Non-contact windage yaw solution algorithm for extra-high voltage direct current transmission line

Abstract

The invention discloses a non-contact windage yaw solution algorithm for an extra-high voltage direct current transmission line, which belongs to the technical field of non-contact measurement, and comprises the following steps: measuring an initial magnetic field quantity value of a target line, analyzing to obtain an initial spatial distance of the target line, and measuring a current magnetic field quantity value of the target line to obtain an initial spatial distance of the target line; the current spatial distance and the relative spatial position of the target line are analyzed and obtained, a multi-parameter diagnosis matrix is constructed according to the initial spatial distance, the current spatial distance and the relative spatial position, and the windage yaw coefficient and the windage yaw distance existing in the target line are solved through information of the multi-parameter diagnosis matrix; the method has the advantages of being high in calculation speed and diagnosis speed, flexible in installation, easy to maintain, high in reliability and the like, non-contact type wind deflection rapid calculation of the high-voltage direct-current transmission line can be achieved, good adaptability is achieved, and the real-time monitoring requirement of an electric power system can be met.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of non-contact measurement, in particular to a non-contact wind deviation algorithm for an ultra-high voltage direct current transmission line. BACKGROUND

[0002] The safe operation of an ultra-high voltage direct current transmission line is of great importance, and wind deviation is a key factor threatening its stability. Traditional wind deviation monitoring methods, such as contact measurement relying on tension, displacement or acceleration sensors, have significant limitations: they usually need to be physically connected to the conductor, resulting in the need for power-off operation during installation and maintenance, and often involving line modification, which brings the disadvantages of long construction period, large engineering quantity and difficult post-maintenance, limiting widespread application. Although the image recognition technology based on unmanned aerial vehicles or cameras has emerged in recent years, it has seriously declined in reliability under adverse weather conditions such as night, heavy fog, rain and snow. SUMMARY

[0003] The purpose of the present application is to provide a non-contact wind deviation algorithm for an ultra-high voltage direct current transmission line, which realizes accurate analysis of the wind deviation state (such as the deviation angle or displacement) of the target conductor under the action of wind force by obtaining the magnetic field component information at a specific position of the ultra-high voltage direct current transmission line and based on an innovative magnetic field inversion and decoupling algorithm.

[0004] A non-contact wind deviation algorithm for an ultra-high voltage direct current transmission line, comprising:

[0005] S1: Analytically obtaining the initial spatial distance of the target line by measuring the initial magnetic field magnitude of the target line;

[0006] S2: Analytically obtaining the current spatial distance and relative spatial position of the target line by measuring the current magnetic field magnitude of the target line;

[0007] S3: Constructing a multi-parameter diagnostic matrix with the initial spatial distance, the current spatial distance and the relative spatial position;

[0008] S4: Solving the wind deviation coefficient and the wind deviation distance of the target line through the multi-parameter diagnostic matrix information.

[0009] In the above technical solution, a sensor is provided at a position not in contact with the target line, and a coordinate system is established with the position of the sensor as the base point to obtain the magnetic field magnitude and field magnitude of the base point relative to the target line.

[0010] In the above technical solution, the sensor is arranged directly above the target line in the windless state to obtain the first field magnitude of the target line.

[0011] In the technical solution, the second field value of the target line in the wind deviation state is obtained based on the sensor position in the no-wind deviation state.

[0012] In the technical solution, only one sensor is arranged on each target line to be measured.

[0013] In the technical solution, the wind deviation coefficient existing in the target line to be measured is ,

[0014] The wind deviation distance existing in the target line to be measured is ,

[0015] Wherein: is the target line number taking value 1 or 2, is the sensor number taking value 1 or 2, represents the initial spatial distance of the first target line to be measured, represents the distance of the target line to be measured on the y-axis relative to the first sensor, represents the distance of the target line to be measured on the y-axis relative to the first conductor, represents the distance of the target line to be measured on the x-axis relative to the first conductor, is the corresponding axis of the coordinate system with the sensor position as the origin.

