Eccentricity error suppression method and system of array sensor and array sensor

Abstract

The invention relates to an eccentricity error suppression method and system of an array sensor and the array sensor.The eccentricity error suppression method of the array sensor comprises the steps that the voltage of a conductor to be measured is collected through a plurality of sensors in the array sensor, an eccentricity error suppression model is built through the collected voltage, and when the conductor to be measured deviates from the center, the eccentricity error suppression model is built; the current of the conductor to be measured can be accurately obtained through iterative calculation of the eccentric error suppression model, the measurement accuracy of the array sensor is improved, the measurement precision of the array sensor is improved, and the array sensor is simple in structure and has a good anti-eccentric effect.

Description

Technical Field

[0001] The present invention relates to the technical field of array sensors, and particularly to an eccentric error suppression method, system and array sensor for an array sensor. Background Art

[0002] With the transformation of the energy industry towards clean, low-carbon, safe and efficient development, the power grid and new energy vehicles have an extremely urgent need for high-sensitivity and high-reliability sensors. For the digital transformation of the power grid and the wide-area and distributed panoramic information perception of "power sources, grids, loads, and energy storage", in order to strengthen the observable, measurable, and controllable capabilities of the power system, miniaturized, highly sensitive, and low-power magnetosensitive sensors are required to provide high-precision sensing and measurement capabilities for AC and DC magnetic fields and current signals under complex working conditions, providing an important guarantee for the safe operation and reliable power supply of power grid equipment. Currently, the main methods for current measurement include current transformers, shunt resistors, optical fiber current transformers, zero-flux current transformers, and current sensors based on magnetosensitive chips. The tunneling magnetoresistance device (TMR) is the latest generation of magnetic field measurement technology based on the magnetoresistance effect. It has higher sensitivity compared to traditional Hall devices, anisotropic magnetoresistance devices, and giant magnetoresistance devices, and has broad application prospects in the field of current measurement in the power system.

[0003] When the magnetic sensor does not use a magnetic concentrating ring, when the wire under test deviates from the center, it will cause a decrease in the measurement accuracy of the sensor and affect the measurement precision. Summary of the Invention

[0004] In order to solve the problems existing in the prior art, the present invention proposes an eccentric error suppression method for an array sensor, and the method includes: Obtaining a plurality of target voltages of the conductor under test through a plurality of sensors in the array sensor, wherein the plurality of sensors are distributed at different positions on a preset circumference of the conductor under test, and the preset circumference takes the conductor under test as the center and a preset radius as the radius; Constructing an eccentric error suppression model based on the plurality of target voltages; Performing iterative calculation on the eccentric error suppression model based on the initial position and initial current of the conductor under test to obtain the target current of the conductor under test.

[0005] Optionally, the performing iterative calculation on the eccentric error suppression model based on the initial position and initial current of the conductor under test to obtain the target current of the conductor under test includes: Taking the initial position and the initial current as initial data; Performing iterative calculation on the eccentric error suppression model based on the initial data to obtain the current iterative data; Calculating the difference between the current iterative data and the previous iterative data to obtain an iterative difference; When the iteration difference is greater than or equal to a preset threshold, the current iteration data is used as initial data, and the eccentricity error suppression model is continuously iterated until the iteration difference is less than the preset threshold; When the iteration difference is less than a preset threshold, the current in the current iteration data is used as the target current of the conductor to be measured.

[0006] Optionally, constructing an eccentricity error suppression model based on the multiple target voltages includes: constructing an eccentricity error suppression matrix based on the multiple target voltages; Calculating partial derivatives of the eccentricity error suppression matrix to obtain a Jacobian matrix; An eccentricity error suppression model is constructed based on the eccentricity error suppression matrix and the Jacobian matrix.

[0007] Optionally, constructing an eccentricity error suppression matrix based on the multiple target voltages includes: An eccentricity error suppression matrix is constructed based on the multiple target voltages, the preset radius and the preset calibration coefficient.

[0008] Optionally, the eccentricity error suppression matrix satisfies the following formula:

[0009] in, is the eccentricity error suppression matrix, and are matrix elements respectively.

[0010] Optionally, the eccentricity error suppression model satisfies the following formula:

[0011] in, is the Jacobian matrix, is the eccentricity error suppression matrix, is the preset iteration coefficient.

