Cable induced voltage calculation method and system for electric arc discharge of hot-line work robot

Abstract

The invention discloses a cable induced voltage calculation method and system for electric arc discharge of a hot-line work robot, and belongs to the technical field of electromagnetic compatibility of power transmission and transformation projects. The cable induced voltage calculation method comprises the steps that an arc discharge disturbance source in the equipotential entering / exiting process of a hot-line work robot is determined; establishing a three-dimensional model of the hot-line work robot; and based on the three-dimensional model and the cable model, under the interference of the arc discharge disturbance source, solving the cable induced voltage of the arc discharge of the hot-line work robot. According to the method, the accuracy of predicting the induced voltage and electromagnetic interference on the cable during arc discharge of the hot-line work robot can be effectively improved, so that accurate data are provided for electromagnetic compatibility design and effective protection of the hot-line work robot.

Description

Technical Field

[0001] The present invention relates to the field of electromagnetic compatibility technology for power transmission and transformation projects, and more particularly to a method and system for calculating cable induced voltage for arc discharge of a live working robot. Background Art

[0002] When working with live-line robots, the potential transfer arcs created when the robot enters and exits the equipotential zone generate dramatic electromagnetic fluctuations, severely challenging the robot's normal operation. Live-line robots are compact, highly integrated, and feature high-frequency internal chips with complex timing sequences, making them susceptible to electromagnetic interference. Energy-wise, the live-line robot's target recognition, control, and communication modules are all susceptible to electromagnetic interference. Structurally, the robot's vision and control modules are vulnerable. Circuitry-wise, the robot contains sensitive analog signals, including image data, control signals, and high-precision bias voltages.

[0003] Existing technologies use variable resistors to suppress arc discharges when live working robots enter and exit equipotential zones. This can effectively reduce the intensity of arc discharges, but its implementation is somewhat complex. Other patents propose arc discharge testing methods for live working robots, which can be used to conduct immunity tests on live working robots in laboratories or test platforms. However, these methods do not provide direct guidance for the EMC design of live working robots. Summary of the Invention

[0004] To address the above issues, the present invention proposes a method for calculating cable induced voltage for arc discharge in live working robots, comprising:

[0005] Identify the source of arc discharge disturbance when live working robots enter / exit the equipotential phase;

[0006] Establishing a three-dimensional model of the live working robot;

[0007] Based on the three-dimensional model and the cable model, under the interference of the arc discharge disturbance source, the cable induced voltage of the arc discharge of the live working robot is solved.

[0008] Optionally, the arc discharge disturbance source is a radiation field source;

[0009] When the live working robot enters / exits the equipotential state, the maximum value of the spatial electric field is taken as the radiation field source.

[0010] Optionally, the three-dimensional model includes a cable model;

[0011] The line model establishes cable paths and cable connections.

[0012] Optionally, the cable induced voltage of the arc discharge of the live working robot can be solved based on FDTD (Finite Difference Time Domain Method) and TLM (Transmission Line Matrix Method), including:

[0013] The electromagnetic field of the cable is solved by iteratively solving the discrete Maxwell equations. The electric field and magnetic field in the electromagnetic field are updated alternately, satisfying the following formula:

[0014]

[0015] Among them, E and H are field quantities, is the curl of vector E, μ is the magnetic permeability, t is the time, and J is the current density.

[0016] Based on TLM, the electromagnetic field is converted into voltage and current in the transmission line network, and field-circuit coupling is performed on the voltage and current to obtain the cable induced voltage of the arc discharge of the live working robot.

[0017] Optionally, field quantity coupling satisfies the following formula:

[0018] Voltage and Electric Field:

[0019] V=∫E·dI≈E·Δl

[0020] Current and Magnetic Field:

[0021] I=∮H·dI≈H·Δl

[0022] Among them, E and H are field quantities, V and I are path quantities, and Δl is the length change.

