Transmission conductor windage yaw galloping detection method and system based on MEMS inertial measurement unit
By setting a MEMS inertial measurement unit at the maximum sag position of the transmission line and combining it with a Kalman filter to construct state observation and motion equations, the problems of insufficient accuracy and poor environmental adaptability in wind-induced vibration detection of transmission lines were solved, and efficient and accurate detection was achieved in different environments.
Patent Information
- Application Number
- CN202510866402.8
- Authority / Receiving Office
- CN · China
- Patent Type
- Applications(China)
- Current Assignee / Owner
- Filing Date
- 2025-06-26
- Publication Date
- 2025-09-12
AI Technical Summary
Existing technologies have problems with insufficient accuracy and poor environmental adaptability when monitoring wind-induced vibration of transmission lines, and it is difficult to achieve efficient and accurate detection, especially under severe weather conditions.
A MEMS inertial measurement unit is used to set a MEMS accelerometer, MEMS magnetometer and MEMS angular velocity meter at the maximum sag position of the conductor. Combined with the Kalman filter, the state observation equation and motion equation of the conductor are constructed, and the Euler angle observation value and prediction value are integrated to achieve accurate detection.
The accuracy of wind-induced vibration detection of transmission lines has been improved, and the dynamic characteristics of the lines can be accurately identified in real time under different environmental conditions, thereby reducing the misjudgment rate and reducing dependence on bad weather.
Smart Images
Figure CN120628018A_ABST
Abstract
Description
Technical Field
[0001] The present invention relates to the technical field of power system monitoring, and in particular to a method and system for detecting windage yaw of a transmission line based on a MEMS inertial measurement unit. Background Art
[0002] In modern power transmission systems, transmission lines, as the critical arteries of power transmission, are crucial for their safe and stable operation. Conductors, as core components of transmission lines, are often exposed to a variety of complex natural environments and external interference. Wind-induced conductor sway has long been a major threat to transmission line safety.
[0003] Due to the influence of ice on the surface of the conductor, when the specific wind direction and wind speed conditions match the structural characteristics of the conductor itself, the conductor will produce low-frequency, large-amplitude vibrations. This wind-induced vibration phenomenon can cause phase flashover of the conductors. The instantaneous strong current will seriously damage the conductors and cause line short-circuit faults; frequent wind-induced vibrations will also cause excessive wear or even damage to the hardware, weakening the stability of the conductor fixing and supporting structure; in more serious cases, it may cause line tripping and power outages, which will have a great impact on industrial production and residents' lives, and bring huge economic losses.
[0004] Traditional methods for monitoring wind-induced vibrations in transmission lines have numerous limitations. For example, video-based monitoring methods are significantly affected by weather conditions. In inclement weather such as rain, snow, and fog, image acquisition quality degrades significantly, and effective images may even be impossible to obtain, resulting in monitoring failure. Furthermore, when the monitoring range is large, a large number of cameras must be deployed, which is costly. While tension sensor-based monitoring methods can reflect changes in conductor force to a certain extent, they struggle to accurately distinguish between tension changes caused by wind-induced vibrations in transmission lines and other factors, such as tension changes caused by thermal expansion and contraction of the conductor due to temperature changes, resulting in a high rate of misjudgment.
[0005] With the rapid development of micro-electro-mechanical systems (MEMS) technology, MEMS inertial measurement units (IMUs) have emerged. Their significant advantages, such as small size, light weight, low cost, and low power consumption, have opened up new possibilities for detecting wind-induced fluctuations in power transmission lines. However, how to efficiently and accurately utilize MEMS IMUs to accurately detect wind-induced fluctuations in power transmission lines still requires further research and exploration. Summary of the Invention
[0006] In response to the problems existing in the prior art, the present invention provides a method and system for detecting wind-induced vibration of transmission lines based on a MEMS inertial measurement unit. According to the measurements of the MEMS inertial measurement unit, the Euler angle observation values and Euler angle prediction values of the conductor are integrated to improve the accuracy of Euler angle detection, thereby realizing accurate detection of wind-induced vibration of transmission lines.