[0012] Optionally, the acquiring multiple target voltages of the conductor to be measured by using multiple sensors in the array sensor includes: The current of the conductor to be measured is collected by multiple sensors in the array sensor to obtain multiple standby currents; converting the plurality of standby currents into a plurality of standby voltages; The standby voltage among the multiple standby voltages whose standby voltage is less than or equal to a preset voltage threshold is taken as a target voltage to obtain multiple target voltages.

[0013] Based on the same inventive concept, the present invention also provides an eccentricity error suppression system for an array sensor, the system comprising: A voltage acquisition unit for acquiring a plurality of target voltages of a conductor to be measured through a plurality of sensors in an array sensor, wherein the plurality of sensors are distributed at different positions on a preset circumference of the conductor to be measured, and the preset circumference is centered on the conductor to be measured and has a preset radius; A model construction unit for constructing an eccentric error suppression model based on the plurality of target voltages; A current determination unit for performing iterative calculation on the eccentric error suppression model based on the initial position and initial current of the conductor to be measured to obtain the target current of the conductor to be measured.

[0014] Optionally, the current determination unit is specifically configured to: Take the initial position and the initial current as initial data; Perform iterative calculation on the eccentric error suppression model based on the initial data to obtain current iterative data; Calculate the difference between the current iterative data and the previous iterative data to obtain an iterative difference; When the iterative difference is greater than or equal to a preset threshold, take the current iterative data as the initial data and continue to perform iterative calculation on the eccentric error suppression model until the obtained iterative difference is less than the preset threshold; When the iterative difference is less than the preset threshold, take the current as the target current of the conductor to be measured.

[0015] Optionally, the model construction unit includes: A suppression matrix module for constructing an eccentric error suppression matrix based on the plurality of target voltages; A Jacobian matrix module for calculating the partial derivative of the eccentric error suppression matrix to obtain a Jacobian matrix; A model construction module for constructing an eccentric error suppression model based on the eccentric error suppression matrix and the Jacobian matrix.

[0016] Optionally, the suppression matrix module is specifically configured to: Construct an eccentric error suppression matrix based on the plurality of target voltages, the preset radius, and a preset calibration coefficient.

[0017] Optionally, the eccentric error suppression matrix satisfies the following formula:

[0018] Wherein, is the eccentric error suppression matrix, and are matrix elements respectively.

[0019] Optionally, the eccentricity error suppression model satisfies the following formula:

[0020] in, is the Jacobian matrix, is the eccentricity error suppression matrix, is the preset iteration coefficient.

[0021] Optionally, the voltage acquisition unit is specifically used to: The current of the conductor to be measured is collected by multiple sensors in the array sensor to obtain multiple standby currents; converting the plurality of standby currents into a plurality of standby voltages; The standby voltage among the multiple standby voltages whose standby voltage is less than or equal to a preset voltage threshold is taken as a target voltage to obtain multiple target voltages.

[0022] Based on the same inventive concept, the present invention also provides an array sensor with eccentricity error suppression, the array sensor comprising: a plurality of sensors and a controller; The multiple sensors are distributed at different positions on a preset circumference of the conductor to be measured, the preset circumference has the conductor to be measured as a circle center and a preset radius as a radius; The controller is connected to the plurality of sensors; The controller is used to obtain multiple target voltages of the conductor to be measured through multiple sensors in the array sensor, and to construct an eccentricity error suppression model based on the multiple target voltages; based on the initial position and initial current of the conductor to be measured, the eccentricity error suppression model is iteratively calculated to obtain the target current of the conductor to be measured.

[0023] Optionally, the number of sensors in the array sensor is greater than or equal to 3.

[0024] Optionally, the number of sensors in the array sensor is 6.

[0025] Optionally, the multiple sensors are evenly distributed at different positions on a preset circle.

