primary lead, and the load-bearing weight is the sum of the weights of the wiring board to be installed and the primary lead;

[0033] determining a unit weight of the primary lead, and determining a weight and a value based on the unit weight and a height of the terminal block to be installed;

[0034] The weights and values ​​are determined according to the following formula:

[0035] Wz=W0+d×h;

[0036] Wherein, Wz represents the weight and value of the terminal block to be installed and the primary lead, in kg, W0 represents the initial weight of the terminal block to be installed, in kg, d represents the unit weight of the primary lead, in kg / m, and h represents the height of the terminal block to be installed, in m.

[0037] Furthermore, adjusting the initial speed of the variable speed motor according to the load weight and traction force specifically includes:

[0038] Determining the bearing weight of the reinstallation auxiliary device according to the bearing weight;

[0039] A force difference between the bearing weight and the traction force is determined, and an initial rotation speed of the variable speed motor is adjusted according to the force difference.

[0040] Further, adjusting the initial speed of the variable speed motor according to the force difference value specifically includes:

[0041] Comparing the bearing weight with the traction force, if the bearing weight is less than the traction force, adjusting the initial speed of the variable speed motor according to the force difference;

[0042] If the bearing gravity is greater than the traction force, the initial rotation speed of the variable speed motor is decelerated and adjusted according to the force difference.

[0043] Furthermore, the variable speed motor is a brushless copper core motor.

[0044] Furthermore, it also includes a power supply module for supplying power to the variable speed motor.

[0045] Technical Solution 2

[0046] A substation primary lead terminal board reinstallation control system, used for applying the substation primary lead terminal board reinstallation control method described in the first technical solution, comprising:

[0047] A data acquisition module is used to obtain the real-time speed of the wiring board to be installed, the traction force of the steel wire rope in the reinstallation auxiliary device and the height of the wiring board to be installed;

[0048] A parameter setting module, used for obtaining the initial weight of the wiring board to be installed, and setting the initial rotation parameters of the variable speed motor according to the initial weight, wherein the initial rotation parameters include an initial rotation speed and an initial direction;

[0049] A state determination module, used to determine the motion state of the wiring board to be installed according to the real-time speed, wherein the motion state includes a uniform speed motion state and a variable speed motion state;

[0050] The parameter adjustment module is used to compare the real-time speed with the preset speed when the movement state of the wiring board to be installed is a uniform movement state, and adjust the initial speed of the variable speed motor according to the comparison result; it is also used to determine the load-bearing weight of the reinstallation auxiliary device according to the height of the wiring board to be installed when the movement state of the wiring board to be installed is a variable speed movement state; and adjust the initial speed of the variable speed motor according to the load-bearing weight and traction force so that the wiring board to be installed reaches a predetermined position for reinstallation.

[0051] Compared with the prior art, the present invention has the following characteristics and beneficial effects:

[0052] The present invention can accurately control the movement of the terminal board by real-time monitoring the real-time speed of the terminal board to be installed and adjusting the speed of the variable speed motor according to its movement state, thereby improving the accuracy and efficiency of installation. The use of a reinstallation auxiliary device and a variable speed motor for installation of the terminal board reduces the need for manual operation and reduces the labor intensity of workers. By real-time monitoring the movement state and height of the terminal board to be installed, as well as the traction force of the wire rope, the stability and safety of the terminal board during the installation process can be ensured. By accurately controlling the speed and direction of the variable speed motor, equipment wear caused by too fast or too slow speed can be avoided, thereby extending the service life of the equipment. The method can realize automated control of the reinstallation process of the primary lead terminal board of the substation, facilitating the maintenance and management of the equipment. BRIEF DESCRIPTION OF THE DRAWINGS

[0053] Figure 1 It is a schematic diagram of the process of the present invention;

[0054] Figure 2 It is a functional block diagram of the present invention. DETAILED DESCRIPTION

[0055] The present invention is described in more detail below with reference to the embodiments.

[0056] Embodiment 1

[0057] like Figure 1 As shown, the present invention provides a method for controlling the reinstallation of a primary lead terminal board of a substation, comprising:

[0058] Connect the reinstallation auxiliary device to the terminal block to be installed to obtain the initial weight of the terminal block to be installed.

