Power transmission line multi-equipment cooperative pneumatic vibration deicing device and method

Abstract

The invention provides a pneumatic vibration deicing device and method for power transmission line multi-equipment cooperation, and aims to solve the problems of power failure operation, frequent on-line and off-line of equipment, poor terrain adaptability, high line damage risk and the like in a traditional deicing method. The device is stably hung on the power transmission line for a long time through the hanging lugs, the servo motor drives the air cylinder to reciprocate to drive the vibration rod to vibrate up and down, the power transmission line accurately shakes in a small range, and efficient deicing is achieved. And the icing condition of the line is monitored in real time through the camera and fed back to the remote terminal. According to the invention, a phase-locked loop synchronous control method of a master-slave cross-coupling PID control architecture is adopted, high synchronization of vibration signals among a plurality of devices is ensured, and the cooperative deicing efficiency is improved. The device is small in size and light, can be hung on the power transmission line for a long time, effectively avoids damage to the power transmission line, and remarkably improves the deicing safety and reliability of the power transmission line.

Description

Technical Field

[0001] The present invention relates to an ice removal device, in particular to a pneumatic vibration ice removal device and method for multi-device cooperation of a transmission line. Background Art

[0002] At present, thermal ice melting and mechanical ice removal are common ice removal methods for overhead transmission lines. Thermal ice melting uses increasing the current density of the transmission line and generating Joule heat to raise the surface temperature of the line, thereby melting and removing the ice coating. However, power outage is required during the ice melting process, resulting in economic losses; in addition, a costly DC converter station is also required for DC electro-thermal ice melting. Mechanical ice removal uses mechanical force to cause the ice coating to break and fall off. Common methods include the pulley scraping method and robot ice removal. The pulley scraping method is to control the pulley to move on the line by ground operators, causing stress on the line and scraping off the ice coating. However, this method is time-consuming and limited by geographical conditions, and is not suitable for high altitude and complex terrain areas. Robot ice removal uses the devices carried by the robot to perform ice removal by hitting, impacting or milling, but its working environment is affected by factors such as climate and terrain, and the operation is complex, requiring frequent up and down of the line. Summary of the Invention

[0003] The technical problem to be solved by the present invention is to provide a pneumatic vibration ice removal device and method for multi-device cooperation of a transmission line, which can avoid damage to the transmission line, avoid the need for ice removal equipment to repeatedly go up and down the line; avoid defects such as power outage operation; the device is small and light, can be suspended on the line for a long time, and can effectively achieve ice removal to ensure good ice removal effect.

[0004] To solve the above technical problems, the technical solution adopted by the present invention is:

[0005] A pneumatic vibration ice removal device for multi-device cooperation of a transmission line includes a housing, the upper end of the housing is connected to the transmission line through a hanging ear; a cylinder is installed inside the housing, and the cylinder is driven by an air pump to move up and down telescopically; the cylinder is connected to a vibration rod, and the end of the vibration rod is connected to the transmission line through a transmission head.

[0006] An electromagnetic valve is installed on the air path of the cylinder, and the electromagnetic valve is connected to a control circuit board.

[0007] The hanging ear includes a base, a hanging ring is installed on the base, and the hanging ring is detachably installed on the transmission line.

[0008] A high-voltage power taking device is arranged inside the hanging ear, and the high-voltage power taking device and a storage battery supply power to the pneumatic vibration ice removal device.

[0009] The pneumatic vibration ice removal devices are arranged in multiple groups at both ends of each transmission line.

[0010] A camera is installed on the outer side of the front end of the housing.

[0011] A pneumatic vibration ice removal method for multi-device collaboration on transmission lines, comprising the following steps:

[0012] Step 1), during initial installation, technicians firmly install the device at both ends of the transmission line through the hanging ears. After the left and right hanging ears of the device are fixed, the upper layer of the device's shell closely adheres to the transmission line.

[0013] Step 2), when this ice removal device is in the working state, the control circuit board receives a remote working signal; first, the control circuit board issues an order to control the servo motor to start. The servo motor drives the air pump to work, and the air pump drives the cylinder to expand and contract, causing the vibrating rod to move up and down. By quickly switching the solenoid valve, the cylinder moves back and forth quickly, and then the vibrating rod moves up and down frequently within a certain range, making the transmission line vibrate precisely and slightly within a controllable range, thereby removing the ice; subsequently, the camera will monitor the ice covering state in real time and transmit the information to the control circuit board in real time, and finally the control center transmits it to the remote working end.