[0007] To achieve the above technical objectives, the present invention adopts the following technical solution: a method for detecting windage yaw of a transmission line based on a MEMS inertial measurement unit, characterized by comprising:
[0008] A MEMS inertial measurement unit is provided at the maximum sag position of the conductor, wherein the MEMS inertial measurement unit includes: a MEMS accelerometer, a MEMS magnetometer and a MEMS angular velocity meter;
[0009] Measuring the acceleration of the conductor using a MEMS accelerometer, measuring the magnetic field strength of the conductor using a MEMS magnetometer, combining the measured acceleration and magnetic field strength into a measurement vector of the conductor, calculating the Euler angle state vector of the conductor, constructing a state observation equation for the conductor, and obtaining an Euler angle observation value of the conductor;
[0010] Measuring the angular velocity of the wire using a MEMS angular velocity meter, and constructing a motion equation of the wire in combination with the Euler angle state value of the wire to predict the Euler angle of the wire;
[0011] Using a Kalman filter to fuse the Euler angle observation value of the conductor and the Euler angle prediction value of the conductor to obtain the Euler angle estimation value of the conductor;
[0012] If the Euler angle estimation value of the conductor exceeds a set threshold, the conductor experiences wind yaw galloping; otherwise, the conductor does not experience wind yaw galloping.
[0013] Furthermore, the Euler angle state vector of the wire is expressed as:
[0014] s k =[r,p,y] T
[0015] Among them, s k represents the Euler angle state vector of the wire at time k, r represents the roll angle of the wire at time k, a y represents the acceleration component in the y-axis direction measured by the MEMS accelerometer at time k, a z represents the acceleration component in the z-axis direction measured by the MEMS accelerometer at time k; p represents the pitch angle of the wire at time k, a xrepresents the acceleration component in the x-axis direction measured by the MEMS accelerometer at time k; y represents the yaw angle of the wire at time k, y = -arctan(H y ,H x ), (H x ,H y ) represents the triaxial magnetic field intensity measured by the MEMS magnetometer at time k (B x ,B y ,B z ) is projected onto the horizontal reference plane, and T represents the transpose.
[0016] Furthermore, the construction process of the state observation equation of the conductor is:
[0017] Z k =H -1 x k +v k
[0018] Among them, Z k represents the measurement vector of the wire at time k, x k represents the Euler angle observation value of the wire at time k, v k represents the observation noise vector at time k, and H represents the observation matrix constructed by the measurement vector of the conductor at time k.
[0019] Furthermore, the observation matrix H is expressed as:
[0020]
[0021] Furthermore, the process of constructing the motion equation of the wire is as follows:
[0022]
[0023] in, represents the predicted Euler angle of the wire at time k, s k-1 represents the Euler angle state value of the wire at time k-1, F represents the state transfer matrix of the wire, I represents the unit matrix, Δt represents the instantaneous change of time; U k-1 represents the angular velocity of the wire measured by the MEMS angular velocity meter at time k-1, G represents the input matrix constructed by the Euler angle state value of the wire, W k-1 represents the noise vector at time k-1.
[0024] Furthermore, the input matrix G is expressed as:
[0025]
[0026] Furthermore, the process of obtaining the Euler angle estimation value of the wire is as follows:
[0027]
[0028] in, represents the estimated Euler angle of the wire at time k, represents the predicted Euler angle value of the wire at time k, Z k represents the measurement vector of the conductor at time k, H represents the observation matrix constructed by the measurement vector of the conductor at time k, K k represents the Kalman gain at time k.
[0029] Furthermore, the Kalman gain K at the k moment k The calculation process is:
[0030]
[0031] in, represents the Euler angle observation value x of the wire at time k k The predicted values of the Euler angles of the wire The covariance matrix of E[] represents the covariance matrix; R represents the covariance matrix of the observation noise vector, and T represents the transpose.
