Overhead line automatic adjusting device based on servo motor control

Abstract

An overhead line automatic adjusting device based on servo motor control comprises a control unit, an execution unit and a measuring unit, the execution unit comprises a tension adjusting mechanism and a wind direction compensation mechanism, and the execution unit adopts a servo motor as a driving part; the tension adjusting mechanism is connected with an overhead cable and adjusts the sag of the overhead cable. The wind direction compensation mechanism adjusts the horizontal direction of the tension adjusting mechanism, and the lateral rotation torque generated by the cable to the tension adjusting mechanism under lateral wind force is reduced. Real-time on-line monitoring, intelligent calculation and high-precision automatic adjustment of the sag of the overhead line can be achieved, it is ensured that the line keeps the optimal sag under any working condition, and power transmission safety is guaranteed.

Description

TECHNICAL FIELD

[0001] The present application belongs to the technical field of power transmission and distribution, and particularly relates to an overhead line automatic adjusting device based on servo motor control. BACKGROUND

[0002] Overhead transmission line is the main artery of power transmission, and its safe and stable operation is of great importance. The sag (i.e. the vertical distance between the lowest point of the conductor and the suspension point) of the line is a key parameter in the design and operation of the line. Too small sag will result in excessive conductor tension, and there is a risk of wire breakage; too large sag will result in insufficient safety distance to the ground or cross-span, and cause accidents such as discharge and tripping. Currently, the monitoring of line sag mainly relies on periodic manual inspection (such as visual inspection, laser range finder, etc.), and adjustment requires manual adjustment of the position of the fitting by personnel on the tower after power off; in some lines, shock absorbers or weights are installed to indirectly affect the sag; a few existing attempts at automatic devices mostly use simple ordinary motors or hydraulic drive methods.

[0003] Manual inspection and adjustment methods are inefficient, labor-intensive, and have high safety risks, and cannot respond to environmental changes in real time (such as dynamic changes in sag caused by changes in temperature, ice load, and wind load). The adjustment effect of fixed dampers / weights is fixed and passive, and cannot be accurately and actively adjusted according to actual working conditions, and has poor adaptability. Simple electric or hydraulic adjustment devices have low control precision, slow response speed, are easily disturbed by external factors (such as wind vibration), are difficult to maintain, and other problems, and cannot achieve precise and stable closed-loop control.

[0004] Therefore, there is an urgent need for an automatic device that can monitor, intelligently analyze, and automatically and accurately adjust the sag in real time, in order to improve the intelligent level and safety and reliability of power grid operation. SUMMARY

[0005] In view of the above, the present application aims to overcome the shortcomings of the prior art and provide an overhead line automatic adjusting device based on servo motor control. The device can realize real-time online monitoring, intelligent calculation, and high-precision automatic adjustment of the sag of overhead lines, ensuring that the line maintains the optimal sag under any working condition and ensuring the safety of power transmission.

[0006] To overcome the shortcomings of the prior art, the technical solution adopted by the present application is as follows: An overhead line automatic adjusting device based on servo motor control, comprising a control unit, an execution unit, and a measurement unit, characterized in that the execution unit comprises a tension adjusting mechanism and a wind direction compensation mechanism, and the execution unit uses a servo motor as a driving component; the tension adjusting mechanism is connected to the overhead cable and adjusts the sag thereof; the wind direction compensation mechanism adjusts the horizontal direction of the tension adjusting mechanism to reduce the lateral rotation torque generated by the cable on the tension adjusting mechanism under lateral wind force.

[0007] Further, the execution unit comprises a mounting part, the mounting part comprises a lower fixing part and an upper rotating part; The lower fixing part and the upper rotating part are cylindrical, and are mounted on the column of the power tower; the lower part of the upper rotating part is supported by the lower fixing part and can rotate around the column.

[0008] Further, the lower fixing part and the upper rotating part are respectively composed of two half-cylinders on the front and back sides, which are buckled on the column of the power tower and connected into a whole by a connecting piece.