[0014] Step 3), when the control circuit board receives a stop working signal, the servo motor stops working, causing the vibrating rod to stop vibrating, and the ice removal device exits the working state.

[0015] During the ice removal process, the control circuit board adopts a phase-locked loop synchronization control method with a master-slave cross-coupled PID control architecture, that is, designating the solenoid valve of a pneumatic vibration ice removal device as the master node to generate a reference signal, and the remaining solenoid valves form slave nodes; driving the remaining solenoid valves to track the reference signal; calculating the current phase difference and amplitude difference between adjacent solenoid valves, and outputting a compensation amount through a cross-coupled PID controller.

[0016] The phase-locked loop synchronization control method specifically includes:

[0017] Step 1), initialize the master node and slave nodes, and set the initial current frequency f and initial amplitude A;

[0018] f = K f ·F f ;

[0019] A = K A ·(1 + αΔT);

[0020] where F f is the adjustable force, ΔT is the environmental temperature change amount, K A , K f and α are preset coefficients;

[0021] Step 2), collect the real-time signals x i (t) of each solenoid valve and the environmental temperature T;

[0022] Step 3), calculate the global synchronization error E sync , where is the average value of all solenoid valve signals;

[0023]

[0024] Step 4), generate a compensation control quantity u through a cross-coupled PID controller comp,i ;

[0025]

[0026] In the formula, K p is the proportional coefficient, which is used to accelerate the response speed of the system so that the system can quickly track the target value; K i is the integral coefficient, which is used to eliminate the steady-state error of the system and improve the control accuracy of the system; K d is the differential coefficient, which is used to predict the change trend of the system, adjust the system in advance, and suppress the oscillation of the system;

[0027] Step 5), superimpose the main node tracking control quantity u track,i and the compensation quantity u comp,i , and output the total control quantity u i = u track,i + u comp,i ;

[0028] Step 6), dynamically adjust the reference signal according to the environmental parameters until the ice layer is cleared.

[0029] In Step 4), the parameters K p , K i and K d are adjusted online through the following rules:

[0030] When the detected force change rate is is the force change rate threshold, increase K p and reset the integral term;

[0031] When the synchronization error continuously exceeds the threshold E s ′ ync , enable the adaptive algorithm to optimize K i .

[0032] The present invention provides a pneumatic vibration ice removal device and method for multi-device cooperation of a transmission line, having the following technical effects:

[0033] 1), this device drives the line to vibrate through the transmission head, avoiding damage to the transmission line.

[0034] 2), the device can be long-term mounted on the transmission line, avoiding the need for the ice removal equipment to repeatedly go up and down the line.

[0035] 3), The device is small and light, and can work under live devices, avoiding power outage operations.

[0036] 4), It can be suspended on the line for a long time and can effectively de-ice, ensuring good de-icing effect.

[0037] 5), The phase-locked loop synchronization control method realizes high synchronization and dynamic optimization of multi-device vibrations through a master-slave architecture, cross-coupled PID compensation, adaptive adjustment of environmental parameters, and a fault tolerance mechanism. Brief Description of the Drawings

[0038] The present invention will be further described below in conjunction with the drawings and embodiments:

[0039] Figure 1 It is a schematic diagram of the overall structure of the present invention (one side plate removed).

[0040] Figure 2 It is a schematic diagram of the partial structure at the vibration rod of the present invention.

[0041] Figure 3 It is a schematic diagram of the structure at the hanging ear of the present invention.

[0042] Figure 4 It is a schematic diagram of the structure at the vibration rod of the present invention.

[0043] Figure 5 It is a schematic diagram of the installation position of the present invention.

[0044] Figure 6 It is a schematic diagram of the high-voltage induction power-taking device of the present invention.

[0045] Figure 7 It is a flowchart of the operation of the present invention.

[0046] In the figure: servo motor 1, air pump 1.1, solenoid valve 2, control circuit board 3, camera 4, storage battery 5, cylinder 6, vibration rod 7, transmission line 8, hanging ear 9, transmission head 10, housing 11. Detailed Embodiments

[0047] As Figure 1 shown, a pneumatic vibration de-icing device for multi-device cooperation on a transmission line includes a housing 11. The housing 11 is made of high-strength alloy material, has good weather resistance, and can withstand extreme climate conditions such as strong wind, low temperature, and heavy snow. At the top of the housing 11, there are two groups of hanging ears 9, which respectively include a left hanging ear and a right hanging ear. The left hanging ear and the right hanging ear can be placed on the transmission line to ensure that the upper end of the housing 11 is closely attached to the transmission line, thereby ensuring the stability of the de-icing operation and ensuring that it can be hung on the transmission line for a long time without relative movement.