[0023] In another aspect, the present invention further provides a cable induced voltage calculation system for arc discharge of a live working robot, comprising:

[0024] The initial unit is used to determine the arc discharge disturbance source when the live working robot enters / exits the equipotential state;

[0025] A modeling unit, used for establishing a three-dimensional model of the live working robot;

[0026] The solving unit is used to solve the cable induced voltage of the arc discharge of the live working robot under the interference of the arc discharge disturbance source based on the three-dimensional model and the cable model.

[0027] Optionally, the arc discharge disturbance source is a radiation field source;

[0028] When the live working robot enters / exits the equipotential state, the maximum value of the spatial electric field is taken as the radiation field source.

[0029] Optionally, the three-dimensional model includes a cable model;

[0030] The line model establishes cable paths and cable connections.

[0031] Optionally, the cable induced voltage of the arc discharge of the live working robot can be solved based on FDTD (Finite Difference Time Domain Method) and TLM (Transmission Line Matrix Method), including:

[0032] The electromagnetic field of the cable is solved by iteratively solving the discrete Maxwell equations. The electric field and magnetic field in the electromagnetic field are updated alternately, satisfying the following formula:

[0033]

[0034] Among them, E and H are field quantities, is the curl of vector E, μ is the magnetic permeability, t is the time, and J is the current density.

[0035] Based on TLM, the electromagnetic field is converted into voltage and current in the transmission line network, and field-circuit coupling is performed on the voltage and current to obtain the cable induced voltage of the arc discharge of the live working robot.

[0036] Optionally, field quantity coupling satisfies the following formula:

[0037] Voltage and Electric Field:

[0038] V=∫E·dI≈E·Δl

[0039] Current and Magnetic Field:

[0040] I=∮H·dI≈H·Δl

[0041] Among them, E and H are field quantities, V and I are path quantities, and Δl is the length change.

[0042] In yet another aspect, the present invention further provides a computing device comprising: one or more processors;

[0043] a processor for executing one or more programs;

[0044] When the one or more programs are executed by the one or more processors, the above-described method is implemented.

[0045] In another aspect, the present invention further provides a computer-readable storage medium having a computer program stored thereon, wherein when the computer program is executed, the method described above is implemented.

[0046] Compared with the prior art, the present invention has the following beneficial effects:

[0047] This invention provides a method for calculating the cable induced voltage caused by arc discharge in live working robots. The method comprises: determining the source of arc discharge disturbance during the live working robot's entry and exit into an equipotential state; establishing a three-dimensional model of the live working robot; and, based on the three-dimensional model and the cable model, calculating the cable induced voltage caused by the arc discharge in the live working robot under the interference of the arc discharge disturbance source. This method can effectively improve the accuracy of cable induced voltage and electromagnetic interference prediction during arc discharge in live working robots, thereby providing accurate data for electromagnetic compatibility design and effective protection of live working robots. BRIEF DESCRIPTION OF THE DRAWINGS

[0048] Figure 1 is a flow chart of the method of the present invention;

[0049] Figure 2 A simplified schematic diagram of a disturbance source of arc discharge in a live working robot provided in an embodiment of the present invention;

[0050] Figure 3 A schematic diagram illustrating analysis of sensitive internal components of a robot provided by an embodiment of the present invention;

[0051] Figure 4 (a)-4(d) are schematic diagrams of a robot cable model provided by an embodiment of the present invention;

[0052] Figure 5 A schematic diagram of the cable paths and connections of a robot provided in an embodiment of the present invention;

[0053] Figure 6 (a)-6(c) are schematic diagrams of the induced voltage on the cable;

[0054] Figure 7 It is a structural diagram of the system of the present invention. DETAILED DESCRIPTION

[0055] Exemplary embodiments of the present invention will now be described with reference to the accompanying drawings. However, the present invention may be embodied in many different forms and is not limited to the embodiments described herein. These embodiments are provided to provide a thorough and complete disclosure of the present invention and to fully convey the scope of the present invention to those skilled in the art. The terminology used in the exemplary embodiments shown in the accompanying drawings is not intended to limit the present invention. In the accompanying drawings, identical elements are denoted by the same reference numerals.