[0009] Further, a rotating motor is mounted on the outside of the lower fixing part, and a rotating rack is arranged on the lower edge of the outer periphery of the upper rotating part; the rotating motor drives a gear which cooperates with the rotating rack, and the rotating motor drives the upper rotating part to rotate around the column relative to the lower fixing part; the rotating motor, the driving gear and the rotating rack on the mounting part constitute a wind direction compensation mechanism.

[0010] Further, a tension adjusting mechanism is fixed on the outside of the upper rotating part; the tension adjusting mechanism comprises a horizontal support platform; the horizontal support platform is an L-shaped member, one end of the horizontal arm of which is fixed to the upper rotating part, and the other end has a vertical plate; Smooth guide rods and transmission screw rods are horizontally arranged in the space between the vertical plate and the upper rotating part, and the transmission screw rods are driven by a tension adjusting motor on one side of the vertical plate.

[0011] Further, the tension adjusting mechanism further comprises a cable clamp, which is used to fix and clamp the power transmission cable between the two towers; a sliding block is fixedly connected below the cable clamp; parallel guide holes and threaded holes are formed on the sliding block, the smooth guide rods pass through the guide holes, and the transmission screw rods pass through the threaded holes; when the transmission screw rod rotates, the sliding block is driven to move along the smooth guide rod through the threaded holes, so that the cable clamp drives the power transmission cable to move for tension adjustment.

[0012] Further, a measurement unit is used for cable inclination sensing, which can sense the vertical inclination and the horizontal inclination; The measurement unit comprises a cable inclination sensing member, which is mounted above the vertical plate; The upper part of the cable inclination sensing member is a wire passing pipe, and the lower part is a swing rod; the wire passing pipe has a certain length, and the cable passes through the wire passing pipe; the lower end of the swing rod is fixed to a universal rotation pivot point on the vertical plate.

[0013] Further, when the cable has sag, it will correspondingly drive the wire passing pipe and make the swing rod produce a vertical rotation angle; the vertical rotation angle is detected by a sensing circuit, and the corresponding sag value can be calculated in combination with the horizontal distance between the two towers.

[0014] Further, if the deviation of the real-time sag value from the standard sag theoretical value exceeds a preset safety threshold, the control unit drives the tension adjusting motor to rotate, changes the cable tension, and adjusts the sag to the target range.

[0015] Further, after the horizontal direction of the tension adjusting mechanism is rotated, the horizontal rotation angle of the corresponding swing rod is also reduced, that is, the measured vertical rotation angle is more accurate, the lateral sag caused by the wind can be compensated by using the wind direction compensation mechanism, and more accurate vertical rotation angle and accurate sag height can be obtained.

[0016] Compared with the prior art, the present application has the following beneficial effects: 1. High precision and intelligence: closed-loop control of servo motor, adjustment accuracy up to millimeter level, much higher than manual and ordinary motor adjustment. Embedded intelligent algorithm can comprehensively consider temperature, wind speed and other factors to realize self-adaptive accurate adjustment.

[0017] 2. Real-time online and automation: 7x24 hours uninterrupted monitoring, once the sag deviates from the safety threshold, the adjustment program is automatically triggered without manual intervention, greatly improving the response speed and processing efficiency.

[0018] 3. High safety and reliability: servo motor has a brake function, which can automatically lock the position after power failure to prevent accidental loosening of the line. Mechanical limiting and overload protection design double insurance. Reduce the risk of personnel tower operation.

[0019] 4. Remote visualization and controllability: through wireless communication, operation and maintenance personnel can real-time view the line sag data and device status in the remote monitoring center, and can remotely issue instructions (such as manual adjustment, parameter setting), realizing the digitalization and intelligent operation and maintenance of the transmission line.