[0016] In the technical solution, a coordinate system is established based on the position of the sensor, and a multi-parameter diagnosis matrix is composed of the x-axis spatial position of one of the target lines in the coordinate system and the y-axis spatial position of another target line in the coordinate system.

[0017]

[0018] Wherein: represents the initial spatial distance of the target line to be measured, represents the spatial distance of the target line to be measured, represents the x-axis spatial position of the target line to be measured, represents the y-axis spatial position of the target line to be measured, is the target line number taking value 1 or 2.

[0019] In the technical solution, the initial spatial distance of the sensor and the conductor is extracted from the magnetic field three-dimensional component matrix established based on the first field value.

[0020]

[0021] Wherein: represents the first The initial spatial distance of the root conductor, B is the initial magnetic field quantity, The sensor obtains the initial spatial magnetic field component of the measured target line in the y-axis, The sensor number is 1 or 2.

[0022] In the above technical scheme, the spatial distance of all measured target lines is extracted from the magnetic field three-dimensional component matrix established based on the second field value:

[0023]

[0024] Wherein: The spatial distance of the measured target line, B is the initial magnetic field quantity, The sensor obtains the spatial magnetic field vector of the measured target line in the x-axis and y-axis, The sensor number is 1 or 2, The line number is 1 or 2.

[0025] In the above technical scheme, the spatial position of the x-axis and y-axis of the measured target line is extracted from the magnetic field three-dimensional component matrix established based on the second field value:

[0026]

[0027] Wherein: The x-axis spatial position of the root conductor under wind deflection state, The y-axis spatial position of the root conductor under wind deflection state, The y-axis spatial position of the root conductor under wind deflection state, The y-axis spatial position of the root conductor under wind deflection state, B is the initial magnetic field quantity, The sensor obtains the spatial magnetic field vector of the measured target line in the x-axis and y-axis, The sensor number is 1 or 2.

[0028] The algorithm of the application is based on setting a sensor above the measured target line, the sensor does not contact the line, and the sensor establishes data acquisition and calculation and subsequent positioning and tracking, early warning and other systems, which can specifically include:

[0029] The data acquisition module establishes a coordinate system based on the sensor, takes the relative position of the measured target line in the coordinate system as a reference quantity, analyzes the displacement parameters of the measured target line under the wind deflection state through the magnetic field formed by coupling high-voltage current, and analyzes the distance offset between the measured target lines and the offset distance between the sensor and the measured target lines through the magnetic field coupling between the sensor and the two measured target lines.

[0030] The data processing module analyzes the magnetic field vector of the sensor to obtain the magnetic field components of the magnetic field, and calculates the distance between the two measured target lines through a conversion matrix to output the wind deviation state.

[0031] The transmission module is based on the physical characteristics of the ultra-high voltage transmission line, and thus adopts a wireless transmission mode to transmit signals through electromagnetic waves in the air, which is flexible, does not require wiring, and prevents high-voltage electric shock.

[0032] The positioning module is arranged at different line sections and can analyze the wind deviation state of the corresponding sensor to obtain the wind deviation state of the measured target line at different line sections.

[0033] The control module controls the data acquisition module and the data processing module to control the sensor to combine the mechanical characteristics of the line with the environmental data through the establishment of a magnetic field measurement model and a magnetic field three-dimensional component matrix to measure the magnetic field and perform related calculations on the magnetic field, and upload the final results obtained to realize real-time display of the wind deviation data of the measured target line through the upper system.

[0034] The core idea of the present application is to obtain the magnetic field of the measured target line, calculate the change of the magnetic field, and analyze the relative position change to analyze the wind deviation state.

[0035] Compared with the prior art, the present application has the following advantages and beneficial effects:

[0036] The non-contact measurement characteristic of the present application completely eliminates the power-off installation and line modification required by the traditional contact scheme, greatly reducing the implementation risk and long-term operation and maintenance cost.