[0056] Unless otherwise specified, the terms used herein (including technical terms) have the meanings commonly understood by those skilled in the art. In addition, it is understood that terms defined in commonly used dictionaries should be understood to have the same meanings as those in the context of the relevant fields, and should not be understood as idealized or overly formal meanings.

[0057] Example 1:

[0058] The present invention proposes a method for calculating the cable induced voltage of arc discharge of live working robots, such as Figure 1 As shown, including:

[0059] Step 1: Determine the arc discharge disturbance source during the live working robot's entry / exit of the equipotential state;

[0060] Step 2: establishing a three-dimensional model of the live working robot;

[0061] Step 3: Based on the three-dimensional model and the cable model, under the interference of the arc discharge disturbance source, solve the cable induced voltage of the arc discharge of the live working robot.

[0062] Among them, the arc discharge disturbance source is the radiation field source;

[0063] When the live working robot enters / exits the equipotential state, the maximum value of the spatial electric field is taken as the radiation field source.

[0064] The three-dimensional model includes a cable model;

[0065] The line model establishes cable paths and cable connections.

[0066] Among them, the cable induced voltage of the arc discharge of the live working robot is solved based on FDTD (finite difference time domain method) and TLM (transmission line matrix method), including:

[0067] The electromagnetic field of the cable is solved by iteratively solving the discrete Maxwell equations. The electric field and magnetic field in the electromagnetic field are updated alternately, satisfying the following formula:

[0068]

[0069] Among them, E and H are field quantities, is the curl of vector E, μ is the magnetic permeability, t is the time, and J is the current density.

[0070] FDTD (Finite-Difference Time-Domain Method) and TLM (Transmission Line Matrix Method) are two electromagnetic field algorithms. This technology combines these two algorithms. TLM (slender mesh) is suitable for cables, and FDTD is suitable for spatial field calculations. (If the mesh is divided according to the cable size, there will be too many target meshes outside the cable, so it is better to divide the mesh separately.) , giving full play to the advantages of each algorithm.

[0071] Based on TLM, the electromagnetic field is converted into voltage and current in the transmission line network, and field-circuit coupling is performed on the voltage and current to obtain the cable induced voltage of the arc discharge of the live working robot.

[0072] Among them, the field quantity coupling satisfies the following formula:

[0073] Voltage and Electric Field:

[0074] V=∫E·dI≈E·Δl

[0075] Current and Magnetic Field:

[0076] I=∮H·dI≈H·Δl

[0077] Among them, E and H are field quantities, V and I are path quantities, and Δl is the length change.

[0078] The present invention will be further described below with reference to specific cases:

[0079] The specific case process is as follows:

[0080] (1) Simplification of arc discharge disturbance source:

[0081] X-ray detection of arcs during the entry / exit of live working robots into / out of equipotential Figure 2 The discharge characteristics are relatively complex. In order to facilitate the evaluation of the anti-interference performance of the live working robot, the spatial field of the arc discharge is measured multiple times, and the maximum value of the spatial electric field is taken as the radiation field source. For the live working robot for 500kV line flaw detection, the electric field is a Gaussian pulse source of 30kV / m.

[0082] (2) Analysis of electromagnetic sensitive components of live working robots:

[0083] Live working robots are mainly composed of processors, motor control, end-tool control and other subsystems. Electromagnetic radiation interference is an important source of harm that affects the stable operation of live working robots. According to the structural characteristics of live working robots, there are two main weak links, such as Figure 3 As shown, one is that the arc discharge space field enters the interior of the live working robot through the cable, and the other is that the arc discharge space field may enter the interior of the live working robot through the pores of the live working robot.

[0084] (3) Model establishment:

[0085] Build a 3D model of a live-working robot containing sensitive internal components or equipment. The housings of key internal components are made of aluminum, and the connectors are made of polyethylene (PE). When the thickness of the aluminum chassis is significantly greater than the skin depth, the calculation can be performed as a perfect electrical conductor (PEC). This approach yields nearly identical results while significantly reducing computation time.