[0020] 5. Strong adaptability and long service life: servo system has strong anti-interference ability and can adapt to complex electromagnetic environment and climate conditions. The mechanical structure design is solid, the core components are highly reliable, and the overall service life is long. BRIEF DESCRIPTION OF DRAWINGS

[0021] Figure 1 It is a schematic diagram of the device installation structure; Figure 2 It is a schematic diagram of the connection of each unit; In the figure, the column 1, the installation part 2, the tension adjusting mechanism 3, the cable clamp 4, the cable inclination sensing element 5, the overhead cable 6, the measurement unit 7, the control unit 8, the execution unit 9, the lower fixing part 11, the upper rotating part 12, the rotating motor 21, the driving gear 22, the rotating rack 23, the tension adjusting motor 31, the transmission screw 32, the guide rod 33, and the sliding block 34. DETAILED DESCRIPTION

[0022] The application will be further described with reference to the accompanying drawings and examples, which are intended to illustrate but not to limit the scope of the application.

[0023] It is to be understood that when a component is referred to as being "on" another component, it can be directly on the other component or intervening components can also be present. When a component is referred to as being "connected" to another component, it can be directly connected to the other component or intervening components can also be present. When a component is referred to as being "disposed on" another component, it can be directly disposed on the other component or intervening components can also be present. The terms "vertical", "horizontal", "left", "right", "upper", "lower", and similar expressions as used herein are for illustrative purposes only.

[0024] An overhead line automatic adjusting device based on servo motor control, comprising a control unit 8, an execution unit 9, a measurement unit 7 and a power unit, the execution unit adopts a servo motor as a core driving component.

[0025] As shown in Figure 1 The execution unit 9 comprises a tension adjusting mechanism and a wind direction compensation mechanism.

[0026] Specifically comprising a mounting part 2, a tension adjusting mechanism 3.

[0027] The mounting part 2 comprises a lower fixing part 11 and an upper rotating part 12.

[0028] The lower fixing part 11 and the upper rotating part 12 are in a cylindrical shape, and each is composed of two half-cylinders at the front and back sides, which are connected by a connecting piece (bolt) after the joint, and then the two half-cylinders form an integral cylindrical shape.

[0029] The two half-cylinders are buckled on the stand column 1 of the power pole tower through the front and back sides, and are connected into an integral whole by the connecting piece, so as to be easily sleeved on the stand column 1 of the pole tower during on-site installation.

[0030] The lower fixing part is fixed on the stand column 1 after being connected by the peripheral connecting piece, forming a mounting base.

[0031] The upper rotating part 12 is sleeved on the stand column 1 after being connected by the peripheral connecting piece, and has a certain gap, and the lower part thereof is supported by the lower fixing part and can rotate around the stand column 1.

[0032] A rotating motor 21 is mounted on the outside of the lower fixed part 11. A rotating rack 23 is arranged on the lower edge of the outer periphery of the upper rotating part 12. A driving gear 22 is mounted on the output shaft of the rotating motor 21 and cooperates with the rotating rack 23. The upper rotating part 12 is driven to rotate relative to the lower fixed part around the stand by the rotating motor 21. The rotating motor 21, the driving gear 22 and the rotating rack 23 on the mounting part 2 constitute a wind direction compensation mechanism.

[0033] A tension adjustment mechanism 3 is fixed on the outside of the upper rotating part 12.

[0034] The tension adjustment mechanism 3 comprises a horizontal support platform. The horizontal support platform is an L-shaped member, one end of the horizontal arm of which is fixed to the upper rotating part 12 and the other end of which has a vertical plate.

[0035] Smooth guide rods 33 and transmission screw rods 32 are arranged horizontally and in parallel in the space between the vertical plate and the upper rotating part 12. The transmission screw rods 32 are driven by a tension adjustment motor 31 on one side of the vertical plate.

[0036] The tension adjustment mechanism 3 further comprises a cable clamp 4.

[0037] The cable clamp 4 is used to fix and clamp the power transmission cable between two power towers.

[0038] The cable clamp 4 is fixedly connected with a sliding block 34 below. The sliding block 34 is formed with parallel guide holes and threaded holes. The smooth guide rods 33 pass through the guide holes and the transmission screw rods 32 pass through the threaded holes. When the transmission screw rods 32 rotate, the sliding block is driven to move along the smooth guide rods 33 through the threaded holes, so that the cable clamp 4 drives the power transmission cable to move for tension adjustment.