[0048] As Figure 1 - Figure 2 shown, a vibrating rod mechanism is installed inside the housing 11, and the vibrating rod mechanism is used to generate vibrations. The vibrating rod mechanism includes a servo motor 1, and the servo motor 1 is controlled to start and stop through a control circuit board 3. The servo motor 1 drives an air pump 1.1 to work, and the air pump 1.1 drives a cylinder 6 to expand and contract, so that the vibrating rod 7 moves up and down. The solenoid valve 2 is mainly used to control the air flow direction of the air pump to realize the reciprocating movement of the cylinder 6. The solenoid valve 2 is connected to the control circuit board 3. By quickly switching the solenoid valve 2, the cylinder 6 makes a rapid reciprocating movement, and then the vibrating rod 7 moves up and down frequently within a certain range, so that the transmission line 8 can be precisely and slightly jittered within a controllable range, thereby removing ice. Subsequently, the camera 4 will monitor the ice-covered state in real time and transmit the information to the control circuit board 3 in real time, and finally the control center will transmit it to the remote working end.

[0049] As Figure 2 shown, the hanging ear includes a base 9.1, and a hanging ring 9.2 is installed on the base 9.1. The hanging ring 9.2 is composed of two upper and lower half rings, and a perforated ear plate is arranged on the outside. The perforated ear plates of the two upper and lower half rings are connected and fixed by bolts. A plurality of pneumatic vibration ice removal devices are arranged at both ends of each transmission line, and the plurality of pneumatic vibration ice removal devices cooperate to remove ice. The design of the hanging ear enables the device to be firmly suspended on the line without being restricted by the terrain or line structure. It is convenient for rapid deployment and disassembly. This design greatly simplifies the installation process and reduces the maintenance cost.

[0050] In addition, a high-voltage power-taking device is installed inside the hanging ring 9.2, and the high-voltage power-taking device can assist in power supply.

[0051] The high-voltage power-taking device uses a current transformer composed of a high-voltage transmission line, an iron core and a coil to obtain energy; after rectification and filtering, it outputs: the power-taking power adjustment circuit can monitor the output voltage in real time, and dynamically adjust the magnetic flux of the coil through a bidirectional thyristor to achieve voltage stabilization and power adjustment. When the current in the transmission wire is sufficient to provide normal operation of the load, the charging circuit will charge the battery module until it is full; if the current in the transmission wire is low, resulting in insufficient output power, the battery module will automatically supply power to ensure continuous power supply without interruption.

[0052] As Figure 1 shown, preferably, a control circuit board 3 is installed inside the housing 11. The control circuit board 3 can receive remote working control signals and is connected to the device at the other end of the line to ensure the synchronization of the working frequency; at the same time, the control circuit board 3 is also used to control the start, stop and rotation speed of the servo motor 1.

[0053] As Figure 1As shown, preferably, the servo motor 1 and the control circuit board 3 are powered by the storage battery 5, and at the same time, the high-voltage power taking device can supply power to the storage battery 5 and the servo motor 1 and the control circuit board 3 in the de-icing device.

[0054] As Figure 1 shown, preferably, a camera 4 is installed at the right end of the outer shell 11, and the camera 4 transmits the line condition to the remote control terminal in real time through the control circuit 3.

[0055] A pneumatic vibration de-icing device and method for multi-device cooperation of a transmission line include the following steps:

[0056] Step 1): In the initial installation stage, technicians use the hanging ear device to firmly fix the devices at both ends of the transmission line respectively, with one set at each end. After the left hanging ear and the right hanging ear of the device are fixed, the upper layer of the outer shell 11 of the device closely adheres to the transmission line. This installation method does not require an additional support structure, is suitable for various complex geographical environments, and ensures the long-term stable operation of the device.