[0086] Establish the main cable model, establish the line path and connection. The main cables are power lines, coaxial cables, high-voltage lines and differential lines (RJ45 and LVDS). The models are shown in 4 (a)-4 (d) and the connections are shown in Figure 5 shown.

[0087] (4) Calculation method:

[0088] Set the chassis boundary to an open domain, meaning that electromagnetic waves reflected from the chassis do not return. Calculate using the FDTD and TLM methods. Calculate the amplitude at 30 kV / m, simplify the calculation to a plane wave, and use a Gaussian pulse waveform.

[0089] FDTD discretizes space and time and then iteratively solves Maxwell's equations. TLM, on the other hand, is based on an equivalent model of transmission lines, transforming electromagnetic field problems into voltage and current problems within a transmission line network. Both methods have their own advantages and disadvantages, so combining them may be more efficient for dealing with electromagnetic field problems involving complex circuit structures. Field-circuit coupling problems typically involve the interaction between electromagnetic fields and circuit elements, such as spatial fields and cables, or transmission lines on PCBs and integrated circuits. When using FDTD alone to address such problems, it may be necessary to represent the circuit portion using a lumped element model and introduce the corresponding current or voltage sources into the FDTD mesh. The TLM method itself is more suitable for handling transmission line structures and may be easier to integrate with circuit models. Therefore, combining FDTD and TLM may be more effective in dealing with situations involving both complex electromagnetic field distributions and circuit elements.

[0090] First, the FDTD principle is used: the electromagnetic field is solved iteratively by discrete Maxwell equations. The electric field (E) and magnetic field (H) are updated alternately to satisfy:

[0091]

[0092] Then, using the TLM principle, the electromagnetic field problem is transformed into a voltage (V) and current (I) wave propagation problem in a transmission line network. The scattering matrix describes the wave reflection and transmission between nodes.

[0093] Finally, field-circuit coupling is performed: at the interface, the field quantities (E, H) and the circuit quantities (V, I) must satisfy physical continuity, and the conversion relationship is:

[0094] Voltage and Electric Field:

[0095] V=∫E·dI≈E·Δl (2)

[0096] Current and Magnetic Field:

[0097] I=∮H·dI≈H·Δl (3)

[0098] Through multiple iterations, the induced voltage on the cable is obtained. The induced voltage is as follows: Figure 6 (a)-6(c) shown.

[0099] Example 2:

[0100] The present invention also proposes a cable induced voltage calculation system 200 for arc discharge of live working robots, such as Figure 7 As shown, including:

[0101] Initial unit 201 is used to determine the arc discharge disturbance source when the live working robot enters / exits the equipotential state;

[0102] A modeling unit 202 is used to build a three-dimensional model of the live working robot;

[0103] The solving unit 203 is configured to solve the cable induced voltage caused by arc discharge of the live working robot under the interference of the arc discharge disturbance source based on the three-dimensional model and the cable model.

[0104] Among them, the arc discharge disturbance source is the radiation field source;

[0105] When the live working robot enters / exits the equipotential state, the maximum value of the spatial electric field is taken as the radiation field source.

[0106] The three-dimensional model includes a cable model;

[0107] The line model establishes cable paths and cable connections.

[0108] Among them, the cable induced voltage of the arc discharge of the live working robot is solved based on FDTD (finite difference time domain method) and TLM (transmission line matrix method), including:

[0109] The electromagnetic field of the cable is solved by iteratively solving the discrete Maxwell equations. The electric field and magnetic field in the electromagnetic field are updated alternately, satisfying the following formula:

[0110]

[0111] Among them, E and H are field quantities, is the curl of vector E, μ is the magnetic permeability, t is the time, and J is the current density.

[0112] Based on TLM, the electromagnetic field is converted into voltage and current in the transmission line network, and field-circuit coupling is performed on the voltage and current to obtain the cable induced voltage of the arc discharge of the live working robot.

[0113] Among them, the field quantity coupling satisfies the following formula:

[0114] Voltage and Electric Field:

[0115] V=∫E·dt≈E·Δl

[0116] Current and Magnetic Field:

[0117] I=∮H·dI≈H·Δl

[0118] Among them, E and H are field quantities, V and I are path quantities, and Δl is the length change.