[0026] Compared with the prior art, the present invention has the following beneficial effects: The present invention provides a method and system for suppressing eccentricity error of an array sensor and the array sensor. The method for suppressing eccentricity error of the array sensor collects the voltages of a conductor to be measured through multiple sensors in the array sensor, constructs an eccentricity error suppression model based on the collected voltages. When the conductor to be measured deviates from the center, iterative calculation is performed on the eccentricity error suppression model, so as to accurately obtain the current of the conductor to be measured, improve the measurement accuracy of the array sensor, be beneficial to improving the measurement precision of the array sensor, and the structure of the array sensor is simple and has a good anti-eccentricity effect. Description of the Drawings

[0027] Figure 1 It is a flowchart of a method for suppressing eccentricity error of an array sensor provided by the present invention; Figure 2 It is a schematic diagram of a traditional array sensor module provided by the present invention; Figure 3 It is a schematic diagram of the distribution of multiple sensors provided by the present invention; Figure 4 It is a calculation flowchart of multiple sensors provided by the present invention; Figure 5 It is a block diagram of a system for suppressing eccentricity error of an array sensor provided by the present invention; Figure 6 It is a schematic diagram of the distribution of multiple sensors provided by the present invention; Figure 7 It is a schematic diagram of the distribution of multiple sensors provided by the present invention. Detailed Embodiments

[0028] Embodiment 1: Figure 1 It is a flowchart of a method for suppressing eccentricity error of an array sensor provided by the present invention. As Figure 1 shown, the method may include the following steps: In step 101, multiple target voltages of a conductor to be measured are obtained through multiple sensors in the array sensor.

[0029] Wherein, the multiple sensors are distributed at different positions on a preset circumference of the conductor to be measured, and the preset circumference takes the conductor to be measured as the center and a preset radius as the radius.

[0030] In step 102, an eccentricity error suppression model is constructed based on the multiple target voltages.

[0031] In step 103, iterative calculation is performed on the eccentricity error suppression model based on the initial position and initial current of the conductor to be measured to obtain the target current of the conductor to be measured.

[0032] It should be noted that the sensor can be a TRM (Tunnel Magneto-Resistance Sensor) sensor, a Hall sensor, a shunt, or other sensors. Figure 2 Schematic diagram of a traditional array sensor module provided by the present invention. Figure 2 As shown, without compensating for the eccentricity error (the problem of the prior art), the error of the traditional array sensor module can reach 65%. In order to reduce the error caused by eccentricity, the present invention proposes a structure and processing method for anti-eccentricity (i.e., the eccentricity error suppression method for the array sensor), which has the advantages of simple structure and high precision.

[0033] Optionally, the above Figure 1 Possible implementation manners of step 103 may include: taking the initial position and the initial current as initial data; based on the initial data, performing iterative calculations on the eccentricity error suppression model to obtain current iterative data; calculating the difference between the current iterative data and the previous iterative data to obtain an iterative difference; when the iterative difference is greater than or equal to a preset threshold, taking the current iterative data as the initial data and continuing to perform iterative calculations on the eccentricity error suppression model until the obtained iterative difference is less than the preset threshold; when the iterative difference is less than the preset threshold, taking the current iterative data as the target current of the conductor to be measured.

[0034] Among them, the eccentricity error suppression model satisfies the following formula:

[0035] Among them, is the Jacobian matrix, is the eccentricity error suppression matrix, is the preset iteration coefficient.

[0036] Optionally, the above Figure 1 Possible implementation manners of step 102 may include: based on the multiple target voltages, constructing an eccentricity error suppression matrix; calculating the partial derivative of the eccentricity error suppression matrix to obtain the Jacobian matrix; based on the eccentricity error suppression matrix and the Jacobian matrix, constructing an eccentricity error suppression model.

[0037] Among them, the constructing the eccentricity error suppression matrix based on the multiple target voltages in the above implementation manners may include: based on the multiple target voltages, the preset radius, and the preset calibration coefficient, constructing the eccentricity error suppression matrix. The eccentricity error suppression matrix satisfies the following formula:

[0038] Among them, is the eccentricity error suppression matrix, and are matrix elements respectively.

[0039] Optionally, the above Figure 1 Possible implementation methods of the shown step 101 may include: collecting the current of the conductor to be measured through multiple sensors in the array sensor to obtain multiple standby currents; converting the multiple standby currents into multiple standby voltages; and taking the standby voltage among the multiple standby voltages that is less than or equal to a preset voltage threshold as the target voltage to obtain multiple target voltages.

[0040] For example, Figure 2 For example, when the conductor to be measured is not at the center of the module, the magnetic field measurement will be inaccurate because the magnetic field size at each TMR sensor position is different.