[0057] Step 2): When this de-icing device is in the working state, the control circuit board 3 receives a remote working signal; first, the control circuit board 3 issues an order to control the servo motor 1 to start, and the air cylinder 6 drives the vibrating rod 7 to vibrate up and down, causing the transmission line 8 to vibrate precisely and slightly within a controllable range, thereby removing the ice coating; subsequently, the camera 4 will monitor the ice coating state in real time and transmit the information to the control circuit board 3 in real time, and finally the control center transmits it to the remote working end.

[0058] The high-voltage power taking device is installed inside the hanging ear 9, and uses a current transformer composed of a high-voltage transmission line, an iron core, and a coil to obtain energy; after rectification and filtering, the output is: the power taking power regulation circuit can monitor the output voltage in real time, and dynamically regulate the magnetic flux of the coil through a bidirectional thyristor to achieve voltage stabilization and power regulation. When the current in the transmission wire is sufficient to supply the normal operation of the load, the charging circuit will charge the battery module group until it is full; if the current in the transmission wire is low, resulting in insufficient output power, the battery module will automatically supply power to ensure continuous power supply without interruption.

[0059] Use the vibration principle to remove most of the ice coating on the transmission line 8; at the same time, the camera 4 feeds back the real-time line condition to the remote control terminal to monitor the line de-icing situation;

[0060] Step 3): When the control circuit board 3 receives a stop working signal, the servo motor 1 stops working, causing the vibrating rod 7 to stop vibrating, and the de-icing device exits the working state.

[0061] The present invention proposes a phase-locked loop synchronization control method, and the control circuit board (3) adopts a master-slave cross-coupled PID control architecture, including:

[0062] (1) Main node control unit: Designate a solenoid valve (2) of a pneumatic vibration de-icing device as the main node, and generate a reference signal; the solenoid valves (2) of the remaining pneumatic vibration de-icing devices form slave nodes;

[0063] (2) Slave node control unit, driving the remaining solenoid valves (2) to track the reference signal;

[0064] (3) Synchronization error compensator, calculating the current phase difference Δφ i and current amplitude difference ΔA between adjacent solenoid valves (2), and outputting a compensation amount through a PID controller.

[0065] Δφ i =φ i -φ i+1

[0066] ΔA=ΔA i -ΔA i+1

[0067] A pneumatic vibration de-icing device and method for collaborative operation of multiple devices on a transmission line, wherein the reference signal is a current dynamically adjustable signal, and its frequency f and amplitude A satisfy:

[0068] f=K f ·F f (1);

[0069] A=K A ·(1 + αΔT) (2);

[0070] In the formula, F f is the adjustable force, ΔT is the environmental temperature change amount, K A , K f and α are preset coefficients.

[0071] A phase-locked loop synchronization control method includes the following steps:

[0072] Step 1: Initialize the main node and slave nodes, set the initial current frequency f and initial amplitude A, generate a reference signal by designating a main node, and the remaining slave nodes track this signal to ensure that the vibration frequencies and phases of all devices are highly consistent, and the centralized control of the main node simplifies the coordination logic between multiple devices and avoids signal conflicts that may occur in distributed control;

[0073] Step 2: Collect the real-time signals x i (t) of each solenoid valve and the environmental temperature T;

[0074] Step 3: Calculate the global synchronization error E using formula (3) sync , where is the average value of all solenoid valve signals, which can provide real-time feedback on the overall deviation, quickly correct the phase and amplitude differences, and shorten the system response time;

[0075]

[0076] Step Four: Generate a compensation control quantity u through a cross-coupled PID controller comp,i , which can effectively eliminate the accumulation of local errors, improve global synchronization, make the vibration of each section of the transmission line uniform, and avoid the de-icing blind area caused by local out-of-synchronization;

[0077]

[0078] In the formula, K p is the proportional coefficient, which is used to accelerate the response speed of the system so that the system can quickly track the target value; K i is the integral coefficient, which is used to eliminate the steady-state error of the system and improve the control accuracy of the system; K d is the differential coefficient, which is used to predict the change trend of the system, adjust the system in advance, and suppress the oscillation of the system;

[0079] Step Five: Superimpose the main node tracking control quantity u track,i and the compensation quantity u comp,i , and output the total control quantity u i = u track,i + u comp,i ;

[0080] Step Six: Dynamically adjust the reference signal according to the environmental parameters until the ice layer is cleared. The camera provides real-time feedback on the icing state to the control center, and combined with the dynamic adjustment of the phase-locked loop, a "perception-control-execution" closed loop is formed to optimize the de-icing timing and intensity.

