Overhead line construction tension intelligent control and sag real-time measurement method and system

Abstract

The application provides an overhead line construction tension intelligent control and sag real-time measurement method and system, and belongs to the technical field of overhead lines. The method comprises the following steps: acquiring construction terrain geometric data, meteorological environment data, environment interference data, conductor self data and current tension data; judging the current tension data based on the environment interference data; if the current tension data is valid, inputting the preset target sag, meteorological environment data, conductor self data and terrain geometric data into a tension calculation model based on a mechanical equilibrium equation to obtain target tension data; calculating the deviation value of the target tension data and the current tension data, inputting the proportional-integral-derivative control operation, obtaining the tension control amount, driving the tension machine actuator to adjust the conductor tension to obtain the adjusted tension; and calculating the current sag value based on the terrain geometric data, conductor self data, adjusted tension and meteorological environment data, and correcting the current sag value to obtain the output sag value.

Description

Technical Field

[0001] This application relates to the field of overhead line technology, and in particular to a method and system for intelligent control of tension and real-time measurement of sag during overhead line construction. Background Technology

[0002] In the construction of overhead lines, tension control and sag measurement are the core links to ensure the safe and stable operation of the lines, and directly affect the stress distribution of conductors, insulation gaps and long-term service life.

[0003] Traditional construction methods rely on manual experience to adjust tensioners, making it difficult to accurately match complex changes in the construction environment. Furthermore, sag measurement often employs manual methods such as theodolite observation and laser ranging, resulting in low measurement efficiency and poor real-time performance. In existing technologies, some tension control methods do not fully consider environmental interference factors such as terrain undulations, wind speed variations, and conductor vibration, leading to distorted tension data and insufficient control precision. Simultaneously, sag calculations are often based on simplified models under ideal working conditions, without dynamic correction based on meteorological and topographical data, easily resulting in excessive sag deviations and potential safety hazards such as conductor breakage and insufficient ground clearance.

[0004] Therefore, there is an urgent need for an intelligent tension control and real-time sag measurement method and system for overhead line construction to solve the problems of insufficient tension control accuracy, low sag measurement efficiency and low accuracy. Summary of the Invention

[0005] To address the aforementioned technical issues, this application provides a method and system for intelligent tension control and real-time sag measurement during overhead line construction.

[0006] A first aspect of this application provides a method for intelligent tension control and real-time sag measurement during overhead line construction, comprising: Acquire construction environment data, conductor self-data, and current tension data. The construction environment data includes topographic geometry data, meteorological environment data, and environmental interference data. The validity of the current tension data is determined based on the environmental interference data. If the current tension data is valid tension data, then the preset target sag, the meteorological environment data, the conductor's own data, and the terrain geometry data are input into the tension calculation model constructed based on the mechanical equilibrium equation to obtain the target tension data; Calculate the deviation between the target tension data and the current tension data; input the deviation value into the proportional-integral-derivative control operation to obtain the tension adjustment amount; Based on the tension control amount, the tension control mechanism is driven to adjust the tension of the conductor, thereby obtaining the adjusted tension. Based on the terrain geometry data, the conductor's own data, the adjusted tension, and the meteorological environment data, the current sag value is obtained through the overhead line sag calculation equation. The current sag value is corrected to obtain the output sag value.

[0007] A second aspect of this application provides an intelligent tension control and real-time sag measurement system for overhead line construction, comprising: The data acquisition module is used to acquire construction environment data, conductor self-data, and current tension data. The construction environment data includes topographic geometry data, meteorological environment data, and environmental interference data. The tension verification module is used to determine the validity of the current tension data based on the environmental interference data. The target calculation module is used to input the preset target sag, the meteorological environment data, the conductor's own data and the terrain geometry data into a tension calculation model based on the mechanical equilibrium equation if the current tension data is effective tension data, so as to obtain the target tension data. The control calculation module is used to calculate the deviation between the target tension data and the current tension data; and input the deviation value into the proportional-integral-derivative control calculation to obtain the tension adjustment amount; The tension execution module is used to drive the tension machine actuator to adjust the tension of the conductor based on the tension control amount, so as to obtain the adjusted tension; The sag calculation module is used to obtain the current sag value based on the terrain geometry data, the conductor's own data, the adjusted tension, and meteorological environmental data, through the overhead line sag calculation equation. The sag correction module is used to correct the current sag value to obtain the output sag value.

