Adaptive updating method, system and equipment for transfer coefficient and medium

Abstract

The invention discloses a transfer coefficient adaptive updating method, system and device and a medium, and relates to the technical field of non-contact current sensing, and the method comprises the steps: measuring a magnetic field of an arrangement point location; initializing the position drift distance of the measured line, estimating a transfer coefficient matrix, and estimating the measured current in combination with the transfer coefficient matrix and the actually measured magnetic field; in combination with the estimated transfer coefficient matrix and the measured current, decoupling the actually measured magnetic field to a magnetic field component independently generated by each measured current; and based on the decoupled magnetic field component and the estimated measured current, re-estimating the position drift distance of the measured circuit, and iteratively correcting the transfer coefficient matrix until convergence. According to the method, the transfer coefficient matrix is updated through real-time iteration, so that the measurement precision in a dynamic environment is improved; through a magnetic field component decoupling model, the problem of multi-conductor magnetic field coupling interference is effectively solved, and the accuracy of position estimation is improved; and a closed-loop iterative optimization strategy is adopted to ensure that the algorithm is stably converged to a true value.

Description

Technical Field

[0001] This invention relates to the field of non-contact current sensing technology, specifically to a method, system, device, and medium for adaptive updating of transfer coefficients. Background Technology

[0002] Array-type current sensors employ multiple magnetic field sensors to measure the magnetic field at multiple points in the space surrounding the conductor being measured. The measured current is then calculated inversely from the magnetic field. This method is characterized by its non-contact nature, simple structure, and low cost. The most crucial aspect of current measurement is determining the transfer coefficient matrix between the multi-conductor current and the magnetic fields measured by the multiple magnetic field sensors. The magnitude of each element in this matrix depends on the relative position between the conductor being measured and the magnetic field sensors. When an array-type current sensor is used to measure the current in a circuit, the circuit may deform due to overload or other factors, causing changes in the relative position between the circuit and the magnetic field sensors. This indirectly alters the transfer coefficient matrix, leading to decreased accuracy in current measurement. Since these positional changes are unknown and random, the transfer coefficient matrix needs to be adaptively updated to ensure the accuracy and reliability of the current measurement structure.

[0003] To address the aforementioned background, this invention proposes an adaptive update method and apparatus for the transfer coefficient of an array-type current sensor. Utilizing magnetic field data, the position of the current-measuring conductor is updated iteratively.

[0004] Based on this, accurate correction of the transfer coefficient matrix is ​​achieved, which improves the resistance of array-type current sensors to the influence of conductor position changes on the accuracy of current measurement. Summary of the Invention

[0005] In view of the above-mentioned problems, the present invention is proposed.

[0006] Therefore, the technical problem solved by this invention is that existing adaptive update methods for transfer coefficients suffer from inaccuracies in the transfer coefficient matrix due to conductor position drift, failure to consider the multi-conductor magnetic field coupling effect during decoupling, lack of a closed-loop convergence mechanism for position estimation, and the problem of how to achieve adaptive update of the transfer coefficient matrix under dynamic conditions.

[0007] To solve the above-mentioned technical problems, the present invention provides the following technical solution:

[0008] In a first aspect, the present invention provides an adaptive update method for transfer coefficients, comprising: horizontally arranging a biaxial magnetic field sensor below a three-phase overhead transmission line under test to measure the magnetic field at the arrangement point; initializing the position drift of the line under test and estimating the transfer coefficient matrix; estimating the measured current by combining the transfer coefficient matrix and the measured magnetic field; decoupling the measured magnetic field to the magnetic field components generated individually by each measured current by combining the estimated transfer coefficient matrix and the measured current; re-estimating the position drift of the line under test based on the decoupled magnetic field components and the estimated measured current, and iteratively correcting the transfer coefficient matrix until convergence.

[0009] As a preferred embodiment of the adaptive update method for the transfer coefficient described in this invention, the step of horizontally arranging the biaxial magnetic field sensor below the three-phase overhead transmission line under test includes arranging multiple biaxial magnetic field sensors below the three-phase transmission line under test, with the magnetic sensitivity direction of each magnetic field sensor facing the horizontal and vertical directions respectively.