[0037] The present application is not limited by light, fog, rain, snow and other weather conditions, and overcomes the inherent shortcomings of image recognition technology. Especially for ultra-high voltage direct current transmission, the algorithm realizes fast calculation of the wind deviation state through an efficient decoupling model, meeting the real-time monitoring requirements. At the same time, the sensor is deployed on the tower or adjacent to the ground, and the scheme itself has the characteristics of low risk, easy implementation and maintenance. Finally, the method can effectively handle multi-conductor magnetic field interference and accurately obtain the wind deviation information of the target conductor.

[0038] The application uses the sensor placed directly above the high-voltage direct-current transmission line in the no-wind deviation condition to obtain the current magnetic field value and the initial field value of the target line in the vertical direction to identify the icing conductor galloping, has the advantages of fast calculation speed, fast diagnosis speed, flexible installation, easy maintenance, high reliability, etc., can realize the non-contact wind deviation fast calculation of the high-voltage direct-current transmission line, has good adaptability, and can meet the real-time monitoring requirements of the power system. BRIEF DESCRIPTION OF DRAWINGS

[0039] In order to more clearly illustrate the technical scheme of the exemplary embodiments of the present application, the following will briefly introduce the drawings needed to be used in the embodiments, and it should be understood that the following drawings only show some embodiments of the present application, and therefore should not be regarded as a limitation on the scope, and for those skilled in the art, other related drawings can also be obtained without creative labor. In the drawings:

[0040] Figure 1 is the application flow chart of a non-contact wind deviation algorithm for high-voltage direct-current transmission line;

[0041] Figure 2 is the tower model and sensor placement position diagram of a non-contact wind deviation algorithm for high-voltage direct-current transmission line of the present application;

[0042] Figure 3 is the spatial coordinate diagram of a non-contact wind deviation algorithm for high-voltage direct-current transmission line of the present application;

[0043] Figure 4 is the wind deviation coefficient diagram of a non-contact wind deviation algorithm for high-voltage direct-current transmission line of the present application in the xy plane;

[0044] Figure 5 is the wind deviation condition calculation method flow chart of a non-contact wind deviation algorithm for high-voltage direct-current transmission line of the present application. DETAILED DESCRIPTION

[0045] In order to make the purpose, technical scheme and advantages of the present application more clear and obvious, the following will further describe the present application with examples and drawings, the exemplary embodiments of the present application and the description are only used to explain the present application, and should not be regarded as a limitation on the present application.

[0046] Example 1

[0047] As shown in Figure 1 , a non-contact wind deviation algorithm for high-voltage direct-current transmission line of the present embodiment includes the following steps:

[0048] Step 1: Obtain the current and initial magnetic field values ​​of the target line in the vertical direction by placing sensors directly above two high-voltage direct current transmission lines under no-wind deflection conditions.

[0049] like Figure 2 As shown, Figure 2 The high-voltage direct current transmission tower model in this embodiment is shown. The origin is the geometric center of the tower's vertical projection onto the ground, the x-axis is perpendicular to the cable direction, the y-axis is parallel to the tower direction, and the z-axis is parallel to the cable direction. A spatial coordinate system is established. Figure 3 The image shows two magnetic field sensors placed independently directly above two high-voltage direct current transmission lines in the absence of wind deflection.

[0050] By acquiring the initial magnetic field vectors of the two magnetic field sensors respectively and The initial spatial magnetic field components along the x, y, and z axes were obtained through partial sensor analysis and calculation. , :

[0051] The initial spatial magnetic field vector can be composed of initial spatial magnetic field components along the x-axis, y-axis, and z-axis:

[0052] (1)

[0053] The x-axis is the unit vector. The y-axis unit vector. It is the unit vector along the z-axis.