[0008] A third aspect of this application provides an electronic device, including a memory, a processor, and a computer program stored in the memory and running on the processor, wherein the processor executes the computer program to implement the steps of the above-described method for intelligent control of tension and real-time measurement of sag during overhead line construction.

[0009] In a fourth aspect of this application, a computer-readable storage medium is provided, the computer-readable storage medium storing a computer program, which, when executed by a processor, implements the steps of the above-described method for intelligent control of tension and real-time measurement of sag during overhead line construction.

[0010] The beneficial effects of the intelligent tension control and real-time sag measurement method and system for overhead line construction provided in this application are as follows: Firstly, this application integrates terrain, meteorological, and environmental interference data, eliminates distorted tension data through validity judgment, and uses a tension calculation model constructed based on the mechanical equilibrium equation to match the target tension with real-time operating conditions. This solves the problems of weak anti-interference and blind control in traditional methods, thereby improving tension control accuracy. Secondly, based on the adjusted tension and multi-source operating condition data, real-time sag measurement and accurate output are achieved through a professional sag calculation equation and correction mechanism. Finally, automatic closed-loop tension adjustment is achieved through proportional-integral-derivative control, which is more adaptable to the construction needs under complex terrain and variable weather conditions, while ensuring reasonable stress distribution and compliance of insulation gaps, further improving construction quality and overall efficiency. Attached Figure Description

[0011] Figure 1 A flowchart illustrating an embodiment of the overhead line construction tension intelligent control and sag real-time measurement method provided in this application; Figure 2 This is a structural block diagram of an overhead line construction tension intelligent control and sag real-time measurement system provided in an embodiment of this application; Figure 3 This is a schematic block diagram of an electronic device provided in an embodiment of this application. Detailed Implementation

[0012] In the following description, specific details such as particular system architectures and techniques are set forth for illustrative purposes and not for limitation, in order to provide a thorough understanding of the embodiments of this application. However, those skilled in the art will understand that this application may also be implemented in other embodiments without these specific details. In other instances, detailed descriptions of well-known systems, apparatuses, circuits, and methods have been omitted so as not to obscure the description of this application with unnecessary detail.

[0013] To make the purpose, technical solution, and advantages of this application clearer, the following will be described in conjunction with the appendix. Figure 1-3 The following is an explanation using specific examples.

[0014] Please refer to Figure 1 , Figure 1 This is a flowchart illustrating a method for intelligent tension control and real-time sag measurement during overhead line construction, provided in an embodiment of this application. The method includes: S101: Acquire construction environment data, conductor self-data, and current tension data. Construction environment data includes topographic geometry data, meteorological environment data, and environmental interference data.

[0015] In this embodiment, during the early and later stages of construction, multi-source sensing devices collaboratively collect construction environment data, conductor data, and current tension data.

[0016] The topographic geometry data of the construction environment was obtained through on-site surveys using GPS positioning equipment and LiDAR scanners. This included the coordinates of adjacent towers, span length, suspension point elevation, terrain slope, and elevation difference angle. The location and geometric parameters of areas with abrupt terrain changes, such as gullies and steep slopes, were also marked. Meteorological environmental data was collected from automatic weather stations deployed in the construction area, including parameters such as ambient temperature, relative humidity, atmospheric pressure, wind speed, and wind direction. The sampling frequency was greater than or equal to 1 time per minute. Environmental interference data was collected from sensors installed near tensioners, conductor suspension points, and towers, including conductor vibration acceleration, traction wheel speed fluctuations, and instantaneous wind speed impact data.