[0081] In Step Four, the parameters (K p , K i , K d ) of the cross-coupled PID controller are adjusted online according to the following rules:

[0082] (1) When the detected force change rate is detected, is the force change rate threshold, increase K p and reset the integral term;

[0083] (2) When the synchronization error continuously exceeds the threshold E s ′ ync , enable the adaptive algorithm to optimize K i .

[0084] The above Step Five also includes a fault tolerance mechanism:

[0085] (1) If the synchronization error of the pneumatic vibration de-icing device at a certain point continuously exceeds the limit, mark it as a faulty node and switch the main node. The remaining nodes quickly resynchronize to ensure the continuous operation of the system. This mechanism improves the fault tolerance ability and reduces the need for manual intervention;

[0086] (2) The amplitude of the reference signal of the remaining solenoid valves is redistributed according to formula (5), where N is the total number of nodes.

[0087]

[0088] In the formula: A new is the amplitude of the reference current signal of the remaining solenoid valves after redistribution; A represents the amplitude of the original reference signal.

[0089] The reference signal is a current phase-adjustable signal, and the slave nodes dynamically follow the phase of the master node through a phase-locked loop (PLL). The phase adjustment amount Δφ satisfies:

[0090] Δφ = K φ ·∫(f master - f slave )dt (6);

[0091] Among them, K φ is the phase-locked gain coefficient, f master and f slave are the real-time current frequencies of the electromagnetic air valves of the master and slave nodes.

[0092] As Figure 5 shown, in the preferred case, multi-power de-icing devices based on worm motors are installed at both ends of each transmission line. The design of its hanging ears ensures that the equipment can be firmly suspended on the line, unaffected by the line structure or terrain, facilitating quick installation and disassembly. This design effectively simplifies the installation process and reduces the maintenance cost.

[0093] As Figure 6 shown, in the preferred case, the servo motor 1 and the control circuit board 3 are powered by the battery 5. At the same time, the de-icing device can be externally connected to a high-voltage power-taking device to provide electrical energy for the battery, the servo motor 1, and the control circuit board 3. The high-voltage induction power-taking device is installed inside the hanging ear, obtains energy by using a current transformer composed of a high-voltage transmission line, an iron core, and a coil, and outputs it after rectification and filtering. The power-taking power adjustment circuit can monitor the output voltage in real time and dynamically adjust the coil magnetic flux through a bidirectional thyristor to achieve voltage stabilization and power adjustment. When the current in the transmission wire is sufficient to maintain the normal operation of the load, the charging circuit will charge the battery module until it is full; if the current in the transmission wire is low, resulting in insufficient output power, the battery module will automatically supply power to ensure continuous power supply without interruption.

[0094] As Figure 7As shown in the figure, this paper designs a pneumatic vibration ice removal device for transmission lines. The device design scheme covers the control system, monitoring system and power supply system to achieve a control mode that combines manual control, remote control and automatic control of the transmission line ice removal system. In the automatic control mode, the monitoring system uses a camera to monitor the icing state of the transmission line in real time and feeds the data back to the control system. The control system judges the start and stop of the motor and solenoid valve, thereby controlling the cylinder vibration to remove ice. In the remote control mode, the monitoring system uploads the icing state to the remote control terminal through the communication system, and the remote control terminal judges whether to start or stop the ice removal device. The power supply system adopts a method of combining a high-voltage power-taking device with a battery module to ensure continuous and stable power supply of the device under different working conditions.

Claims

1. A pneumatic vibration ice removal device for multi-device cooperation of a transmission line, characterized in that: It includes a housing (11), and the upper end of the housing (11) is connected to a transmission line (8) through a hanging ear (9); a cylinder (6) is installed inside the housing (11), and the cylinder (6) is driven by an air pump (1.1) to move up and down telescopically; the cylinder (6) is connected to a vibration rod (7), and the end of the vibration rod (7) is connected to the transmission line (8) through a transmission head (10).

2. The pneumatic vibration ice removal device for multi-device collaboration of a transmission line according to claim 1, characterized in that: A solenoid valve (2) is installed on the air path of the cylinder (6), and the solenoid valve (2) is connected to a control circuit board (3).

3. The pneumatic vibration ice removal device for collaborative operation of multiple devices on a transmission line according to claim 2, characterized in that: The hanging ear (9) includes a base (9.1), a hanging ring (9.2) is installed on the base (9.1), and the hanging ring (9.2) is detachably installed on the transmission line (8).