[0010] As a preferred embodiment of the adaptive update method for the transfer coefficient described in this invention, the method for measuring the magnetic field at the arrangement points includes, under normal conditions, the distance between two adjacent magnetic field sensors is L / 2; when the position of the measured line drifts, y1, y2, and y3 represent the drift amount of the three-phase measured line, and I1, I2, and I3 represent the current of the measured line, respectively. Let i represent the magnetic field components measured by each magnetic field sensor, where i = 1, ..., 5; the relationship between the magnetic field measured by the magnetic field sensor and the measured current is expressed as:

[0011]

[0012] Where h represents the vertical distance between the measured circuit and the magnetic field sensor, and L represents the distance between the magnetic field sensors; the simplified formula for the relationship between the magnetic field measured by the magnetic field sensor and the measured current is expressed as:

[0013] B = HI

[0014] Where B represents the magnetic field measurement vector, H represents the transfer coefficient matrix, and I represents the three-phase current vector.

[0015] As a preferred embodiment of the adaptive update method for the transfer coefficient described in this invention, the estimation of the measured current includes: the magnetic field measured by each magnetic field sensor is the superposition of the magnetic fields generated by all measured currents; based on the simplified formula relating the magnetic field measured by the magnetic field sensor to the measured current, the measured current I is calculated, expressed as:

[0016] I = (H) T H) -1 HB

[0017] Based on the topology between the measured current and multiple magnetic field sensors, when the position of the measured current conductor shifts, the parameters of the measured current topology change.

[0018] As a preferred embodiment of the adaptive update method for transfer coefficients described in this invention, wherein: the change in the measured current topology parameters includes, assuming that in the nth iteration, the iteration results of parameters y1, y2, and y3 are respectively expressed as The corresponding currents are respectively expressed as Based on the iterative results, the magnetic fields measured by each magnetic field sensor are decoupled to the magnetic field components generated by each measured current.

[0019] As a preferred embodiment of the adaptive update method for the transfer coefficient described in this invention, the decoupling to the individual magnetic field components generated by each measured current includes, in order to obtain the current... The separately generated magnetic field component subtracts the measured current from the actual magnetic field measured by the magnetic field sensor. and

[0020] The generated magnetic field components are represented as:

[0021]

[0022] Where B1 represents the current obtained from decoupling. The generated magnetic field component, B, represents the magnetic field actually measured by all magnetic field sensors. Represents current The column vector formed, where H1 represents the current. The transition coefficient matrix; the expression for H1 is:

[0023]

[0024] like and as well as and When the value is close to the corresponding theoretical value, we obtain expression B1, which is expressed as:

[0025]

[0026] The corresponding theoretical values ​​are y1, y2, and y3, and I1, I2, and I3.

[0027] As a preferred embodiment of the adaptive update method for the transition coefficients described in this invention, the iterative correction of the transition coefficient matrix until convergence includes iterative updating using the B1 expression. Represented as:

[0028]

[0029] in, Representing vectors The first element, B1(1), represents the first element of vector B; through similar iterations and analogies, we obtain respectively... and in,

[0030] The expression is represented as:

[0031]

[0032] Through iteration, the position offsets y1, y2, and y3 of the tested line are accurately obtained, and the transition coefficient matrix is ​​updated.

[0033] Secondly, the present invention provides a transfer coefficient adaptive update system, comprising: a magnetic field measurement module, a current estimation module, a current decoupling module, and a position calculation module; the magnetic field measurement module is used to horizontally arrange a biaxial magnetic field sensor below the three-phase overhead transmission line under test to measure the magnetic field at the arrangement point; the current estimation module is used to initialize the position drift of the line under test and estimate the transfer coefficient matrix, and estimate the measured current by combining the transfer coefficient matrix and the measured magnetic field; the current decoupling module is used to decouple the measured magnetic field to the magnetic field components generated by each measured current individually by combining the estimated transfer coefficient matrix and the measured current; the position calculation module is used to re-estimate the position drift of the line under test based on the decoupled magnetic field components and the estimated measured current, and iteratively correct the transfer coefficient matrix until convergence.