[0054] The initial spatial magnetic field components of the two target lines under test are calculated to form the initial three-dimensional component matrix of the magnetic field:

[0055] (2)

[0056] Simultaneously acquire the current spatial magnetic field vector of two sensors in real time. and The current spatial magnetic field vector matrix is ​​formed as follows:

[0057] (3)

[0058] Among them, the The spatial magnetic field vector sensed by the sensor In this embodiment The sensor number can only take the value 1 or 2; it can be determined by... One sensor detects the spatial magnetic field components along the x, y, and z axes. composition:

[0059] (4)

[0060] The non-contact wind deflection solution algorithm for high-voltage direct current transmission lines used in this embodiment is based on the Biot-Savart law, and its theoretical basis is as follows:

[0061] First, the current element The magnitude of the magnetic induction intensity dB generated at a point P in space is related to the current element. The magnitude is directly proportional to the current element. Position vector and current element from the location to point P The angle θ between them is proportional to the sine of the angle θ, and related to the current element. The magnetic field at point P is inversely proportional to the square of the distance to point P. In reality, power transmission cables can be considered long linear conductors with stable DC transmission; therefore, the magnetic field around the conductor can be considered a quasi-static magnetic field. Taking a conductor of length l, based on the Biot-Savart law, the magnetic field generated at point P is:

[0062] (5)

[0063] in, The permeability of free space, For a conductor element, Let be the distance vector from the infinitesimal element of the conductor to point P.

[0064] In the spatial coordinate system, the distance vector from the cable to the sensor Represented as:

[0065] (6)

[0066] in, The direction vector of the x-axis. The direction vector of the y-axis. The direction vector of the z-axis; Distance vector The component along the x-axis, Distance vector Component along the y-axis Distance vector The z-axis directional component

[0067] Substituting relation (6) into relation (5) yields the components of the magnetic field along the x, y, and z axes:

[0068] (7)

[0069] (8)

[0070] (9)

[0071] Due to the stable lateral wind load acting on the conductors and ground wires of overhead transmission lines, wind deflection occurs, causing the conductors to oscillate around the z-axis. Based on the Biot-Savart law and wind deflection characteristics, the distance vector... In the z-axis directional component, the magnetic field information generated by the conductor along the z-axis can be regarded as a constant; therefore, this embodiment only discusses the influence of the x and y axes on wind deflection.

[0072] As shown in the figure Figure 4 This indicates the positional relationship between the two DC transmission lines in the xy plane.

[0073] It can be seen that the spatial magnetic field vector obtained by the sensor The spatial magnetic field vector generated by the j-th wire at the i-th magnetic sensor position In this embodiment, the superposition is formed. This indicates the number of the target traverse being measured, and can only take the value 1 or 2.

[0074] (10)

[0075] However, when The spatial magnetic field vector generated by the j-th wire at the i-th magnetic sensor position Much smaller than The spatial magnetic field vector generated by the j-th wire at the i-th magnetic sensor position Therefore, it can be considered as a constant A, with a value of 0:

[0076] (11)

[0077] Among them, the spatial magnetic field vector generated by the magnetic sensor position directly above each wire The spatial magnetic field components along the x, y, and z axes generated by the magnetic sensor position directly above each wire. composition:

[0078] (12)

[0079] Finally, the spatial magnetic field components along the x, y, and z axes sensed by the i-th sensor. Solving for the position of the magnetic sensor directly above each wire generates the spatial magnetic field components along the x, y, and z axes. :

[0080] (13)

[0081] The positions of the magnetic sensors directly above each wire generate the spatial magnetic field components along the x, y, and z axes. Obtain the three-dimensional component matrix of the magnetic field of the two conductors:

[0082] (14)

[0083] Step 2: Based on the three-dimensional component matrix information of the magnetic field obtained in Step 1 and the initial three-dimensional component matrix information of the magnetic field, the wind deflection is determined using the wind deflection calculation method. ,like Figure 5 As shown, it includes the following steps:

[0084] S1: Determine the initial spatial distance: Based on formula (5), calculate the initial spatial distance of all conductors using the initial magnetic field three-dimensional component matrix information of S1:

[0085] (15)

[0086] Where B is the initial parameter of the magnetic field, as described below:

[0087]

[0088] Let j be the initial spatial distance of the j-th wire, where j is 1 or 2. Where I is the magnetic medium, r is the current intensity value, and r is the distance between the measuring point and the conductor.

[0089] S2: Determine the current spatial distance: Based on formula (5), calculate the current spatial distance of all measured target conductors using the obtained three-dimensional component matrix information of the magnetic field.