[0032] Furthermore, if the roll angle in the Euler angle estimate of the conductor exceeds a corresponding set threshold, the conductor undergoes twisting motion around its own axis; if the pitch angle in the Euler angle estimate of the conductor exceeds a corresponding set threshold, the conductor moves violently up and down; if the yaw angle in the Euler angle estimate of the conductor exceeds a corresponding set threshold, the conductor swings left and right on the horizontal plane.
[0033] Furthermore, the present invention also provides a transmission line windage and galloping detection system based on a MEMS inertial measurement unit, comprising: a MEMS inertial measurement unit, a state observation equation building module, a motion equation building module, a Kalman filter, and a transmission line windage and galloping detection module;
[0034] The MEMS inertial measurement unit includes: a MEMS accelerometer, a MEMS magnetometer and a MEMS angular velocity meter, wherein the MEMS accelerometer is used to measure the acceleration of the wire, the MEMS magnetometer is used to measure the magnetic field strength of the wire, and the MEMS angular velocity meter is used to measure the angular velocity of the wire;
[0035] The state observation equation construction module constructs the state observation equation of the conductor according to the measured acceleration and magnetic field strength of the conductor, and obtains the Euler angle observation value of the conductor;
[0036] The motion equation construction module constructs the motion equation of the wire according to the measured acceleration, magnetic field strength and angular velocity of the wire, and predicts the Euler angle of the wire;
[0037] The Kalman filter fuses the Euler angle observation value of the conductor and the Euler angle prediction value of the conductor to obtain the Euler angle estimation value of the conductor;
[0038] The transmission line windage yaw and galloping detection module is used to determine whether the conductor is experiencing windage yaw and galloping based on the Euler angle estimation value of the conductor.
[0039] Compared with the prior art, the present invention has the following beneficial effects: the transmission line wind yaw and flutter detection method and system based on the MEMS inertial measurement unit of the present invention obtains the Euler angle observation value of the conductor by constructing the state observation equation of the conductor, and at the same time constructs the motion equation of the conductor to predict the Euler angle of the conductor, and uses the Kalman filter to fuse the Euler angle observation value and the predicted value of the conductor, thereby improving the accuracy of Euler angle detection, thereby realizing accurate detection of the wind yaw and flutter of the transmission line; in addition, the observation matrix in the state observation equation is solved by the partial derivative method, and the nonlinear mapping is converted into a linearized partial derivative matrix, which meets the use requirements of the Kalman filter and avoids the filtering failure problem caused by the direct use of nonlinear functions; at the same time, the state transfer matrix in the motion equation is solved by the partial derivative method, which can fully consider the coupling effect between the Euler angles, consider the nonlinear dependence of the state change rate of the Euler angle on the current state, and can adjust in real time to reflect the sudden change of angular velocity, more accurately describe the dynamic characteristics of the wind yaw and flutter of the transmission line, and improve the prediction accuracy of the Euler angle. BRIEF DESCRIPTION OF THE DRAWINGS
[0040] Figure 1 This is a flow chart of a method for detecting windage yaw of a transmission line based on a MEMS inertial measurement unit according to the present invention;
[0041] Figure 2 Schematic diagram of the calculation principle of the roll angle in the present invention. DETAILED DESCRIPTION
[0042] The technical solution of the present invention will be further explained below with reference to the accompanying drawings.
[0043] like Figure 1 This is a flow chart of a method for detecting windage vibration of a transmission line based on a MEMS inertial measurement unit according to the present invention. The method comprises:
[0044] Because the vibration of transmission lines is most pronounced at the location of maximum sag when they yaw and sway in the wind, installing a MEMS inertial measurement unit (IMU) at this location improves detection accuracy. Using the MEMS IMU to detect wind-induced yaw and sway in transmission lines avoids the problem of inability to detect or inaccurate detection due to harsh environments. MEMS IMUs include MEMS accelerometers, MEMS magnetometers, and MEMS angular velocity meters.
[0045] The acceleration of the conductor is measured by a MEMS accelerometer, and the magnetic field strength of the conductor is measured by a MEMS magnetometer. The measured acceleration and magnetic field strength are combined to form the measurement vector Z of the conductor. x ,a y ,a z ,H x ,H y ] T , calculate the Euler angle state vector s of the wire k =[r,p,y] T , constructing the state observation equation of the conductor and obtaining the Euler angle observation value of the conductor can avoid the problem of low video monitoring accuracy in bad weather.