[0059] The initial rotation parameters of the variable speed motor are set according to the initial weight, and the initial rotation parameters include an initial rotation speed and an initial direction.

[0060] The real-time speed of the wiring board to be installed is obtained, and the motion state of the wiring board to be installed is determined according to the real-time speed, wherein the motion state includes a uniform speed motion state and a variable speed motion state.

[0061] If the movement state of the wiring board to be installed is a uniform movement state, the real-time speed is compared with the preset speed, and the initial speed of the variable speed motor is adjusted according to the comparison result.

[0062] If the movement state of the terminal block to be installed is a variable speed movement state, the traction force of the steel wire rope in the reinstallation auxiliary device and the height of the terminal block to be installed are obtained.

[0063] The bearing weight of the reinstallation auxiliary device is determined according to the height of the terminal block to be installed.

[0064] The initial rotation speed of the variable speed motor is adjusted according to the load-bearing weight and the traction force, so that the wiring board to be installed reaches a predetermined position for reinstallation.

[0065] In some embodiments of the present application, the reassembly auxiliary device includes a variable speed motor, a wire reel and a wire rope, the output shaft of the variable speed motor is connected to the wire reel, one end of the wire rope is connected to the wire reel, and the other end of the wire rope is connected to the terminal block to be installed.

[0066] The reinstallation auxiliary device includes a variable speed motor, a wire drum and a wire rope. The output shaft of the variable speed motor is tightly connected to the wire drum to ensure that the power of the motor can be effectively transmitted to the wire drum. The wire drum is a device designed to wind the wire rope. It can withstand the tension of the wire rope and release or reel the wire rope evenly. One end of the wire rope is firmly connected to the wire drum so that when the wire drum rotates, the wire rope can be rolled up or released. The other end of the wire rope is connected to the terminal block to be installed. By retracting and releasing the wire rope, the lifting and lowering of the terminal block can be controlled, thereby achieving precise installation of the terminal block. The design of the entire reinstallation auxiliary device is intended to simplify the installation process of the terminal block, improve work efficiency, and ensure the safety of the installation process.

[0067] In some embodiments of the present application, a speed sensor is provided on the wiring board to be installed, and the speed sensor is used to detect the real-time speed of the wiring board to be installed; a position sensor is provided on the wiring board to be installed, and the position sensor is used to detect the height of the wiring board to be installed; a force sensor is provided on the wire rope, and the force sensor is used to detect the traction force of the wire rope.

[0068] In the present invention, a variety of sensors are designed on the wiring board to be installed to ensure the accuracy and safety of the installation process. First, the speed sensor is cleverly integrated on the wiring board to be installed, and its main function is to monitor the moving speed of the wiring board in real time during the installation process. By accurately measuring the speed, the system can ensure that the wiring board moves at an appropriate speed to avoid installation errors or damage caused by too fast or too slow speed.

[0069] In addition, in order to further improve the installation accuracy, the wiring board to be installed is also equipped with a position sensor. This sensor focuses on detecting the height position of the wiring board, and improves the overall installation efficiency and accuracy by monitoring the height information in real time.

[0070] In order to monitor the mechanical state during the entire installation process, a force sensor is installed on the wire rope. This sensor is responsible for measuring the force that the wire rope is subjected to when pulling the terminal block. By monitoring the pulling force in real time, the system can promptly detect any abnormal force changes, such as overload or sudden force changes, and take corresponding measures.

[0071] In some embodiments of the present application, the initial rotation parameters of the variable speed motor are set according to the initial weight, including: a first weight and a second weight are pre-set, and the first weight is less than the second weight; the initial speed of the variable speed motor is set according to the relationship between the initial weight and the first weight and the second weight; if the initial weight is less than the first weight, the initial speed of the variable speed motor is determined to be the first speed N1; if the initial weight is greater than or equal to the first weight, and the initial weight is less than the second weight, the initial speed of the variable speed motor is determined to be the second speed N2; if the initial weight is greater than or equal to the second weight, the initial speed of the variable speed motor is determined to be the third speed N3; and N1>N2>N3.