[0034] Thirdly, the present invention provides an electronic device, comprising:

[0035] Memory and processor;

[0036] The memory is used to store computer-executable instructions, and the processor is used to execute the computer-executable instructions, which, when executed by the processor, implement the steps of the adaptive update method for transfer coefficients.

[0037] Fourthly, the present invention provides a computer-readable storage medium storing computer-executable instructions that, when executed by a processor, implement the steps of the adaptive update method for the transfer coefficients.

[0038] Compared with existing technologies, the advantages of this invention are as follows: This invention adaptively corrects changes in the magnetic field-current mapping relationship caused by conductor position changes by iteratively updating the transfer coefficient matrix in real time, ensuring high-precision current measurement even under dynamic offset conditions, thus improving measurement accuracy in dynamic environments. Utilizing the existing dual-axis magnetic field sensor array, position estimation and current decoupling are achieved through algorithm optimization, avoiding increased hardware costs while improving system reliability and maintainability. Through the magnetic field component decoupling model, the measured magnetic field is decomposed into components contributed individually by each conductor, and combined with iterative optimization algorithms, effectively solving the problem of multi-conductor magnetic field coupling interference and improving the accuracy of position estimation. By adopting a closed-loop iterative optimization strategy, the conductor position and transfer coefficient matrix are updated simultaneously in each iteration, and the optimized estimates ensure stable convergence of the algorithm to the true value. Attached Figure Description

[0039] To more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings used in the following description of the embodiments will be briefly introduced. Obviously, the drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0040] Figure 1 The above is an overall flowchart of an adaptive update method for transfer coefficients provided in one embodiment of the present invention.

[0041] Figure 2 The diagram shows the topology between the measured current and multiple magnetic field sensors in an adaptive update method for transfer coefficients provided in one embodiment of the present invention.

[0042] Figure 3 The figure shows the iterative solution result of the adaptive update of the position drift of the measured current line according to an embodiment of the present invention.

[0043] Figure 4 The present invention provides an overall flowchart of an adaptive update system for transfer coefficients according to an embodiment of the present invention. Detailed Implementation

[0044] To make the above-mentioned objects, features, and advantages of the present invention more apparent and understandable, specific embodiments of the present invention will be described in detail below with reference to the accompanying drawings. Obviously, the described embodiments are only a part of the embodiments of the present invention, and not all of them. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort should fall within the protection scope of the present invention.

[0045] Example 1, referring to Figures 1-2As an embodiment of the present invention, an adaptive update method for transition coefficients is provided, comprising:

[0046] S1: Place the dual-axis magnetic field sensor horizontally below the three-phase overhead transmission line under test and measure the magnetic field at the placement point.

[0047] Furthermore, the method of horizontally arranging biaxial magnetic field sensors under the three-phase overhead transmission line under the test includes arranging multiple biaxial magnetic field sensors under the three-phase line under the test, with the magnetic sensitivity direction of each magnetic field sensor facing the horizontal and vertical directions respectively.

[0048] It should be noted that the measurement of the magnetic field at the designated locations includes the following: under normal conditions, the distance between two adjacent magnetic field sensors is L / 2. When the position of the measured line drifts, y1, y2, and y3 represent the drift amount of the three-phase measured line, and I1, I2, and I3 represent the current of the measured line. Let i represent the magnetic field components measured by each magnetic field sensor, where i = 1, ..., 5; the relationship between the magnetic field measured by the magnetic field sensor and the measured current is expressed as:

[0049]

[0050] Where h represents the vertical distance between the measured circuit and the magnetic field sensor, and L represents the distance between the magnetic field sensors; the simplified formula for the relationship between the magnetic field measured by the magnetic field sensor and the measured current is expressed as:

[0051] B = HI

[0052] Where B represents the magnetic field measurement vector, H represents the transfer coefficient matrix, and I represents the three-phase current vector.

[0053] S2: Initialize the position drift of the line under test and estimate the transfer coefficient matrix. Combine the transfer coefficient matrix and the measured magnetic field to estimate the current under test.