[0046] The Euler angle state vector s of the wire in the present invention is k represents the Euler angle state vector of the wire at time k, and r represents the roll angle of the wire at time k. The roll angle is the rotation of the wire around the x-axis. When the coordinate system rotates around the x-axis, the position of the wire's x-axis does not change, but the position of the yz-axis changes. The direction of the gravitational acceleration is always vertically downward and collinear with the z-axis. Therefore, the roll angle after rotation is the angle between the gravitational acceleration and the z-axis after rotation around the x-axis, as shown in Figure 2 After the rotation, a right triangle is constructed in the yz plane. The angle between the direction of gravity acceleration and the z-axis after rotation is equal to the ratio of the acceleration components on the yz axis measured by the accelerometer at this time. a y represents the acceleration component in the y-axis direction measured by the MEMS accelerometer at time k, a z represents the acceleration component in the z-axis direction measured by the MEMS accelerometer at time k; p represents the pitch angle of the wire at time k. The pitch angle is the rotation of the coordinate system around the y-axis. After the rotation, the position of the wire on the y-axis does not change, but the position on the xz-axis changes. The direction of gravity acceleration is vertically downward, so the pitch angle can be solved by constructing a right triangle in the xz plane. a x= represents the acceleration component in the x-axis direction measured by the MEMS accelerometer at time k; y represents the yaw angle of the wire at time k. Since the yaw angle rotates around the z-axis, the angle between the gravity acceleration direction and the z-axis will not change before and after the rotation. Using MEMS acceleration calculation will cause a large error. Therefore, the MEMS magnetometer is used to calculate the size of the yaw angle. The magnetic field strength of the xyz axis is projected into the horizontal plane, and a right triangle is constructed in the xy plane to solve the yaw angle y = -arctan(H y ,H x ), (H x ,H y ) represents the triaxial magnetic field intensity measured by the MEMS magnetometer at time k (B x ,B y ,B z ) is projected onto the horizontal reference plane, and T represents the transpose.
[0047] From the above description, we can see that the relationship between the Euler angle measurement vector and the state vector of the conductor is a nonlinear one, but the Kalman filter processes a linear relationship. In order to be applicable to the subsequent Kalman filter, linearization is required. According to the linearization principle of the observation equation, the state observation equation of the conductor can be obtained: Z k =H -1 x k +v k , where the observation matrix H describes the relationship between a small change in the measurement vector and the Euler angle observation vector x of the wire k The linear relationship between the changes is constructed by the measurement vector of the wire; v k represents the observation noise vector at time k.
[0048] The construction process of the observation matrix H in the present invention is as follows:
[0049] (1) The rolling angle of the conductor at time k Find the partial derivative: Respectively The values of are taken as the elements of the first row, second column and third column of the observation matrix H. Since the calculation of the rolling angle of the wire is the same as a x It is irrelevant, so the element in the first row and first column of the observation matrix H is 0;
[0050] (2) The pitch angle of the conductor at time k Find the partial derivative: Respectively The value of is taken as the element of the second row, first column and third column of the observation matrix H. The calculation of the elevation angle of the wire is the same as a y It is irrelevant, so the element in the second row and second column of the observation matrix H is 0;
[0051] (3) The yaw angle y of the conductor at time k = -arctan(H y ,H x ) for H x Find the partial derivative: Will The value of is taken as the element of the third row and fourth column of the observation matrix H;
[0052] (4) The yaw angle y of the conductor at time k = -arctan(H y ,H x ) for H y Find the partial derivative: Will The value of is taken as the element of the third row and fifth column of the observation matrix H, so that the observation matrix H is expressed as:
[0053]
[0054] The observation matrix in the state observation equation of the present invention is solved by taking partial derivatives, converting the nonlinear mapping into a linearized partial derivative matrix, meeting the use requirements of the Kalman filter and avoiding the problem of filtering failure caused by directly using nonlinear functions. In addition, the partial derivative results are consistent with the sensor measurement principle. For example, the partial derivative of the roll angle with respect to the acceleration component of the z-axis is negative, indicating that when the acceleration of the z-axis increases, the roll angle decreases, which is consistent with the component change law of the gravitational acceleration in the rotating coordinate system. Finally, the observation matrix changes dynamically with the change of the working point. When the wind yaw amplitude of the transmission line changes, the observation matrix will be adjusted in real time, so that it can adapt to the measurement characteristics under different working conditions, thereby improving the accuracy of the state observation equation.