[0017] In this embodiment, the conductor's own data is obtained through prior technical briefings, material testing reports, and on-site verification. This includes key mechanical and physical parameters such as conductor type, weight per unit length, rated breaking force, elastic coefficient, and coefficient of thermal expansion. Current tension data is collected in real time by a tension sensor installed at the outlet of the tension machine. The tension sensor's range matches the conductor's rated breaking force, and the sampling frequency is greater than or equal to 10 times per second.

[0018] S102: Determine the validity of the current tension data based on environmental interference data.

[0019] In this embodiment, after acquiring environmental interference data and current tension data, the environmental interference data is first time-aligned and preprocessed to remove raw signals with disconnections and abnormal jumps. Based on the force transmission characteristics of construction machinery and conductors, a mapping relationship between environmental interference and tension measurement values ​​is established. Interference components such as wind speed, mechanical vibration, and traction wheel speed fluctuations are quantified and analyzed, transforming unobservable disturbances into calculable tension interference components.

[0020] Based on this, the comprehensive interference tension component is subtracted from the current tension data to obtain the pure tension data after eliminating environmental and mechanical influences. Using the inherent mechanical response characteristics of the tension machine as the criterion, thresholds such as the maximum allowable tension change rate and the maximum allowable fluctuation amplitude are set. Time-series characteristic analysis is performed on the pure tension data to determine whether its changing trend is continuous, stable, and conforms to physical laws.

[0021] If the pure tension data is continuous, stable, and conforms to physical laws, then the current tension data is considered valid; if the pure tension data is not continuous, stable, and conforms to physical laws, then it is considered invalid.

[0022] S103: If the current tension data is valid tension data, then input the preset target sag, meteorological environment data, conductor data and terrain geometry data into the tension calculation model based on the mechanical equilibrium equation to obtain the target tension data.

[0023] In this embodiment, a tension calculation model is constructed based on the principle of mechanical equilibrium of overhead conductors, using the preset design target sag as the control target and real-time meteorological environmental data, conductor inherent parameters and on-site topographic geometric data as input conditions. This model is used to solve the problem from target sag to target tension.

[0024] During the calculation process, the input data is first normalized and matched with the working conditions. The preset target sag, temperature and wind load from meteorological environmental data, conductor unit length weight and elastic coefficient from conductor data, and tower span and elevation difference angle from terrain geometry data are input into the tension calculation model based on the mechanical equilibrium equation. The influence of nonlinear factors is eliminated through iterative calculation to obtain the theoretical horizontal tension that meets the current construction environment and design requirements, and then further converted into target tension data that can be executed by the tension machine.

[0025] The target tension data is not a fixed value, but is updated in real time according to the on-site environment. It can respond to temperature changes, terrain differences and wind load disturbances, so that the control system always adjusts based on the target value that fits the actual working conditions.

[0026] The tension calculation model is a forward calculation model based on the mechanical equilibrium of overhead catenary conductors and the line state equation. It is used to inversely calculate the target tension required for the current operating conditions under known target sag, terrain geometry parameters, conductor parameters, and meteorological data, providing an executable tension setpoint for the tension machine's closed-loop control. The model is constructed by using a preset target sag as the control target, and meteorological data, conductor data, and terrain geometry data as inputs. It simultaneously establishes the overhead line state equation and sag calculation formula, comprehensively considering the effects of temperature deformation, conductor elastic elongation, wind load, and terrain elevation differences. After normalization and iterative solving to eliminate nonlinear errors, a mapping relationship from target sag to target tension is finally established, forming a tension calculation model that can be updated in real time. The calculation formula is as follows: T0 represents the target tension data, H0 represents the horizontal tension, and β represents the elevation difference angle. f0 is the target sag, g is the combined load per unit length of the conductor (self-weight and wind load), and l is the span.

[0027] S104: Calculate the deviation between the target tension data and the current tension data; input the deviation value into the proportional-integral-derivative control operation to obtain the tension adjustment amount.