[0072] In some embodiments of the present application, the real-time speed is compared with the preset speed, and the initial speed of the variable speed motor is adjusted according to the comparison result, including: if the real-time speed is less than or equal to the preset speed, the initial speed of the variable speed motor is not adjusted; if the real-time speed is greater than the preset speed, the speed difference between the real-time speed and the preset speed is determined, and the initial speed of the variable speed motor is adjusted according to the speed difference.

[0073] In a real-time monitoring system, the real-time speed changes dynamically, reflecting the current operating status of the equipment. At the same time, a preset speed is set, which is the target speed that the equipment is expected to achieve. It may be set based on optimal work efficiency, safety standards or specific task requirements.

[0074] The system will continuously compare and analyze the actual speed with the preset speed. This comparison process is carried out in real time, ensuring that changes in equipment speed can be responded to in a timely manner. The results of the comparative analysis will determine whether the initial speed of the variable speed motor needs to be adjusted.

[0075] Specifically, if the real-time speed is less than or equal to the preset speed, this indicates that the equipment is running at the desired speed or has reached the upper limit, so in this case, no adjustment is required to the initial speed of the variable speed motor. This can avoid unnecessary operations, reduce energy consumption, and prevent potential damage to the equipment. However, if the real-time speed is greater than the preset speed, this indicates that the equipment is running at a speed beyond the set range. In this case, measures need to be taken to reduce the speed to ensure that the equipment operates within the range of safety and efficiency. To this end, the speed difference between the real-time speed and the preset speed is first determined. This difference reflects the extent to which the current speed exceeds the preset speed. Based on this speed difference, it is possible to calculate how much adjustment is needed to the initial speed of the variable speed motor. The purpose of the adjustment is to bring the equipment's running speed back within the preset speed range. The magnitude and method of the adjustment will be determined based on the specific application scenario and equipment characteristics, and may include gradual deceleration, rapid deceleration, or other control strategies to ensure that the adjustment process is smooth and does not cause shock to the equipment.

[0076] Through this real-time monitoring and dynamic adjustment mechanism, it can be ensured that the equipment always operates in the best condition, which not only improves production efficiency but also ensures the long-term stability and safety of the equipment.

[0077] In some embodiments of the present application, the initial speed of the variable speed motor is adjusted according to the speed difference, including: a first speed difference and a second speed difference are preset, and the first speed difference is smaller than the second speed difference; a speed adjustment coefficient is set according to the relationship between the speed difference and the first speed difference and the second speed difference, and the initial speed Ni is adjusted based on the set speed adjustment coefficient, i=1, 2, 3; if the speed difference is smaller than the first speed difference, the speed adjustment coefficient is set to the first preset adjustment coefficient a1, and the initial speed is adjusted to a1*Ni; if the speed difference is greater than or equal to the first speed difference, and the speed difference is smaller than the second speed difference, the speed adjustment coefficient is set to the second preset adjustment coefficient a2, and the initial speed is adjusted to a2*Ni; if the speed difference is greater than or equal to the second speed difference, the speed adjustment coefficient is set to the third preset adjustment coefficient a3, and the initial speed is adjusted to a3*Ni; wherein, 1>a1>a2>a3>0.

[0078] In this embodiment, in order to make the real-time speed close to the preset speed, it is necessary to adjust the speed of the variable speed motor, and by adjusting the initial speed, the real-time speed reaches the preset speed.

[0079] In some embodiments of the present application, the bearing weight of the reinstallation auxiliary device is determined according to the height of the wiring board to be installed, including: the wiring board to be installed is fixedly connected to the primary lead, and the bearing weight is the weight and value of the wiring board to be installed and the primary lead; the unit weight of the primary lead is determined, and the weight and value are determined based on the unit weight and the height of the wiring board to be installed;

[0080] The weights and values ​​are determined according to the following formula:

[0081] Wz=W0+d×h;

[0082] Wherein, Wz represents the weight and value of the terminal block to be installed and the primary lead, in kg, W0 represents the initial weight of the terminal block to be installed, in kg, d represents the unit weight of the primary lead, in kg / m, and h represents the height of the terminal block to be installed, in m.