[0055] Since the wire is also affected by acceleration and noise when it moves, if only the Euler angle calculated by MEMS accelerometer and MEMS magnetometer is used to measure the wire's posture, the result may have a large error. Therefore, a MEMS angular velocity meter is used to measure the wire's three-axis angular velocity U k =[g x ,g y ,g z ] T , combined with the Euler angle state value of the wire, the motion equation of the wire is constructed to predict the Euler angle of the wire. Specifically:
[0056] According to the definition of Euler angle and rotation matrix, we can get:
[0057]
[0058] Among them, R x (r), R y (p) and R z (x) are all rotation matrices, Each rotation operation will change the coordinate system on which subsequent rotations are based. According to the definition of Euler angles, the roll angle is calculated first, then the pitch angle, and finally the yaw angle. Finally, in the IMU coordinate system, the angular velocity of the roll angle undergoes a rotation from x to y and then to z, and the pitch angle undergoes a rotation from x to y. Since the yaw angle rotates around the z axis, the position of the z axis does not change, and we can get:
[0059]
[0060] In discrete time, assuming that the angular velocity of the wire does not change much between time k and time k+1, The value at time k is approximately regarded as the average value during this period. According to the basic principle of integration, Get the equation of motion Where Δt represents the instantaneous change in time, represents the predicted Euler angle value of the wire at time k, The change of includes two parts: one is the continuation of the Euler angle state vector at the previous moment, and the other is the change rate of the Euler angle state. The state transition matrix based on the Jacobian matrix can reflect the sensitivity of the state change rate of the Euler angle to the Euler angle state, thereby constructing the standard motion equation: Where F represents the state transfer matrix of the wire, I represents the identity matrix, which is used to reflect the continuation of the Euler angle state vector from the previous moment. It is used to reflect the sensitivity of the state change rate of the Euler angle to the Euler angle state; G represents the input matrix constructed by the Euler angle state value of the conductor, which is used to measure the influence of the measurement vector on the Euler angle prediction value of the conductor. U k-1 It represents the angular velocity of the wire measured by the MEMS angular velocity meter at time k-1. The input matrix G can accurately describe the contribution of the measurement vector to the state transition. W k-1 represents the noise vector at time k-1.
[0061] The state transfer matrix in the motion equation of the present invention shows that the current Euler angle value is affected not only by the angular velocity, but also by the Euler angle at the previous moment, which conforms to the physical law of rigid body motion, and when the angular velocity is zero, F k=I, the state remains unchanged, which is consistent with the fact that the Euler angles of the conductor remain unchanged when it is stationary in actual scenarios. Secondly, when the transmission line dances with wind, the rotation around its own three axes does not exist independently, but affects each other. The partial derivative method is used to solve it, which can fully consider the coupling effect between the Euler angles and the nonlinear dependence of the state change rate of the Euler angles on the current state. It can also adjust in real time to respond to sudden changes in angular velocity, and more accurately describe the dynamic characteristics of the wind-induced dance of the transmission line.
[0062] If only the measurement values of the MEMS accelerometer and MEMS magnetometer are used to calculate the Euler angle observation value, the Euler angle observation value will deviate greatly from the true value due to the significant influence of external environmental factors. Therefore, a Kalman filter is used to fuse the Euler angle observation value of the conductor and the Euler angle prediction value of the conductor to obtain the Euler angle estimation value of the conductor, reduce the error between the estimated value and the true value, and improve the accuracy of Euler angle detection.