[0041] Generally, according to the Biot-Savart law, the relationship between the magnetic field B, the current I, and the distance R between the sensor and the conductor to be measured can be determined, as shown in formula (1): (1) in, is the magnetic permeability of the conductor to be measured.

[0042] The relationship between the TMR sensor output voltage V and the magnetic field is shown in the following formula (2): (2) Among them, S is the sensitivity of the sensor, G is the amplification factor of the sensor processing circuit, and B is the magnetic field.

[0043] The relationship between voltage, current and radius is obtained from formulas (1) and (2): (3) Wherein, k is defined as the calibration coefficient (ie, the preset calibration coefficient).

[0044] like Figure 3 As shown, the multiple sensors can be three TMR sensors, the distances between the conductor to be measured and the three TMR sensors are a, b, and c, respectively, the angles are α, β, and γ, the sensor center is defined as the coordinate origin (0, 0), and the position of the current to be measured is (x, y). The magnetic sensitive directions of the three sensors are tangent to the circle, and the magnetic field is vector-decomposed. For TMR1, we have: (4) From formula (4), we can get (5) Similarly, there are: (6) (7) Among them, V1, V2, and V3 above are the output voltages (i.e., target voltages) of three sensors respectively.

[0045] Define the matrix (i.e., the eccentricity error suppression matrix) as: (8) Where is the eccentricity error suppression matrix, , , are the elements in the eccentricity error suppression matrix.

[0046] Solve the Jacobian matrix for formula (8), and we can get (9) Where , , are the elements in the eccentricity error suppression matrix, that is , , .

[0047] Define the independent variable matrix z as: (10) Define the initial value ( x 0, y 0, I 0), define the error value e, , after multiple iterations, if △z < e, it is considered that the current ( x , y , I ) is the final value.

[0048] (11) Where is the Jacobian matrix, is the eccentricity error suppression matrix.

[0049] As Figure 4 shown, multiple sensors can be six TMR sensors, Figure 4 is the calculation flow chart of multiple sensors provided by the present invention. Adjust and define the calibration coefficient k, then collect the output voltages V of six sensors respectively, define a threshold voltage (i.e., preset threshold) Vth. When V > Vth, it is considered that the sensor is saturated. Then use the non-saturated sensors for solution calculation.

[0050] The present invention suppresses the eccentricity error of sensors through array-distributed sensors and the iterative method to achieve high-precision acquisition, uses the pseudo-inverse algorithm for solution, prevents the singular matrix from appearing in the iterative process, and considering the magnetic saturation of the sensors, in practical applications, the number of TMRs is set to six.

[0051] The prior art generally uses the average value algorithm to suppress the eccentric error, but its accuracy is poor. As shown in Table 1, to improve the accuracy, the number of TMRs needs to be increased, but the more the number, the higher the cost.

[0052]

[0053] Table 1 The simulation results in Table 1 above are obtained by simulating the eccentric error suppression method and the mean value algorithm provided by the present invention through a simulation software (e.g., Python). This simulation result is obtained by simulating the eccentric error suppression method and the mean value algorithm provided by the present invention under ideal conditions, without considering the influencing factors in actual measurements such as sensor uniformity, external magnetic field interference, and acquisition circuit on the measurement error result.

[0054] Through the iterative algorithm, the present invention can achieve high-precision data acquisition with a small number of TMRs, having a good anti-eccentric effect, low cost, high precision, and strong practicability.

[0055] In the above technical solution, the method for suppressing the eccentric error of the array sensor collects the voltages of the conductor to be measured through multiple sensors in the array sensor, constructs an eccentric error suppression model based on the collected voltages. When the wire to be measured deviates from the center, the eccentric error suppression model is iteratively calculated, and the current of the conductor to be measured can be accurately obtained, improving the measurement accuracy of the array sensor, being beneficial to improving the measurement precision of the array sensor, and the structure of the array sensor is simple, having a good anti-eccentric effect.