[0028] In this embodiment, the calculation of the deviation value must first be based on data validity verification. Specifically, after determining that the current tension data is valid, the difference between the two is calculated using the preset target tension data as a benchmark, through the absolute deviation formula (deviation value = target tension data - current valid tension data), while recording the positive and negative directions and the magnitude of the absolute value of the deviation. A positive deviation value indicates insufficient current tension, requiring an increase in tension output; a negative deviation value indicates excessive current tension, requiring a decrease in tension output. The absolute value represents the urgency and magnitude of tension adjustment required.

[0029] Next, when performing proportional-integral-derivative (PID) control calculations on the calculated deviation values, parameter adaptation is required based on the dynamic characteristics of overhead line construction. This PID control calculation does not use fixed parameters, but rather presets multiple parameter sets adapted to different construction scenarios. For example, for the steady-state construction phase (when the conductor is laid out at a uniform speed and environmental disturbances are minimal), a moderate proportional, integral, and derivative coefficient is used, with values ​​of 0.8, 0.05, and 0.05 respectively. For scenarios with significant environmental disturbances or sudden changes in tension deviation (sudden gusts of wind in the construction section, terrain canyon wind disturbances, or short-term jamming and shaking of the tensioner traction wheel), the system automatically switches to a more responsive parameter combination, specifically including a proportional coefficient of 1.6, an integral coefficient of 0.18, and a derivative coefficient of 0.35.

[0030] During the operation, the proportional component outputs the basic control amount in real time based on the absolute value of the deviation, the integral component accumulates historical deviations to eliminate static errors, and the derivative component predicts the trend of deviation changes and outputs the suppressive control amount in advance to avoid overshoot or lag in tension adjustment.

[0031] Finally, the tension control value obtained through PID calculation needs to undergo boundary verification and dynamic optimization before being output to the tension machine actuator. The boundary verification process ensures that the control value is less than or equal to the tension machine's rated adjustment range (maximum tension output value, minimum tension protection value). Dynamic optimization, on the other hand, adjusts the control value based on the current construction progress (conductor laying speed) and environmental interference data (wind speed, vibration intensity). For example, when a momentary strong wind interference is detected, a temporary compensation value is superimposed on the basic PID control value to enhance the anti-disturbance capability, ultimately resulting in the output tension control value.

[0032] S105: The tension of the conductor is adjusted by the tension control mechanism driven by the tension control amount to obtain the adjusted tension.

[0033] In this embodiment, firstly, the tension control amount is converted into a drive signal recognizable by the actuator. Depending on the power type of the tension machine (hydraulic, electric, etc.), the tension control amount is converted into a pressure control signal for the corresponding hydraulic system or a speed / torque control signal for the motor. For example, a hydraulic tension machine converts the control amount into hydraulic oil flow and pressure commands via an electro-hydraulic proportional valve, while an electric tension machine converts the control amount into motor speed adjustment commands via a servo driver.

[0034] Secondly, the tension machine actuator achieves graded and smooth adjustment based on the drive signal. After receiving the drive signal, the tension machine actuator (hydraulic motor, servo motor) adjusts the tension of the conductor according to the control quantity. At the same time, the action of the tension machine actuator is linked to the conductor laying speed. For example, it maintains uniform speed adjustment when the conductor is laid at a constant speed, and reduces the adjustment rate during the start and stop phases of the conductor to avoid sudden tension changes that could cause conductor stretching deformation or vibration.

[0035] Finally, the adjusted tension is obtained through feedback on the adjustment effect. Specifically, during the operation of the tension machine actuator, tension sensors (dual redundant tension sensors) installed on the conductor's force path collect the conductor's tension data. This tension data is compared with the control target. For example, if the tension data is close to the target tension data and the fluctuation amplitude is less than the preset fluctuation threshold, the actuator is controlled to stop adjustment; if there is still a deviation, the drive signal is corrected according to the feedback data until the tension stabilizes within the target range. At this time, the stable tension data collected by the sensors and after removing instantaneous interference is the adjusted tension, which will be used simultaneously in the sag calculation process. The preset fluctuation threshold is a critical value used to determine whether the tension has reached a stable state, comprehensively set based on the allowable tension stability accuracy of the conductor during overhead line construction, the control accuracy of the tension machine, and the level of interference in the field environment.