[0063] Since the noise factor is uncontrollable in the calculation of the Euler angle estimate of the wire, the observation equation Z k =H -1 x k +v k and the equations of motion Rewritten as: x k =HZ k and
[0064] According to the basic idea of the recursive algorithm, we can get: Use the residuals between the observed and predicted values, i.e. To correct the predicted value, the size of the correction is controlled by the gain coefficient M. The residual indicates the degree of inconsistency between the observed value and the predicted value. The smaller the residual, the closer the observed value and the predicted value are. The final estimated value will be closer to the predicted value. If the residual is relatively large, it means that at least one of the observed value and the predicted value is abnormal. At this time, the gain coefficient M is needed for correction. The smaller M, the smaller the correction amplitude, and the larger M, the larger the correction amplitude. Note MH = K k , set M=K k H -1 Substitute the estimated Euler angle of the wire into Among them, K k represents the Kalman gain at time k;
[0065] In order to calculate the Kalman gain K at time k k , so that the error between the Euler angle estimate and the true value is minimized, the error needs to be The variance is the smallest, the error satisfies the normal distribution, and the variance of the error is minimized, that is, the trace of the covariance matrix of the error is minimized. The covariance matrix of the error is calculated as P = E[eeT ] and use the trace of the covariance matrix to K k Taking the partial derivative, we get: in, represents the Euler angle observation value x of the wire at time k k Euler angle prediction value of the wire The covariance matrix of R represents the covariance matrix of the observation noise vector, and T represents the transpose;
[0066] According to the state space equations constructed by the state observation equations and motion equations of the wire and We can get:
[0067]
[0068] Among them, P k-1 Represents the covariance matrix of the error at time k-1 Q represents the noise covariance matrix of the motion equations.
[0069] The calculated Kalman gain K at time k k Substituting the Euler angle estimate of the wire back into the calculation formula, we can get the Euler angle estimate of the wire.
[0070] If the Euler angle estimate of the conductor exceeds the set threshold, the conductor will experience wind-induced dancing; otherwise, the conductor will not experience wind-induced dancing. Specifically, the roll angle represents the rotation angle of the conductor around its own longitudinal axis, the pitch angle represents the rotation angle of the conductor around the horizontal axis, and the yaw angle represents the rotation angle of the conductor around the vertical axis. If the roll angle in the Euler angle estimate of the conductor exceeds the corresponding set threshold, the conductor will experience torsional motion around its own axis; if the pitch angle in the Euler angle estimate of the conductor exceeds the corresponding set threshold, the conductor will move violently up and down; if the yaw angle in the Euler angle estimate of the conductor exceeds the corresponding set threshold, the conductor will swing left and right on the horizontal plane. As long as one angle exceeds the set threshold, it means that the conductor has experienced wind-induced dancing, thereby realizing accurate detection of wind-induced dancing of transmission lines from three dimensions, effectively solving the problem of limited environment for wind-induced dancing detection of transmission lines and waste of manpower and material resources.
[0071] In one technical solution of the present invention, a transmission line windage and galloping detection system based on a MEMS inertial measurement unit is also provided, comprising: a MEMS inertial measurement unit, a state observation equation building module, a motion equation building module, a Kalman filter, and a transmission line windage and galloping detection module;
[0072] The MEMS inertial measurement unit includes: a MEMS accelerometer, a MEMS magnetometer, and a MEMS angular velocity meter, wherein the MEMS accelerometer is used to measure the acceleration of the conductor, the MEMS magnetometer is used to measure the magnetic field strength of the conductor, and the MEMS angular velocity meter is used to measure the angular velocity of the conductor;
[0073] The state observation equation construction module constructs the state observation equation of the conductor according to the measured acceleration and magnetic field strength of the conductor, and obtains the Euler angle observation value of the conductor;
[0074] The motion equation construction module constructs the motion equation of the wire based on the measured acceleration, magnetic field strength and angular velocity of the wire and predicts the Euler angle of the wire;
[0075] The Kalman filter fuses the Euler angle observation value and the Euler angle prediction value of the conductor to obtain the Euler angle estimation value of the conductor;
[0076] The transmission line windage yaw and galloping detection module is used to determine whether the conductor is experiencing windage yaw and galloping based on the Euler angle estimation value of the conductor.