[0056] Embodiment 2: Figure 5 The block diagram of an eccentric error suppression system for an array sensor provided by the present invention, the system includes: A voltage acquisition unit, configured to acquire multiple target voltages of the conductor to be measured through multiple sensors in the array sensor, wherein the multiple sensors are distributed at different positions on a preset circumference of the conductor to be measured, and the preset circumference takes the conductor to be measured as the center and a preset radius as the radius; A model construction unit, configured to construct an eccentric error suppression model based on the multiple target voltages; A current determination unit, configured to perform iterative calculation on the eccentric error suppression model based on the initial position and initial current of the conductor to be measured to obtain the target current of the conductor to be measured.

[0057] Optionally, the current determination unit is specifically configured to: Take the initial position and the initial current as initial data; Based on the initial data, iteratively calculate the eccentricity error suppression model to obtain current iterative data; Difference is calculated between the current iteration data and the last iteration data to obtain an iteration difference; When the iteration difference is greater than or equal to a preset threshold, the current iteration data is used as initial data, and the eccentricity error suppression model is continuously iterated until the iteration difference is less than the preset threshold; When the iteration difference is less than a preset threshold, the current in the current iteration data is used as the target current of the conductor to be measured.

[0058] Optionally, the model building unit includes: A suppression matrix module, used for constructing an eccentricity error suppression matrix based on the multiple target voltages; A Jacobian matrix module, used for calculating the partial derivatives of the eccentricity error suppression matrix to obtain a Jacobian matrix; A model building module is used to build an eccentricity error suppression model based on the eccentricity error suppression matrix and the Jacobian matrix.

[0059] Optionally, the suppression matrix module is specifically used to: An eccentricity error suppression matrix is constructed based on the multiple target voltages, the preset radius and the preset calibration coefficient.

[0060] Optionally, the eccentricity error suppression matrix satisfies the following formula:

[0061] in, is the eccentricity error suppression matrix, and are matrix elements respectively.

[0062] Optionally, the eccentricity error suppression model satisfies the following formula:

[0063] in, is the Jacobian matrix, is the eccentricity error suppression matrix, is the preset iteration coefficient.

[0064] Optionally, the voltage acquisition unit is specifically used to: The current of the conductor to be measured is collected by multiple sensors in the array sensor to obtain multiple standby currents; converting the plurality of standby currents into a plurality of standby voltages; The standby voltage among the multiple standby voltages whose standby voltage is less than or equal to a preset voltage threshold is taken as a target voltage to obtain multiple target voltages.

[0065] Embodiment 3: The present invention further provides an array sensor with eccentric error suppression, and the array sensor includes: a plurality of sensors and a controller; The plurality of sensors are distributed at different positions on a preset circumference of a conductor to be measured, and the preset circumference takes the conductor to be measured as the center and a preset radius as the radius; The controller is connected to the plurality of sensors; The controller is configured to obtain a plurality of target voltages of the conductor to be measured through the plurality of sensors in the array sensor, construct an eccentric error suppression model based on the plurality of target voltages; perform iterative calculation on the eccentric error suppression model based on the initial position and initial current of the conductor to be measured to obtain the target current of the conductor to be measured.

[0066] Optionally, the number of sensors in the array sensor is greater than or equal to 3.

[0067] Optionally, the number of sensors in the array sensor is 6.

[0068] Optionally, the plurality of sensors are evenly distributed at different positions on the preset circumference.

[0069] It should be noted that the number of TMR sensors is at least 3. Considering the magnetic field saturation situation, generally 6 TMR sensors are selected as the optimal solution. Less than 6 may result in less than 3 sensors being in the non-saturated state, and more than 6 will lead to an increase in cost.

[0070] Exemplarily, Figure 6 FIG. is a schematic diagram of the distribution of a plurality of sensors provided by the present invention. As Figure 6 shown, the plurality of sensors can be 3 TMR sensors, and the 3 TMR sensors are evenly distributed at different positions on the preset circumference.

[0071] Figure 7 FIG. is a schematic diagram of the distribution of a plurality of sensors provided by the present invention. As Figure 7 shown, the plurality of sensors can be 6 TMR sensors, and the 6 TMR sensors are evenly distributed at different positions on the preset circumference.

[0072] The above are only embodiments of the present invention and are not used to limit the present invention. Any modifications, equivalent replacements, improvements, etc. made within the spirit and principle of the present invention are included within the scope of the claims of the present invention awaiting approval.