[0039] The tension adjustment motor 31 and the rotating motor 21 are selected from high-precision, high-torque and brake function AC servo motors. They have fast response, high control precision, strong overload capacity and self-locking when stopping, and are suitable for outdoor harsh working conditions requiring accurate position control.

[0040] The tension adjustment motor 31 and the rotating motor 21 can be provided with a speed reduction mechanism, such as a planetary gear reducer or a worm gear reducer, to increase the torque and improve the adjustment capacity.

[0041] The transmission mechanism of the tension adjustment motor 31 adopts a ball screw, and the transmission mechanism of the rotating motor 21 adopts a gear and rack mechanism, to ensure the accuracy and efficiency of transmission.

[0042] A measurement unit 7 is further included for cable inclination sensing, which can sense vertical and horizontal inclination.

[0043] The measurement unit 7 includes a cable inclination sensing member 5 and a sensing circuit, and the cable inclination sensing member 5 is installed above the vertical plate.

[0044] The upper part of the cable inclination sensing member 5 is a wire passing pipe, and the lower part is a swing rod. The wire passing pipe has a certain length, and the cable passes through the wire passing pipe. The diameter of the wire passing pipe is slightly larger than the diameter of the cable. The lower end of the swing rod is fixed to the universal rotation fulcrum on the vertical plate.

[0045] The power cable clamped by the cable clamp 4 between the two pole towers will sag under the action of gravity. When the cable sags, the wire passing pipe of the outer sleeve will tilt accordingly, and the swing rod will produce a vertical rotation angle. The vertical rotation angle is detected by the sensing circuit and input to the control unit 8, which can calculate the corresponding sag height in combination with the horizontal distance between the two pole towers.

[0046] In addition, under the influence of external environmental factors, such as lateral wind force, the cable will produce lateral sagging under the action of wind force. When the cable sags laterally, the wire passing pipe will also be driven accordingly, and the swing rod will produce a horizontal rotation angle. By sensing the horizontal rotation angle, the control unit 8 can control the rotation motor 21 to rotate by a certain angle, i.e., the upper rotating part 12 drives the horizontal pointing of the tension adjusting mechanism 3 to rotate, which can effectively reduce the lateral rotation torque of the cable on the tension adjusting mechanism 3 under the action of lateral wind force, so that the pointing of the tension adjusting mechanism 3 can follow the direction of the cable tension, thereby protecting the mechanism of the tension adjusting mechanism. In addition, after the horizontal pointing of the tension adjusting mechanism 3 rotates, the horizontal rotation angle of the swing rod will also decrease accordingly, i.e., the measured vertical rotation angle will be more accurate. The wind direction compensation mechanism can compensate for the lateral sagging under the action of wind force, i.e., eliminate the lateral rotation torque, and obtain more accurate vertical rotation angle and accurate sag height.

[0047] The measurement unit can also include a temperature sensor. By detecting the ambient temperature, the control unit selects the standard sag theoretical value from the standard sag-temperature curve, which is used as the theoretical value for compensating the influence of temperature change during tension adjustment.

[0048] The control unit includes a main controller, a servo driver, and a communication module. The main controller (CPU) uses an ARMCortex-M series high-performance processor.

[0049] The servo driver is matched with the tension adjusting motor and the rotation motor, receives the pulse / analog command of the main controller, and drives the servo motor to move accurately.

[0050] The communication module uses a built-in 5G wireless communication module, which can upload data to the background monitoring center and receive instructions or parameter settings from the background.

[0051] The main controller is configured with a tension adjusting control module and a wind direction compensation control module.

[0052] The tension adjustment control module calculates the sag height according to the vertical rotation angle and the preset ideal sag model, and outputs the control instruction to the tension adjustment motor in real time.

[0053] The wind direction compensation control module outputs the control instruction to the rotation motor according to the horizontal rotation angle.

[0054] The energy unit includes a solar panel, a lithium battery pack and a power management module.