[0077] In one technical solution of the present invention, a computer-readable storage medium is further provided, storing a computer program, wherein the computer program enables a computer to execute a method for detecting windage-induced galloping of a power transmission line based on a MEMS inertial measurement unit.
[0078] In one technical solution of the present invention, an electronic device is also provided, including: a memory, a processor, and a computer program stored in the memory and runnable on the processor. When the processor executes the computer program, a method for detecting windage and swaying of a transmission line based on a MEMS inertial measurement unit is implemented.
[0079] In the embodiments disclosed herein, computer storage media can be tangible media that can contain or store programs for use by or in conjunction with an instruction execution system, device, or apparatus. Computer storage media can include, but are not limited to, electronic, magnetic, optical, electromagnetic, infrared, or semiconductor systems, devices, or equipment, or any suitable combination of the foregoing. More specific examples of computer storage media can include electrical connections based on one or more lines, portable computer disks, hard disks, random access memories (RAM), read-only memories (ROM), erasable programmable read-only memories (EPROM or flash memory), optical fibers, portable compact disk read-only memories (CD-ROMs), optical storage devices, magnetic storage devices, or any suitable combination of the foregoing.
[0080] Those skilled in the art will appreciate that the units and algorithm steps of each example described in conjunction with the embodiments disclosed in this application can be implemented in electronic hardware or a combination of computer software and electronic hardware. Whether these functions are performed in hardware or software depends on the specific application and design constraints of the technical solution. Professional and technical personnel can use different methods to implement the described functions for each specific application, but such implementation should not be considered to be beyond the scope of this application.
[0081] The above are merely preferred embodiments of the present invention. The scope of protection of the present invention is not limited to the above embodiments. All technical solutions based on the principles of the present invention are within the scope of protection of the present invention. It should be noted that for those skilled in the art, various improvements and modifications that do not depart from the principles of the present invention should be considered within the scope of protection of the present invention.
Claims
1. A method for detecting windage vibration of a transmission line based on a MEMS inertial measurement unit, characterized in that: include: A MEMS inertial measurement unit is provided at the maximum sag position of the conductor, wherein the MEMS inertial measurement unit includes: a MEMS accelerometer, a MEMS magnetometer and a MEMS angular velocity meter; Measuring the acceleration of the conductor using a MEMS accelerometer, measuring the magnetic field strength of the conductor using a MEMS magnetometer, combining the measured acceleration and magnetic field strength into a measurement vector of the conductor, calculating the Euler angle state vector of the conductor, constructing a state observation equation for the conductor, and obtaining an Euler angle observation value of the conductor; Measuring the angular velocity of the wire using a MEMS angular velocity meter, and constructing a motion equation of the wire in combination with the Euler angle state value of the wire to predict the Euler angle of the wire; Using a Kalman filter to fuse the Euler angle observation value of the conductor and the Euler angle prediction value of the conductor to obtain the Euler angle estimation value of the conductor; If the Euler angle estimation value of the conductor exceeds a set threshold, the conductor experiences wind yaw galloping; otherwise, the conductor does not experience wind yaw galloping.
2. The method for detecting windage vibration of a transmission line based on a MEMS inertial measurement unit according to claim 1, characterized in that: The Euler angle state vector of the wire is expressed as: s k =[r,p,y] T Among them, s k represents the Euler angle state vector of the wire at time k, r represents the roll angle of the wire at time k, a y represents the acceleration component in the y-axis direction measured by the MEMS accelerometer at time k, a z represents the acceleration component in the z-axis direction measured by the MEMS accelerometer at time k; p represents the pitch angle of the wire at time k, a x represents the acceleration component in the x-axis direction measured by the MEMS accelerometer at time k; y represents the yaw angle of the wire at time k, y = -arctan(H y ,H x ), (H x ,H y ) represents the triaxial magnetic field intensity measured by the MEMS magnetometer at time k (B x ,B y ,B z ) is projected onto the horizontal reference plane, and T represents the transpose.