[0090] (16)

[0091] Let j be the current spatial distance of the j-th wire, where j is 1 or 2.

[0092] S3: Determine the current spatial position: Calculate the current x-axis spatial position and the current y-axis spatial position of all measured target conductors using the acquired spatial magnetic field components.

[0093] (17)

[0094] Let j be the current x-axis spatial position of the j-th wire. Let j be the current spatial position of the j-th wire along the y-axis, where j is 1 or 2.

[0095] S4: Integrated wind deflection coefficient: Composed of the initial spatial distance of each conductor, the current spatial distance of each conductor, the current x-axis spatial position of each measured target conductor, and the current y-axis spatial position of the j-th measured target conductor, obtained from S1, S2, and S3, forming a multi-parameter diagnostic matrix.

[0096] (18)

[0097] S5: Determine the wind deflection coefficient: Calculate the wind deflection coefficient of the j-th conductor using the multi-parameter diagnostic matrix information. :

[0098] (19)

[0099] S6: Determine wind deflection distance: Calculate the wind deflection distance of the j-th conductor using multi-parameter diagnostic matrix information. :

[0100] (20)

[0101] S7: Determine wind deflection: the wind deflection coefficient existing through the j-th conductor. The wind deflection distance between the j-th conductor and the conductor Characterizes the wind deflection of the j-th conductor. .

[0102] Example 2

[0103] There is an ultra-high voltage direct current transmission line: conductor 1 (numbered j=1) and conductor 2 (numbered j=2).

[0104] Current intensity: .

[0105] The sensor is placed directly below the conductor at a distance of H m, assuming no wind deflection.

[0106] Step 1: Obtain the initial vertical magnetic field vector of the target line using sensors placed directly above two high-voltage direct current transmission lines in the absence of wind deflection. and The initial spatial magnetic field components along the x, y, and z axes are obtained by solving Equation 1. , (Unit: T), forming the initial three-dimensional component matrix of the magnetic field:

[0107]

[0108] Step 2: Real-time acquisition of the current spatial magnetic field vectors from the two sensors. and The current spatial magnetic field vector matrix is ​​formed by combining these components, and the x-axis, y-axis, and z-axis spatial magnetic field components are generated by calculating the position of the magnetic sensor directly above each conductor according to Formula 13. Obtain the three-dimensional component matrix of the magnetic field of the two conductors:

[0109]

[0110] Step 3: Based on formula (15), calculate the initial spatial distance of all conductors using the initial magnetic field three-dimensional component matrix information of S1:

[0111]

[0112] Based on formula (16), the current spatial distance of all measured target conductors is calculated using the obtained three-dimensional component matrix information of the magnetic field:

[0113]

[0114] Based on formula (17), calculate the current x-axis spatial position and the current y-axis spatial position of all measured target traverses:

[0115]

[0116] The initial spatial distance of each conductor, the current spatial distance of each conductor, the current x-axis spatial position of each tested target conductor, and the current y-axis spatial position of the j-th tested target conductor are obtained through formula (18) to form a multi-parameter diagnostic matrix:

[0117]

[0118] Based on the above results, the wind deflection coefficient of the first conductor is calculated using formula (19). :

[0119]

[0120] Based on the above results, the wind deflection coefficient of the second conductor is calculated using formula (19). :

[0121]

[0122] Based on the above results, the wind deflection distance of the first conductor is calculated using formula (20). :

[0123]

[0124] Based on the above results, the wind deflection distance of the second conductor can be calculated using formula (20). :

[0125]

[0126] Based on the above results, the wind deflection of the first conductor is characterized as follows:

[0127]

[0128] Based on the above results, the wind deflection of the second conductor is characterized as follows:

[0129]

[0130] The specific embodiments described above further illustrate the purpose, technical solution, and beneficial effects of the present invention. It should be understood that the above description is only a specific embodiment of the present invention and is not intended to limit the scope of protection of the present invention. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of the present invention should be included within the scope of protection of the present invention.