[0083] During the installation of the terminal block, the weight of the reinstallation auxiliary device is first determined based on the height of the terminal block to be installed. The terminal block to be installed is fixedly connected to the primary lead. The primary lead usually refers to the main cable or wire from the power supply to the terminal block. Therefore, the weight should include the weight of the terminal block to be installed itself and the weight of the primary lead. The sum of these two weights is the total weight that the reinstallation auxiliary device needs to be able to safely bear.

[0084] In order to accurately calculate this weight and value, it is necessary to first determine the unit weight of the primary lead. The unit weight refers to the weight of the primary lead per unit length. Once the unit weight is known, the total weight of the primary lead can be calculated by measuring the height of the terminal block to be installed. Adding the total weight of the primary lead to the weight of the terminal block to be installed will give the weight and value that the reinstallation aid needs to carry.

[0085] In some embodiments of the present application, the initial speed of the variable speed motor is adjusted according to the load-bearing weight and the traction force, including: determining the load-bearing gravity of the reassembly auxiliary device according to the load-bearing weight; determining the force difference between the load-bearing gravity and the traction force, and adjusting the initial speed of the variable speed motor according to the force difference.

[0086] In some embodiments of the present application, the initial speed of the variable speed motor is adjusted according to the force difference, including: comparing the bearing gravity with the traction force, if the bearing gravity is smaller than the traction force, then increasing the speed of the variable speed motor according to the force difference; if the bearing gravity is greater than the traction force, then decreasing the speed of the variable speed motor according to the force difference.

[0087] In order to ensure the efficient and safe operation of the reassembly aid under different load conditions, the initial speed of the variable speed motor needs to be precisely adjusted. The system will determine the load-bearing weight of the reassembly aid based on the current load. After determining the load-bearing weight, the next step is to calculate the force difference between the load-bearing weight and the traction force. The traction force refers to the force that the reassembly aid needs to overcome when performing a task, such as lifting an object. This force difference is a key parameter under actual working conditions. It reflects the additional resistance that the reassembly aid needs to overcome under the current load. Finally, based on the calculated force difference, the system will adjust the initial speed of the variable speed motor.

[0088] The initial speed of the variable speed motor is adjusted according to the force difference, and the specific steps are as follows: First, the load-bearing weight and the traction force are compared and analyzed. If the load-bearing weight is less than the traction force, it means that the current traction force is sufficient to overcome the gravity. In order to improve efficiency and response speed, the initial speed of the variable speed motor needs to be increased. After the variable speed motor is increased, the torque of the motor decreases and the traction force decreases. On the contrary, if the load-bearing weight is greater than the traction force, it means that the current traction force is not enough to overcome the gravity, which may cause the equipment to run slowly or stagnate. In this case, the initial speed of the variable speed motor needs to be decelerated to reduce energy consumption and avoid motor overload. The amplitude of the deceleration adjustment can also be determined according to the force difference. The larger the force difference, the larger the amplitude of the deceleration adjustment should be. In this way, it can be ensured that the initial speed of the variable speed motor always matches the actual traction force and load-bearing weight, thereby optimizing the operating efficiency and performance of the equipment.

[0089] Embodiment 2

[0090] On the basis of the above-mentioned embodiment 1, a substation primary lead connection board reinstallation control system of this embodiment is used to apply the substation primary lead connection board reinstallation control method of the above-mentioned embodiment 1, including:

[0091] A data acquisition module is used to obtain the real-time speed of the wiring board to be installed, the traction force of the steel wire rope in the reinstallation auxiliary device and the height of the wiring board to be installed;

[0092] A parameter setting module, used for obtaining the initial weight of the wiring board to be installed, and setting the initial rotation parameters of the variable speed motor according to the initial weight, wherein the initial rotation parameters include an initial rotation speed and an initial direction;

[0093] A state determination module, used to determine the motion state of the wiring board to be installed according to the real-time speed, wherein the motion state includes a uniform speed motion state and a variable speed motion state;

[0094] The parameter adjustment module is used to compare the real-time speed with the preset speed when the movement state of the wiring board to be installed is a uniform movement state, and adjust the initial speed of the variable speed motor according to the comparison result; it is also used to determine the load-bearing weight of the reinstallation auxiliary device according to the height of the wiring board to be installed when the movement state of the wiring board to be installed is a variable speed movement state; and adjust the initial speed of the variable speed motor according to the load-bearing weight and traction force so that the wiring board to be installed reaches a predetermined position for reinstallation.