3. The method for detecting windage vibration of a transmission line based on a MEMS inertial measurement unit according to claim 2, characterized in that: The construction process of the state observation equation of the conductor is: Z k =H -1 x k +v k Among them, Z k represents the measurement vector of the wire at time k, x k represents the Euler angle observation value of the wire at time k, v k represents the observation noise vector at time k, and H represents the observation matrix constructed by the measurement vector of the conductor at time k.
4. The method for detecting windage vibration of a transmission line based on a MEMS inertial measurement unit according to claim 3, characterized in that: The observation matrix H is expressed as:
5. The method for detecting windage yaw of a transmission line based on a MEMS inertial measurement unit according to claim 2, characterized in that: The process of constructing the motion equation of the wire is: in, represents the predicted Euler angle value of the wire at time k, s k-1 represents the Euler angle state value of the wire at time k-1, F represents the state transfer matrix of the wire, I represents the unit matrix, Δt represents the instantaneous change of time; U k-1 represents the angular velocity of the wire measured by the MEMS angular velocity meter at time k-1, G represents the input matrix constructed by the Euler angle state value of the wire, W k-1 represents the noise vector at time k-1.
6. The method for detecting windage vibration of a transmission line based on a MEMS inertial measurement unit according to claim 5, characterized in that: The input matrix G is expressed as:
7. The method for detecting windage yaw of a transmission line based on a MEMS inertial measurement unit according to claim 1, characterized in that: The process of obtaining the estimated Euler angle of the wire is as follows: in, represents the estimated Euler angle of the wire at time k, represents the predicted Euler angle value of the wire at time k, Z k represents the measurement vector of the conductor at time k, H represents the observation matrix constructed by the measurement vector of the conductor at time k, K k represents the Kalman gain at time k.
8. The method for detecting windage yaw of a transmission line based on a MEMS inertial measurement unit according to claim 7, characterized in that: The Kalman gain K at time k k The calculation process is: in, represents the Euler angle observation value x of the wire at time k k The predicted values of the Euler angles of the wire The covariance matrix of E[] represents the covariance matrix; R represents the covariance matrix of the observation noise vector, and T represents the transpose.
9. The method for detecting windage yaw of a power transmission line based on a MEMS inertial measurement unit according to claim 1, characterized in that: If the roll angle in the Euler angle estimate of the conductor exceeds the corresponding set threshold, the conductor undergoes twisting motion around its own axis; if the pitch angle in the Euler angle estimate of the conductor exceeds the corresponding set threshold, the conductor moves violently up and down; if the yaw angle in the Euler angle estimate of the conductor exceeds the corresponding set threshold, the conductor swings left and right on the horizontal plane.
10. A transmission line windage yaw detection system based on MEMS inertial measurement unit, characterized in that: include: MEMS inertial measurement unit, state observation equation building module, motion equation building module, Kalman filter and transmission line windage and galloping detection module; The MEMS inertial measurement unit includes: a MEMS accelerometer, a MEMS magnetometer and a MEMS angular velocity meter, wherein the MEMS accelerometer is used to measure the acceleration of the wire, the MEMS magnetometer is used to measure the magnetic field strength of the wire, and the MEMS angular velocity meter is used to measure the angular velocity of the wire; The state observation equation construction module constructs the state observation equation of the conductor according to the measured acceleration and magnetic field strength of the conductor, and obtains the Euler angle observation value of the conductor; The motion equation construction module constructs the motion equation of the wire according to the measured acceleration, magnetic field strength and angular velocity of the wire, and predicts the Euler angle of the wire; The Kalman filter fuses the Euler angle observation value of the conductor and the Euler angle prediction value of the conductor to obtain the Euler angle estimation value of the conductor; The transmission line windage yaw and galloping detection module is used to determine whether the conductor is experiencing windage yaw and galloping based on the Euler angle estimation value of the conductor.