[0119] The present invention can effectively improve the accuracy of the prediction of the induced voltage and electromagnetic interference on the cable during arc discharge of the live working robot, thereby providing accurate data for the electromagnetic compatibility design and effective protection of the live working robot.

[0120] Example 3:

[0121] Based on the same inventive concept, the present invention also provides a computer device, which includes a processor and a memory, wherein the memory is used to store a computer program, the computer program includes program instructions, and the processor is used to execute the program instructions stored in the computer storage medium. The processor may be a central processing unit (CPU), or may be other general-purpose processors, digital signal processors (DSP), application-specific integrated circuits (ASIC), field-programmable gate arrays (FPGA) or other programmable logic devices, discrete gates or transistor logic devices, discrete hardware components, etc., which are the computing core and control core of the terminal, which is suitable for implementing one or more instructions, specifically suitable for loading and executing one or more instructions in the computer storage medium to implement the corresponding method flow or corresponding functions, so as to implement the steps of the method in the above embodiment.

[0122] Example 4:

[0123] Based on the same inventive concept, the present invention also provides a storage medium, specifically a computer-readable storage medium (Memory), which is a memory device in a computer device for storing programs and data. It can be understood that the computer-readable storage medium here can include both built-in storage media in the computer device and, of course, extended storage media supported by the computer device. The computer-readable storage medium provides a storage space that stores the operating system of the terminal. In addition, one or more instructions suitable for being loaded and executed by the processor are also stored in the storage space. These instructions can be one or more computer programs (including program codes). It should be noted that the computer-readable storage medium here can be a high-speed RAM memory or a non-volatile memory, such as at least one disk memory. The processor can load and execute one or more instructions stored in the computer-readable storage medium to implement the steps of the method in the above embodiment.

[0124] It will be understood by those skilled in the art that the embodiments of the present invention may be provided as methods, systems, or computer program products. Therefore, the present invention may take the form of a complete hardware embodiment, a complete software embodiment, or an embodiment combining software and hardware. Furthermore, the present invention may take the form of a computer program product implemented on one or more computer-usable storage media (including but not limited to disk storage, CD-ROM, optical storage, etc.) containing computer-usable program code. The solutions in the embodiments of the present invention may be implemented in various computer languages, for example, the object-oriented programming language Java and the interpreted scripting language JavaScript.

[0125] The present invention is described with reference to flowcharts and / or block diagrams of methods, devices (systems), and computer program products according to embodiments of the present invention. It should be understood that each process and / or block in the flowcharts and / or block diagrams, as well as combinations of processes and / or blocks in the flowcharts and / or block diagrams, can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, a special-purpose computer, an embedded processor, or other programmable data processing device to produce a machine, so that the instructions executed by the processor of the computer or other programmable data processing device generate instructions for implementing the processes in the flowcharts and / or block diagrams. Figure 1 a process or multiple processes and / or boxes Figure 1 A device that provides the functions specified in a block or multiple blocks.

[0126] These computer program instructions may also be stored in a computer readable memory that can direct a computer or other programmable data processing device to work in a specific manner, so that the instructions stored in the computer readable memory produce an article of manufacture comprising an instruction device, which implements the process Figure 1 a process or multiple processes and / or boxes Figure 1 The function specified in one or more boxes.

[0127] These computer program instructions can also be loaded onto a computer or other programmable data processing device so that a series of operational steps are executed on the computer or other programmable device to produce a computer-implemented process, thereby providing the instructions executed on the computer or other programmable device for implementing the process. Figure 1 a process or multiple processes and / or boxes Figure 1 A step that specifies a function in one or more boxes.

[0128] Although the preferred embodiments of the present invention have been described, those skilled in the art may make additional changes and modifications to these embodiments once they have learned the basic creative concept. Therefore, the appended claims are intended to be interpreted as including the preferred embodiments and all changes and modifications that fall within the scope of the present invention.