4. The pneumatic vibration ice removal device for collaborative operation of multiple devices on a transmission line according to claim 3, characterized in that: A high-voltage power taking device is arranged inside the hanging ear (9), and the high-voltage power taking device and a storage battery (5) supply power to the pneumatic vibration de-icing device.

5. The pneumatic vibration ice removal device for collaborative operation of multiple devices on a transmission line according to claim 4, characterized in that: The pneumatic vibration de-icing devices are arranged in multiple groups at both ends of each transmission line (8).

6. The pneumatic vibration ice removal device for collaborative operation of multiple devices on a transmission line according to claim 5, characterized in that: A camera (4) is installed on the outer side of the front end of the housing (11).

7. A method for de-icing using a pneumatic vibration de-icing device for multi-device cooperation on a transmission line according to claim 6, comprising the following steps: Step 1): During initial installation, technicians firmly install the device at both ends of the transmission line through the hanging ears. After the left hanging ear (901) and the right hanging ear (902) of the device are fixed, the upper layer of the housing (11) of the device closely adheres to the transmission line; Step 2): When this de-icing device is in the working state, for all de-icing devices on the line, the control circuit board (3) receives a remote working signal; first, the control circuit board (3) issues an order to control the servo motor (1) to start. The servo motor (1) drives the air pump (1.1) to work, and the air pump (1.1) drives the cylinder (6) to expand and contract, so that the vibration rod (7) moves up and down. The solenoid valve (2) is quickly switched to make the cylinder (6) move back and forth quickly, and then the vibration rod (7) moves up and down frequently within a certain range, making the transmission line (8) vibrate precisely and slightly within a controllable range, thereby removing the ice coating; subsequently, the camera (4) will monitor the ice coating state in real time and transmit the information to the control circuit board (3) in real time, and finally the control center transmits it to the remote working end; Step 3): When the control circuit board (3) receives a stop working signal, the servo motor (1) stops working, making the vibration rod (7) stop vibrating, and the de-icing device exits the working state.

8. A method for deicing using a pneumatic vibration deicing device for multi-device collaboration in a transmission line, characterized in that: During de-icing, the control circuit board (3) adopts a phase-locked loop synchronous control method with a master-slave cross-coupled PID control architecture, that is, designating the solenoid valve (2) of one pneumatic vibration de-icing device as the master node to generate a reference signal, and the remaining solenoid valves (2) form slave nodes; driving the remaining solenoid valves (2) to track the reference signal; calculating the current phase difference and amplitude difference between adjacent solenoid valves (2), and outputting a compensation amount through a cross-coupled PID controller.

9. A method for deicing using a pneumatic vibration deicing device for multi-device collaboration in a transmission line, characterized in that: The phase-locked loop synchronous control method specifically includes: Step 1): Initialize the master node and the slave nodes, and set the initial current frequency f and the initial amplitude A; f = K f ·F f (1); A = K A ·(1 + αΔT) (2); Among them, F f is the adjustable force, ΔT is the change in ambient temperature, K A , K f and α are preset coefficients; Step 2): Collect the real-time signal x i (t) of each solenoid valve and the ambient temperature T; Step 3), calculate the global synchronization error E sync , where is the average value of all solenoid valve signals; Step 4), generating a compensation control quantity u through a cross-coupled PID controller comp,i ; where, K p is the proportionality coefficient, which is used to accelerate the response speed of the system so that the system can quickly track the target value; K i is the integral coefficient, which is used to eliminate the steady-state error of the system and improve the control accuracy of the system; K d is the differential coefficient, which is used to predict the change trend of the system, adjust the system in advance, and suppress the oscillation of the system; Step 5), superimpose the main node tracking control quantity u track,i and the compensation quantity u comp,i , and output the total control quantity u i = u track,i + u comp,i ; Step 6): Dynamically adjust the reference signal according to the environmental temperature T until the ice layer is cleared.

10. A method for de-icing using a pneumatic vibration de-icing device for multi-device collaboration in a transmission line, characterized in that: In step 4), the parameters K p , K i and K d are adjusted online according to the following rules: (1) When the rate of change of force is detected at this time, is the threshold of the rate of change of force, increase K p and reset the integral term; (2) When the synchronization error continuously exceeds the threshold E s ′ ync , the adaptive algorithm is enabled to optimize K i .

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