[0036] S106: Based on topographic geometry data, conductor data, adjusted tension, and meteorological data, the current sag value is obtained through the overhead line sag calculation equation.

[0037] In this embodiment, based on terrain geometry data, the span, elevation difference angle, and conductor suspension point height between two adjacent towers are determined. Based on the conductor's own data, the conductor's self-weight per unit length, rated breaking force, and elastic modulus are determined. Based on meteorological environmental data, the current ambient temperature and wind speed are determined, and the wind load per unit length of the conductor is calculated based on the current wind speed. The span, elevation difference angle, self-weight per unit length, adjusted tension, current ambient temperature, elastic modulus, wind load per unit length, and rated breaking force are input into the overhead line state equation to calculate the actual horizontal tension. Then, the actual horizontal tension, span, elevation difference angle, and self-weight per unit length are substituted into the parabolic sag formula to calculate the current sag value.

[0038] S107: Correct the current sag value to obtain the output sag value.

[0039] In this embodiment, the elevation distribution in the terrain geometry data is analyzed point by point, and terrain abrupt change point data is extracted. Spectral analysis is performed on the continuous wind speed time-series signal in the meteorological environmental data to obtain the distribution characteristics of wind speed fluctuations in the frequency domain, yielding wind vibration frequency data. Based on the location of the terrain abrupt change point data within the span, the depth of the gullies, and the slope gradient, the local elevation difference correction coefficient for the traverse when crossing this type of complex terrain is determined. The wind vibration frequency data is compared with the traverse's own natural frequency to determine the coupling degree between wind vibration excitation and traverse vibration, and the sag increment caused by the wind vibration effect is calculated accordingly. The local elevation difference correction coefficient is used to compensate for the current sag value based on terrain, while simultaneously superimposing the sag increment caused by wind vibration, completing a double compensation correction for the current sag value, ultimately obtaining an output sag value that closely approximates the actual working conditions.

[0040] As can be seen from the above, this application integrates terrain, meteorological, and environmental interference data, eliminates distorted tension data through validity judgment, and constructs a tension calculation model based on the mechanical equilibrium equation, enabling the target tension to match real-time operating conditions. This solves the problems of weak anti-interference and blind control in traditional methods, thereby improving the accuracy of tension control. Secondly, based on the adjusted tension and multi-source operating condition data, real-time sag measurement and accurate output are achieved through professional sag calculation equations and correction mechanisms. Finally, automatic closed-loop tension adjustment is achieved through proportional-integral-derivative control, which is more adaptable to the construction needs under complex terrain and variable weather conditions, while ensuring reasonable stress distribution and compliance of insulation gaps, further improving construction quality and overall efficiency.

[0041] In one embodiment of this application, determining the validity of current tension data based on environmental interference data includes: Environmental disturbance data includes wind speed data, vibration data, and traction wheel speed fluctuation data; Based on the preset mechanical transmission relationship, the wind-induced tension component corresponding to the wind speed data, the vibration tension component corresponding to the vibration data, and the traction disturbance tension component corresponding to the traction wheel speed fluctuation data are calculated respectively. The wind-induced tension component, vibration tension component, and traction disturbance tension component are superimposed to obtain the comprehensive disturbance tension component. Subtract the combined disturbance tension component from the current tension data to obtain the pure tension data; Determine whether the pure tension data conforms to the mechanical response characteristics of the tension machine in terms of time sequence. The mechanical response characteristics of the tension machine include the maximum allowable rate of tension change and the maximum allowable tension fluctuation amplitude. If the pure tension data changes continuously over time and the rate of change is less than or equal to the maximum allowable rate of change of tension, and its fluctuation amplitude is less than or equal to the maximum allowable fluctuation amplitude of tension, then the current tension data is determined to be valid tension data. If the rate of change of the pure tension data is greater than the maximum allowable rate of change of tension, or if its fluctuation range is greater than the maximum allowable fluctuation range of tension, then the current tension data is determined to be invalid.