[0129] Obviously, those skilled in the art may make various changes and modifications to the present invention without departing from the spirit and scope of the present invention. Thus, if such changes and modifications fall within the scope of the claims and their equivalents, the present invention is intended to include such changes and modifications.

Claims

1. A method for calculating cable induced voltage of arc discharge in live working robots, characterized in that: include: Identify the source of arc discharge disturbance when live working robots enter / exit the equipotential phase; Establishing a three-dimensional model of the live working robot; Based on the three-dimensional model and the cable model, under the interference of the arc discharge disturbance source, the cable induced voltage of the arc discharge of the live working robot is solved.

2. The cable induced voltage calculation method according to claim 1, characterized in that: The arc discharge disturbance source is a radiation field source; When the live working robot enters / exits the equipotential state, the maximum value of the spatial electric field is taken as the radiation field source.

3. The cable induced voltage calculation method according to claim 1, characterized in that: The three-dimensional model includes a cable model; The line model establishes cable paths and cable connections.

4. The cable induced voltage calculation method according to claim 1, characterized in that: The cable induced voltage of arc discharge caused by live working robots is solved based on the finite difference time domain method (FDTD) and the transmission line matrix method (TLM), including: The electromagnetic field of the cable is solved by iteratively solving the discrete Maxwell equations. The electric field and magnetic field in the electromagnetic field are updated alternately, satisfying the following formula: Among them, E and H are field quantities, is the curl of vector E, μ is the magnetic permeability, t is the time, and J is the current density; Based on TLM, the electromagnetic field is converted into voltage and current in the transmission line network, and field-circuit coupling is performed on the voltage and current to obtain the cable induced voltage of the arc discharge of the live working robot.

5. The cable induced voltage calculation method according to claim 4, characterized in that: The field quantity coupling satisfies the following formula: Voltage and Electric Field: V=∫E·dI≈E·Δl Current and Magnetic Field: Among them, E and H are field quantities, V and I are path quantities, and Δl is the length change.

6. A cable induced voltage calculation system for arc discharge of live working robots, characterized in that: include: The initial unit is used to determine the arc discharge disturbance source when the live working robot enters / exits the equipotential state; A modeling unit, used for establishing a three-dimensional model of the live working robot; The solving unit is used to solve the cable induced voltage of the arc discharge of the live working robot under the interference of the arc discharge disturbance source based on the three-dimensional model and the cable model.

7. The cable induced voltage calculation system according to claim 6, characterized in that: The arc discharge disturbance source is a radiation field source; When the live working robot enters / exits the equipotential state, the maximum value of the spatial electric field is taken as the radiation field source.

8. The cable induced voltage calculation system according to claim 6, characterized in that: The three-dimensional model includes a cable model; The line model establishes cable paths and cable connections.

9. The cable induced voltage calculation system according to claim 6, characterized in that: The cable induced voltage of arc discharge caused by live working robots is solved based on FDTD and TLM, including: The electromagnetic field of the cable is solved by iteratively solving the discrete Maxwell equations. The electric field and magnetic field in the electromagnetic field are updated alternately, satisfying the following formula: Among them, E and H are field quantities, is the curl of vector E, μ is the magnetic permeability, t is the time, and J is the current density; Based on TLM, the electromagnetic field is converted into voltage and current in the transmission line network, and field-circuit coupling is performed on the voltage and current to obtain the cable induced voltage of the arc discharge of the live working robot.

10. The cable induced voltage calculation system according to claim 9, characterized in that: The field quantity coupling satisfies the following formula: Voltage and Electric Field: V=∫E·dt≈E·Δl Current and Magnetic Field: Among them, E and H are field quantities, V and I are path quantities, and Δl is the length change.

11. A computer device, characterized in that: include: one or more processors; a processor for executing one or more programs; When the one or more programs are executed by the one or more processors, the method according to any one of claims 1 to 5 is implemented.

12. A computer-readable storage medium, characterized in that A computer program is stored thereon, and when the computer program is executed, the method according to any one of claims 1 to 5 is implemented.

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