[0054] Furthermore, estimating the measured current involves considering that the magnetic field measured by each magnetic field sensor is the superposition of the magnetic fields generated by all measured currents. Based on a simplified formula relating the magnetic field measured by the magnetic field sensor to the measured current, the measured current I is calculated, expressed as:

[0055] I = (H) T H) -1 HB

[0056] Based on the topology between the measured current and multiple magnetic field sensors, when the position of the measured current conductor shifts, the parameters of the measured current topology change.

[0057] S3: Combining the estimated transfer coefficient matrix and the measured current, the measured magnetic field is decoupled to the magnetic field components generated by each measured current individually.

[0058] Furthermore, changes in the topological parameters of the measured current include, assuming that in the nth iteration, the iteration results of parameters y1, y2, and y3 are respectively expressed as... The corresponding currents are respectively expressed as Based on the iterative results, the magnetic fields measured by each magnetic field sensor are decoupled to the magnetic field components generated by each measured current.

[0059] It should be noted that the magnetic field components generated by decoupling to each measured current individually include those obtained by decoupling the current. The separately generated magnetic field component subtracts the measured current from the actual magnetic field measured by the magnetic field sensor. The magnetic field components generated by I3 are expressed as:

[0060]

[0061] Where B1 represents the current obtained from decoupling. The generated magnetic field component, B, represents the magnetic field actually measured by all magnetic field sensors. Represents current The column vector formed, where H1 represents the current. The transition coefficient matrix; the expression for H1 is:

[0062]

[0063] like and as well as and When the value is close to the corresponding theoretical value, we obtain expression B1, which is expressed as:

[0064]

[0065] The corresponding theoretical values ​​are y1, y2, and y3, and I1, I2, and I3.

[0066] S4: Based on the decoupled magnetic field components and the estimated measured current, re-estimate the position drift of the measured line, and iteratively correct the transfer coefficient matrix until convergence.

[0067] Furthermore, the transition coefficient matrix is ​​iteratively modified until convergence, including iterative updates using the B1 expression. Represented as:

[0068]

[0069] in, Representing vectors The first element, B1(1), represents the first element of vector B; through similar iterations and analogies, we obtain respectively... and in, The expression is represented as:

[0070]

[0071] Through iteration, the position offsets y1, y2, and y3 of the tested line are accurately obtained, and the transition coefficient matrix is ​​updated.

[0072] Example 2, refer to Figure 3 This invention provides a smart photovoltaic production operation and maintenance management method as one embodiment of the present invention. In order to verify the beneficial effects of the present invention, scientific demonstration is carried out through economic benefit calculation and simulation experiments.

[0073] To verify the effectiveness of the method proposed in this invention, simulation demonstration was conducted. I1 = 10A, I2 = 9A, I3 = 8A, the height of the measured circuit h = 5m, the distance between the magnetic field sensors L = 1m, and the positional offsets of the measured circuit y1 = 0.1m, y2 = -0.3m, y3 = -0.2m.

[0074] Will and The initial values ​​were all set to 0, and a total of 10,000 iterations were performed. and The curve showing the relationship between the iteration result and the number of iterations is as follows: Figure 3 As shown, by Figure 3 It can be seen that as the number of iterations increases, and They gradually approach their respective set values, namely 0.1m, -0.3m, and -0.2m.

[0075] Thus, the effectiveness of the adaptive update transition coefficient matrix method proposed in this invention has been demonstrated through simulation.

[0076] Example 3 is the second embodiment of the present invention, which differs from the previous embodiment in that:

[0077] If the aforementioned functions are implemented as software functional units and sold or used as independent products, they can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of the present invention, or the part that contributes to the prior art, or a part of the technical solution, can be embodied in the form of a software product. This computer software product is stored in a storage medium and includes several instructions to cause a computer device (which may be a personal computer, server, or network device, etc.) to execute all or part of the steps of the methods described in the various embodiments of the present invention. The aforementioned storage medium includes various media capable of storing program code, such as USB flash drives, portable hard drives, read-only memory (ROM), random access memory (RAM), magnetic disks, or optical disks.