[0055] The solar panel serves as the main power supply, the lithium battery pack is an energy storage device to ensure normal operation in the absence of light, and the power management module realizes intelligent charging and discharging management and performs double power switching to optimize energy use.

[0056] In specific applications, 1. The device is fixed and installed on the column of the tower through the installation part. The cable clamp 4 of the tension adjustment mechanism in the execution unit is connected to the cable. The cable inclination sensing member 5 is installed on the cable.

[0057] 2. After the system is powered on, the control unit is initialized, and the standard sag-temperature curve of the line section is obtained from the background as the control reference through the communication module.

[0058] 3. Real-time monitoring, the cable inclination sensing member continuously measures the cable inclination, and the temperature sensor measures the environmental temperature. The controller calculates the real-time sag value according to the cable inclination and the span between the two towers, and compares it with the standard sag theoretical value at the current temperature.

[0059] 4. Judgment and adjustment, if the deviation of the real-time sag value and the standard sag theoretical value exceeds the preset safety threshold (such as ±5%), the controller starts the adjustment program.

[0060] The controller calculates the angle and speed that the tension adjustment motor needs to rotate according to the deviation size and direction through the built-in PID algorithm, and sends pulse instructions to the servo driver.

[0061] The servo driver drives the tension adjustment motor to rotate, and after conversion through the speed reducer and the ball screw, the cable clamp 4 drives the cable to move, changes the cable tension, and finally adjusts the sag to the target range.

[0062] If the horizontal inclination is too large (such as more than 10 degrees), the controller also controls the rotation motor to rotate based on the horizontal inclination to adjust the pointing direction of the tension adjustment mechanism, thereby eliminating the lateral tension and obtaining the accurate vertical inclination.

[0063] 5. During the adjustment process, the controller continuously reads the sensing feedback cable inclination angle, and performs closed-loop control to ensure that the adjustment is in place. After the adjustment is completed, the device reports the "adjustment complete" signal and the adjusted sag data to the monitoring center through the wireless communication module. During the entire adjustment process, the operation and maintenance personnel can observe the data changes and adjustment process in real time on the background software.

[0064] The computer readable storage medium provided by the embodiments of the present application stores a computer program, and the computer program is executed by a processor to implement the steps of the above method.

[0065] Those skilled in the art can understand that all or part of the processes in the above-mentioned embodiments can be completed by a computer program instructing related hardware. The computer program can be stored in a non-volatile computer readable storage medium. When the computer program is executed, it can include the processes of the above-mentioned embodiments. Any reference to memory, storage, database or other medium used in the embodiments provided by the present application can include at least one of non-volatile and volatile memory. Non-volatile memory can include read-only memory (ROM), magnetic tape, floppy disk, flash memory or optical memory. Volatile memory can include random access memory (RAM) or external cache memory. As an illustration but not limitation, RAM can be in various forms, such as static random access memory (SRAM) or dynamic random access memory (DRAM).

[0066] In the description of the present specification, the description of the terms "some embodiments", "other embodiments", "ideal embodiments" and the like means that the specific features, structures, materials or characteristics described in combination with the embodiments or examples are included in at least one embodiment or example of the present application. In the present specification, the illustrative description of the above terms does not necessarily refer to the same embodiment or example.

[0067] The technical features of the above embodiments can be combined arbitrarily. In order to make the description simple, not all possible combinations of the technical features in the above embodiments are described, however, as long as the combination of the technical features does not exist contradictory, it should be considered as the scope of the present specification.

[0068] The above-described embodiments are merely illustrative of several embodiments of the present application, which are described in more detail and in a specific manner, but should not be construed as limiting the scope of the patent. It should be noted that for those skilled in the art, several modifications and improvements can be made without departing from the concept of the present application, and these all belong to the protection scope of the present application. Therefore, the protection scope of the patent of the present application should be subject to the appended claims.