[0095] The present invention ensures the stability and safety of the terminal block during the reinstallation process by real-time monitoring of the installation speed of the terminal block and the traction force of the wire rope. The setting and real-time adjustment of the initial rotation parameters make the reinstallation process more accurate and reduce the risk of equipment damage caused by improper speed. Intelligent judgment of the motion state and dynamic adjustment of parameters improve the reinstallation efficiency and shorten the reinstallation time of the primary lead terminal block of the substation. The system has a high degree of automation, reduces manual intervention, and reduces the labor intensity of operators and the possibility of operational errors. Through precise control, the accuracy and reliability of the reinstallation of the terminal block are ensured, and the operating efficiency and safety of the entire substation are improved.

[0096] In the description of the present invention, it should be noted that the terms "inside", "outside", "upper", etc. indicate orientations or positional relationships based on the orientations or positional relationships shown in the accompanying 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 cannot be understood as a limitation on the present invention.

[0097] In the description of the present invention, it should be noted that, unless otherwise clearly specified and limited, the term "connection" should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection, or it can be an indirect connection through an intermediate medium, or it can be the internal communication of two components. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0098] Obviously, the described embodiments are only some embodiments of the present invention, not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

Claims

1. A method for controlling the reinstallation of a primary lead wiring board in a substation, characterized in that: The steps include: The reassembly auxiliary device is placed at a designated working position, wherein the reassembly auxiliary device comprises a variable speed motor, a wire drum and a wire rope, wherein the output shaft of the variable speed motor is connected to the wire drum, one end of the wire rope is connected to the wire drum, and a force sensor is arranged on the wire rope, wherein the force sensor is used to detect the traction force of the wire rope; Connecting the free end of the steel wire rope to the wiring board to be installed, and obtaining the initial weight of the wiring board to be installed through a force sensor, wherein the wiring board to be installed is provided with a speed sensor, the speed sensor is used to detect the real-time speed of the wiring board to be installed, and the wiring board to be installed is provided with a position sensor, the position sensor is used to detect the height of the wiring board to be installed; Setting initial rotation parameters of the variable speed motor according to the initial weight, wherein the initial rotation parameters include an initial rotation speed and an initial direction; The speed sensor is used to obtain the real-time speed of the wiring board to be installed, and the motion state of the wiring board to be installed is determined according to the real-time speed, wherein the motion state includes a uniform motion state and a variable speed motion state; If the movement state of the wiring board to be installed is a uniform movement state, the real-time speed is compared with the preset speed, and the initial speed of the variable speed motor is adjusted according to the comparison result; If the movement state of the terminal block to be installed is a variable speed movement state, the traction force of the wire rope and the height of the terminal block to be installed are obtained; The load-bearing weight of the reinstallation auxiliary device is determined according to the height of the terminal block to be installed; the initial speed of the variable speed motor is adjusted according to the load-bearing weight and the traction force so that the terminal block to be installed reaches the predetermined position for reinstallation.

2. A method for controlling the reinstallation of a primary lead terminal board of a substation according to claim 1, characterized in that: Setting the initial rotation parameters of the variable speed motor according to the initial weight specifically includes: A first weight and a second weight are preset, and the first weight is smaller than the second weight; setting an initial speed of the variable speed motor according to a relationship between the initial weight and the first weight and the second weight; If the initial weight is less than the first weight, determining the initial speed of the variable speed motor to be the first speed N1; If the initial weight is greater than or equal to the first weight, and the initial weight is less than the second weight, determining that the initial speed of the variable speed motor is the second speed N2; If the initial weight is greater than or equal to the second weight, the initial rotation speed of the variable speed motor is determined to be a third rotation speed N3; and N1>N2>N3.

3. A method for controlling the reinstallation of a primary lead terminal board of a substation according to claim 2, characterized in that: Comparing the real-time speed with the preset speed specifically includes: If the real-time speed is less than or equal to the preset speed, the initial speed of the variable speed motor is not adjusted; If the real-time speed is greater than the preset speed, a speed difference between the real-time speed and the preset speed is determined, and an initial speed of the variable speed motor is adjusted according to the speed difference.