Claims

1. A method for suppressing the eccentricity error of an array sensor, characterized in that The method comprises: Acquire multiple target voltages of the conductor to be measured by using multiple sensors in the array sensor, wherein the multiple sensors are distributed at different positions on a preset circumference of the conductor to be measured, the preset circumference has the conductor to be measured as a circle center and a preset radius as a radius; Based on the multiple target voltages, construct an eccentricity error suppression model; Based on the initial position and initial current of the conductor to be measured, an eccentricity error suppression model is iteratively calculated to obtain a target current of the conductor to be measured.

2. The method according to claim 1, wherein The iterative calculation of the eccentricity error suppression model based on the initial position and initial current of the conductor to be measured to obtain the target current of the conductor to be measured includes: Using the initial position and the initial current as initial data; Based on the initial data, iteratively calculate the eccentricity error suppression model to obtain current iterative data; Difference is calculated between the current iteration data and the last iteration data to obtain an iteration difference; When the iteration difference is greater than or equal to a preset threshold, the current iteration data is used as initial data, and the eccentricity error suppression model is continuously iterated until the iteration difference is less than the preset threshold; When the iteration difference is less than a preset threshold, the current in the current iteration data is used as the target current of the conductor to be measured.

3. The method according to claim 1, wherein The step of constructing an eccentricity error suppression model based on the multiple target voltages includes: constructing an eccentricity error suppression matrix based on the multiple target voltages; Calculating partial derivatives of the eccentricity error suppression matrix to obtain a Jacobian matrix; An eccentricity error suppression model is constructed based on the eccentricity error suppression matrix and the Jacobian matrix.

4. The method according to claim 3, wherein The step of constructing an eccentricity error suppression matrix based on the multiple target voltages includes: An eccentricity error suppression matrix is constructed based on the multiple target voltages, the preset radius and the preset calibration coefficient.

5. The method according to claim 3 or 4, characterized in that, The eccentricity error suppression matrix satisfies the following formula: Among them, is the eccentric error suppression matrix, and are matrix elements respectively.

6. The method according to any one of claims 1-3, characterized in that, The eccentricity error suppression model satisfies the following formula: Among them, is the Jacobian matrix, is the eccentric error suppression matrix, is the preset iteration coefficient.

7. The method according to claim 1, characterized in that, The method of obtaining a plurality of target voltages of the conductor to be measured by using a plurality of sensors in the array sensor comprises: The current of the conductor to be measured is collected by a plurality of sensors in the array sensor to obtain a plurality of standby currents; converting the plurality of standby currents into a plurality of standby voltages; The standby voltage among the multiple standby voltages whose standby voltage is less than or equal to a preset voltage threshold is taken as a target voltage to obtain multiple target voltages.

8. An eccentric error suppression system for an array sensor, characterized in that, The system comprises: A voltage acquisition unit, used for acquiring a plurality of target voltages of the conductor to be measured through a plurality of sensors in the array sensor, wherein the plurality of sensors are distributed at different positions on a preset circumference of the conductor to be measured, the preset circumference has the conductor to be measured as a circle center and a preset radius as a radius; A model building unit, configured to build an eccentricity error suppression model based on the plurality of target voltages; The current determination unit is used to iteratively calculate the eccentricity error suppression model based on the initial position and initial current of the conductor to be measured, so as to obtain the target current of the conductor to be measured.

9. An array sensor with eccentric error suppression, characterized in that, The array sensor comprises: a plurality of sensors and a controller; The multiple sensors are distributed at different positions on a preset circumference of the conductor to be measured, and the preset circumference takes the conductor to be measured as the center and a preset radius as the radius; The controller is connected to the multiple sensors; The controller is configured to obtain multiple target voltages of the conductor to be measured through the multiple sensors in the array sensor, construct an eccentric error suppression model based on the multiple target voltages; perform iterative calculation on the eccentric error suppression model based on the initial position and initial current of the conductor to be measured, and obtain the target current of the conductor to be measured.

10. The array sensor according to claim 9, wherein The number of sensors in the array sensor is greater than or equal to 3.

11. The array sensor according to claim 10, characterized in that, The number of sensors in the array sensor is 6.

12. The array sensor according to claim 9, wherein The multiple sensors are evenly distributed at different positions on the preset circumference.

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