Claims

1. An automatic adjustment device for overhead lines based on servo motor control, comprising a control unit, an execution unit, and a measurement unit, characterized in that, The execution unit includes a tension adjustment mechanism and a wind direction compensation mechanism. The execution unit uses a servo motor as a drive component. The tension adjustment mechanism is connected to an overhead cable and its sag is adjusted. The wind direction compensation mechanism adjusts the horizontal direction of the tension adjustment mechanism to reduce the lateral rotational torque generated by the cable on the tension adjustment mechanism under crosswinds.

2. The automatic adjustment device for overhead lines based on servo motor control according to claim 1, characterized in that, The execution unit includes a mounting part, which includes a lower fixing part and an upper rotating part; The lower fixed part and the upper rotating part are cylindrical and are installed on the column of the power pole. The lower part of the upper rotating part is supported by the lower fixed part and can rotate around the column.

3. The automatic adjustment device for overhead lines based on servo motor control according to claim 2, characterized in that, The lower fixed part and the upper rotating part are each composed of two semi-cylinders on the front and rear sides. The two semi-cylinders on the front and rear sides are fastened to the column of the power pole and connected into a whole by connectors.

4. The automatic adjustment device for overhead lines based on servo motor control according to claim 2, characterized in that, A rotary motor is installed on the outer side of the lower fixed part, and a rotary rack is arranged on the outer periphery of the lower edge of the upper rotating part. The rotary motor drives the gear and the rotary rack to rotate the upper rotating part relative to the lower fixed part around a three-dimensional space. The rotary motor, drive gear and rotary rack on the mounting part constitute a wind direction compensation mechanism.

5. The automatic adjustment device for overhead lines based on servo motor control according to claim 2, characterized in that, A tension adjustment mechanism is fixed to the outer side of the upper rotating part; the tension adjustment mechanism includes a horizontal support platform, which is an L-shaped component, with one end of its horizontal arm fixed to the upper rotating part and the other end having a vertical plate; Smooth guide rods and transmission screws are arranged horizontally in parallel in the space between the vertical plate and the upper rotating part. The transmission screws are driven by a tension regulating motor on one side of the vertical plate.

6. The automatic adjustment device for overhead lines based on servo motor control according to claim 5, characterized in that, The tension adjustment mechanism also includes a cable clamp, which is used to fix and hold the power transmission cable between two towers. A sliding block is fixedly connected below the cable clamp. Parallel guide holes and threaded holes are formed on the sliding block. A smooth guide rod passes through the guide hole, and a transmission screw passes through the threaded hole. When the transmission screw rotates, it drives the sliding block to move along the smooth guide rod through the threaded hole, thereby the cable clamp drives the power transmission cable to move for tension adjustment.

7. The automatic adjustment device for overhead lines based on servo motor control according to claim 6, characterized in that, The measurement unit is used to sense cable tilt angle, and can sense both vertical and horizontal tilt angles; The measuring unit includes a cable tilt sensor, which is mounted above the vertical plate; The upper part of the cable tilt sensor is a cable guide tube, and the lower part is a swing rod. The cable guide tube has a certain length, and the cable passes through the cable guide tube. The lower end of the swing rod is fixed to the universal rotation fulcrum on the vertical plate.

8. The automatic adjustment device for overhead lines based on servo motor control according to claim 7, characterized in that, When the cable sags, it will cause the cable guide tube to rotate and the swing arm to rotate vertically. The vertical rotation angle is detected by the sensor circuit, and the sag value can be calculated by combining it with the horizontal distance between the two towers.

9. The automatic adjustment device for overhead lines based on servo motor control according to claim 8, characterized in that, If the deviation between the real-time sag value and the standard theoretical sag value exceeds the preset safety threshold, the control unit drives the tension adjustment motor to rotate, changing the cable tension and adjusting the sag to the target range.

10. The automatic adjustment device for overhead lines based on servo motor control according to claim 8, characterized in that, After the horizontal direction of the tension adjustment mechanism rotates, the horizontal rotation angle of the swing rod also decreases accordingly. This means that the measured vertical rotation angle is more accurate. The wind direction compensation mechanism can compensate for the lateral curvature caused by wind force, obtain a more accurate vertical rotation angle, and calculate the accurate sag height.

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