4. A method for controlling the reinstallation of a primary lead terminal board of a substation according to claim 3, characterized in that: Adjusting the initial speed of the variable speed motor according to the speed difference specifically includes: A first speed difference value and a second speed difference value are preset, and the first speed difference value is smaller than the second speed difference value; setting a speed adjustment coefficient according to the relationship between the speed difference and the first speed difference and the second speed difference, and adjusting the initial speed Ni based on the set speed adjustment coefficient; If the speed difference is less than the first speed difference, the speed adjustment coefficient is set to the first preset adjustment coefficient a1, and the initial speed is adjusted to a1*Ni; If the speed difference is greater than or equal to the first speed difference, and the speed difference is less than the second speed difference, the speed adjustment coefficient is set to the second preset adjustment coefficient a2, and the initial speed is adjusted to a2*Ni; If the speed difference is greater than or equal to the second speed difference, the speed adjustment coefficient is set to the third preset adjustment coefficient a3, and the initial speed is adjusted to a3*Ni; Among them, 1>a1>a2>a3>0; Among them, i=1, 2, 3.

5. A method for controlling the reinstallation of a primary lead terminal board of a substation according to claim 1, characterized in that: Determining the bearing weight of the reinstallation auxiliary device according to the height of the wiring board to be installed specifically includes: The wiring board to be installed is fixedly connected to the primary lead, and the load-bearing weight is the sum of the weights of the wiring board to be installed and the primary lead; determining a unit weight of the primary lead, and determining a weight and a value based on the unit weight and a height of the terminal block to be installed; The weights and values ​​are determined according to the following formula: Wz=W0+d×h; Wherein, Wz represents the weight and value of the terminal block to be installed and the primary lead, in kg, W0 represents the initial weight of the terminal block to be installed, in kg, d represents the unit weight of the primary lead, in kg / m, and h represents the height of the terminal block to be installed, in m.

6. A method for controlling the reinstallation of a primary lead terminal board of a substation according to claim 5, characterized in that: Adjusting the initial speed of the variable speed motor according to the load weight and traction force specifically includes: Determining the bearing weight of the reinstallation auxiliary device according to the bearing weight; A force difference between the bearing weight and the traction force is determined, and an initial rotation speed of the variable speed motor is adjusted according to the force difference.

7. A method for controlling the reinstallation of a primary lead terminal board of a substation according to claim 6, characterized in that: The initial speed of the variable speed motor is adjusted according to the force difference value, specifically including: Comparing the bearing weight with the traction force, if the bearing weight is less than the traction force, adjusting the initial speed of the variable speed motor according to the force difference; If the bearing gravity is greater than the traction force, the initial rotation speed of the variable speed motor is decelerated and adjusted according to the force difference.

8. A method for controlling the reinstallation of a primary lead terminal board of a substation according to claim 1, characterized in that: The variable speed motor is a brushless copper core motor.

9. A method for controlling the reinstallation of a primary lead terminal board of a substation according to claim 1, characterized in that: Also included is a power module for supplying power to the variable speed motor.

10. A substation primary lead terminal board reinstallation control system, used for applying the substation primary lead terminal board reinstallation control method according to any one of claims 1 to 9, characterized in that: include: A data acquisition module is used to obtain the real-time speed of the wiring board to be installed, the traction force of the steel wire rope in the reinstallation auxiliary device and the height of the wiring board to be installed; A parameter setting module, used to obtain the initial weight of the wiring board to be installed, and set the initial rotation parameters of the variable speed motor according to the initial weight, wherein the initial rotation parameters include an initial rotation speed and an initial direction; A state determination module, used to determine the motion state of the wiring board to be installed according to the real-time speed, wherein the motion state includes a uniform speed motion state and a variable speed motion state; The parameter adjustment module is used to compare the real-time speed with the preset speed when the movement state of the wiring board to be installed is a uniform movement state, and adjust the initial speed of the variable speed motor according to the comparison result; it is also used to determine the load-bearing weight of the reinstallation auxiliary device according to the height of the wiring board to be installed when the movement state of the wiring board to be installed is a variable speed movement state; and adjust the initial speed of the variable speed motor according to the load-bearing weight and traction force so that the wiring board to be installed reaches a predetermined position for reinstallation.

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