[0078] The logic and / or steps represented in the flowchart or otherwise described herein, for example, can be considered as a sequenced list of executable instructions for implementing logical functions, and can be embodied in any computer-readable medium for use by, or in conjunction with, an instruction execution system, apparatus, or device (such as a computer-based system, a processor-included system, or other system that can fetch and execute instructions from, an instruction execution system, apparatus, or device). For the purposes of this specification, "computer-readable medium" can be any means that can contain, store, communicate, propagate, or transmit programs for use by, or in conjunction with, an instruction execution system, apparatus, or device.

[0079] More specific examples of computer-readable media (a non-exhaustive list) include: electrical connections (electronic devices) having one or more wires, portable computer disk drives (magnetic devices), random access memory (RAM), read-only memory (ROM), erasable and editable read-only memory (EPROM or flash memory), fiber optic devices, and portable optical disc read-only memory (CDROM). Furthermore, computer-readable media can even be paper or other suitable media on which the program can be printed, because the program can be obtained electronically, for example, by optically scanning the paper or other medium, followed by editing, interpreting, or otherwise processing as necessary, and then stored in computer memory.

[0080] It should be understood that various parts of the present invention can be implemented in hardware, software, firmware, or a combination thereof. In the above embodiments, multiple steps or methods can be implemented in software or firmware stored in memory and executed by a suitable instruction execution system. For example, if implemented in hardware, as in another embodiment, it can be implemented using any one or a combination of the following techniques known in the art: discrete logic circuits having logic gates for implementing logical functions on data signals, application-specific integrated circuits (ASICs) having suitable combinational logic gates, programmable gate arrays (PGAs), field-programmable gate arrays (FPGAs), etc.

[0081] Example 4, refer to Figure 4 This is the third embodiment of the present invention, which provides a system for an adaptive update method of transfer coefficients, including a magnetic field measurement module, a current estimation module, a current decoupling module, and a position calculation module.

[0082] The system comprises the following modules: a magnetic field acquisition module for horizontally arranging a biaxial magnetic field sensor below the three-phase overhead transmission line under test to measure the magnetic field at the arrangement point; a current estimation module for initializing the position drift of the line under test and estimating the transfer coefficient matrix, and estimating the measured current by combining the transfer coefficient matrix and the measured magnetic field; a current decoupling module for decoupling the measured magnetic field to the individual magnetic field components generated by each measured current by combining the estimated transfer coefficient matrix and the measured current; and a position calculation module for re-estimating the position drift of the line under test based on the decoupled magnetic field components and the estimated measured current, and iteratively correcting the transfer coefficient matrix until convergence.

[0083] It should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention and not to limit it. Although the present invention has been described in detail with reference to preferred embodiments, those skilled in the art should understand that modifications or equivalent substitutions can be made to the technical solutions of the present invention without departing from the spirit and scope of the technical solutions of the present invention, and all such modifications or substitutions should be covered within the scope of the claims of the present invention.

Claims

1. An adaptive update method for transfer coefficients, characterized in that, include: A dual-axis magnetic field sensor is horizontally positioned below the three-phase overhead transmission line under the test to measure the magnetic field at the positioning point. Initialize the position drift of the line under test and estimate the transfer coefficient matrix. Combine the transfer coefficient matrix and the measured magnetic field to estimate the current under test. By combining the estimated transfer coefficient matrix and the measured current, the measured magnetic field is decoupled to the magnetic field components generated by each measured current individually. Based on the decoupled magnetic field components and the estimated measured current, the position drift of the measured line is re-estimated, and the transfer coefficient matrix is ​​iteratively corrected until convergence.

2. The adaptive update method for transfer coefficients as described in claim 1, characterized in that: The method of horizontally arranging the biaxial magnetic field sensor under the three-phase overhead transmission line under the test includes arranging multiple biaxial magnetic field sensors under the three-phase transmission line under the test, with the magnetic sensitivity direction of each magnetic field sensor facing the horizontal and vertical directions respectively.