Claims

1. A non-contact wind deviation solution algorithm for an extra-high voltage direct current transmission line, characterized in that Comprise: S1: by measuring the initial magnetic field value of the target line, analytically obtain the initial spatial distance of the target line; S2: by measuring the current magnetic field value of the target line, analytically obtain the current spatial distance and relative spatial position of the target line; S3: construct a multi-parameter diagnostic matrix with the initial spatial distance, current spatial distance and relative spatial position; S4: solve the wind deviation coefficient and wind deviation distance of the target line through the multi-parameter diagnostic matrix information.

2. The non-contact wind deviation solution algorithm for UHVDC transmission lines according to claim 1, characterized in that The sensor is set at a position not contacting the target line, and a coordinate system is established based on the position of the sensor to obtain the magnetic field value and field value of the base point relative to the target line.

3. The non-contact wind deviation solving method for UHVDC transmission lines according to claim 2, characterized in that: In the windless state, the sensor is set directly above the target line to obtain the first field value of the target line.

4. The non-contact wind deviation solving method for UHVDC transmission lines according to claim 2, characterized in that: The second field value of the target line in the wind state is obtained based on the sensor position in the windless state.

5. The non-contact wind deviation algorithm for UHVDC transmission lines of claim 2, wherein Only one sensor is set on each target line to be measured.

6. The non-contact wind deviation solving method for UHVDC transmission lines according to any one of claims 1-5, characterized in that: The windage coefficient present in the target line to be measured is , The wind deviation distance existing in the target line to be measured is , wherein: is a measured target line number taking a value of 1 or 2, is a sensor number taking a value of 1 or 2, represents the first initial spatial distance of the root measured target line, represents the distance of the measured target line in the y-axis relative to the first sensor, represents the distance of the measured target line in the y-axis relative to the first conductor, represents the distance of the measured target line in the x-axis relative to the first conductor, is an axis corresponding to the coordinate system with the sensor position as the origin.

7. The non-contact wind deviation solution algorithm for UHVDC transmission lines according to claim 6, characterized in that A coordinate system is established based on the position of the sensor, and a multi-parameter diagnostic matrix is composed of the x-axis spatial position of one of the target lines in the coordinate system and the y-axis spatial position of another target line in the coordinate system: ， wherein: represents the initial spatial distance of the measured target line, represents the spatial distance of the measured target line, represents the x-axis spatial position of the measured target line, represents the y-axis spatial position of the measured target line, is the measured target line number with a value of 1 or 2.

8. The non-contact wind deviation solution algorithm for UHVDC transmission lines according to claim 7, characterized in that The initial spatial distance between the sensor and the conductor is extracted from the magnetic field three-dimensional component matrix established based on the first field value: ， wherein: represents the initial spatial distance of the root conductor, represents the initial spatial distance of the root conductor, is the number 1 or 2 of the line, B is the initial magnetic field quantity, is the initial spatial magnetic field component of the measured target line in the y-axis acquired by the sensor, is the sensor number with a value of 1 or 2.

9. The non-contact wind deviation solution algorithm for UHVDC transmission lines according to claim 7, characterized in that The spatial distance of all measured target lines is extracted from the magnetic field three-dimensional component matrix established based on the second field value: ， Wherein: represents the spatial distance of the measured target line, B is the initial magnetic field quantity, is the spatial magnetic field vector of the measured target line in the x-axis and y-axis obtained by the sensor, is the sensor number with a value of 1 or 2, is the number 1 or 2 of the line.

10. The non-contact wind deviation solution algorithm for UHVDC transmission lines of claim 7, wherein The x-axis and y-axis spatial positions of the measured target lines are extracted from the magnetic field three-dimensional component matrix established based on the second field value: ， wherein: represents the x-axis spatial position of the root conductor in the wind deflection state, represents the y-axis spatial position of the root conductor in the wind deflection state, represents the x-axis spatial position of the root conductor in the wind deflection state, represents the y-axis spatial position of the root conductor in the wind deflection state, is the number 1 or 2 of the line, B is the initial magnetic field quantity, is the spatial magnetic field vector of the measured target line in the x-axis and y-axis obtained by the sensor, is the sensor number with a value of 1 or 2.

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