3. The adaptive update method for transfer coefficients as described in claim 2, characterized in that: The measurement of the magnetic field at the designated locations includes, under normal conditions, the distance between two adjacent magnetic field sensors being L / 2. When the position of the measured line drifts, y1, y2, and y3 represent the drift amount of the three-phase measured line, and I1, I2, and I3 represent the current of the measured line. Let i represent the magnetic field components measured by each magnetic field sensor, where (i = 1, ..., 5); The relationship between the magnetic field measured by the magnetic field sensor and the measured current is expressed as: Where h represents the vertical distance between the circuit under test and the magnetic field sensor, and L represents the distance between the magnetic field sensors; The simplified formula relating the magnetic field measured by the magnetic field sensor to the measured current is as follows: B = HI Where B represents the magnetic field measurement vector, H represents the transfer coefficient matrix, and I represents the three-phase current vector.

4. The adaptive update method for transfer coefficients as described in claim 3, characterized in that: The estimation of the measured current includes: the magnetic field measured by each magnetic field sensor is the superposition of the magnetic fields generated by all measured currents; based on the simplified formula relating the magnetic field measured by the magnetic field sensor to the measured current, the measured current I is calculated, expressed as: I=(H T H) -1 HB Based on the topology between the measured current and multiple magnetic field sensors, when the position of the measured current conductor shifts, the parameters of the measured current topology change.

5. The adaptive update method for transfer coefficients as described in claim 4, characterized in that: The changes in the topology parameters of the measured current include, assuming that in the nth iteration, the iteration results of parameters y1, y2, and y3 are respectively expressed as... The corresponding currents are respectively expressed as Based on the iterative results, the magnetic fields measured by each magnetic field sensor are decoupled to the magnetic field components generated by each measured current.

6. The adaptive update method for transfer coefficients as described in claim 5, characterized in that: The decoupling to the individual magnetic field components generated by each measured current includes, in order to obtain the current from the decoupling... The separately generated magnetic field component subtracts the measured current from the actual magnetic field measured by the magnetic field sensor. and The generated magnetic field components are represented as: Where B1 represents the current obtained from decoupling. The generated magnetic field component, B, represents the magnetic field actually measured by all magnetic field sensors. Represents current The column vector formed, where H1 represents the current. The transition coefficient matrix; The expression for H1 is: like and as well as and When the value is close to the corresponding theoretical value, we obtain expression B1, which is expressed as: The corresponding theoretical values ​​are y1, y2, and y3, and I1, I2, and I3.

7. The adaptive update method for transfer coefficients as described in claim 6, characterized in that: The iterative correction of the transition coefficient matrix until convergence includes iterative updating using the B1 expression. Represented as: in, Representing vectors The first element, B1(1) represents the first element of vector B; Through similar iterations and analogies, we obtained the following results: and in, The expression is represented as: Through iteration, the position offsets y1, y2, and y3 of the tested line are accurately obtained, and the transition coefficient matrix is ​​updated.

8. A system employing the adaptive update method for transfer coefficients as described in any one of claims 1 to 7, characterized in that: Magnetic field measurement module, current estimation module, current decoupling module, and position calculation module; The magnetic field measurement module is used to horizontally arrange the dual-axis magnetic field sensor under the three-phase overhead transmission line under test to measure the magnetic field at the arrangement point. The current estimation module is used to initialize the position drift of the line under test and estimate the transfer coefficient matrix. Combined with the transfer coefficient matrix and the measured magnetic field, the measured current is estimated. The current decoupling module is used to combine the estimated transfer coefficient matrix and the measured current to decouple the measured magnetic field to the magnetic field components generated by each measured current individually. The position calculation module is used to re-estimate the position drift of the measured line based on the decoupled magnetic field components and the estimated measured current, and iteratively correct the transfer coefficient matrix until convergence.

9. An electronic device, comprising: Memory and processor; The memory is used to store computer-executable instructions, and the processor is used to execute the computer-executable instructions, which, when executed by the processor, implement the steps of the adaptive update method for the transfer coefficients according to any one of claims 1 to 7.

10. A computer-readable storage medium storing computer-executable instructions that, when executed by a processor, implement the steps of the adaptive update method for transfer coefficients according to any one of claims 1 to 7.

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