[0042] In this embodiment, the environmental interference data includes wind speed data, vibration data, and traction wheel speed fluctuation data. The wind speed data is collected by an ultrasonic anemometer installed near the tension point of the conductor; the vibration data is obtained by an accelerometer attached to the tension machine body and the conductor suspension point; and the traction wheel speed fluctuation data is collected in real time by an incremental encoder installed on the traction wheel shaft end.

[0043] Specifically, based on a pre-defined mechanical transmission relationship, the tension components corresponding to each disturbance are decomposed to achieve quantitative separation of the disturbance. Specifically, for the wind-induced tension component, based on wind speed data, conductor diameter, and air density, the wind load per unit length of the conductor is obtained through a wind load calculation model. Then, based on the wind-receiving area and force angle of the conductor, the wind-induced tension component is derived. The formula can be expressed as: Wind-induced tension component = Wind load per unit length × Span × Force direction coefficient, where the force direction coefficient is adjusted according to the angle between the wind direction and the conductor's deployment direction. For the vibration tension component, based on the vibration amplitude, frequency, and conductor mass distribution in the vibration data, the tension fluctuations generated by the vibration are calculated through vibration dynamics equations. Specifically, the conductor is considered as a continuous elastic beam, and a transverse vibration dynamics equation for the conductor is established. The process uses the vibration amplitude and frequency collected by the accelerometer as excitation input. Based on the conductor's unit length mass, equivalent span, and elastic stiffness parameters, it solves for the additional dynamic stress caused by dynamic displacement during the vibration process, and converts this dynamic stress into an equivalent vibration tension fluctuation component, thus obtaining the tension fluctuation value generated by mechanical vibration or wind vibration. For the traction disturbance tension component corresponding to the traction wheel speed fluctuation data, based on the speed fluctuation amount, traction wheel radius, and friction coefficient between the conductor and the traction wheel, the tension impact value caused by sudden speed change is derived through a transmission dynamics model. The more severe the speed fluctuation, the larger the traction disturbance tension component. Subsequently, the above three components are synthesized according to the principle of vector superposition to obtain the comprehensive disturbance tension component.

[0044] In this embodiment, the validity of the current tension data is determined by verifying the temporal characteristics of the pure tension data. Specifically, firstly, the comprehensive interference tension component is subtracted from the collected current tension data to remove the influence of environmental and mechanical disturbances, obtaining the pure tension data representing the true stress state of the standard conductor. Then, it is determined whether the pure tension data conforms to the mechanical response characteristics of the tension machine in terms of temporal sequence. The mechanical response characteristics of the tension machine are determined by the equipment calibration parameters, including the maximum allowable rate of tension change (the maximum allowable change in tension per unit time, e.g., 5 kN / s) and the maximum allowable tension fluctuation range (the maximum allowable fluctuation range under steady-state tension, e.g., ±1 kN). If the pure tension data shows a continuous and smooth trend within a continuous time window, without abrupt jumps, and its instantaneous rate of change is always less than or equal to the maximum allowable rate of change of tension, while the tension difference between any two adjacent sampling points is within the maximum allowable fluctuation range, then the current tension data is determined to be valid tension data and can be used for subsequent target tension calculation and sag measurement. If the pure tension data shows a sudden change in instantaneous rate of change exceeding the maximum allowable rate of change of tension, or the fluctuation range exceeds the maximum allowable fluctuation range, it indicates that the current tension data is affected by abnormal interference that has not been stripped away, or that the equipment is faulty, and is determined to be invalid tension data. The continuous time window is set comprehensively based on the mechanical response time of the tension meter, the sensor sampling frequency, and the tension change characteristics of overhead line construction.

[0045] As can be seen from the above, this embodiment calculates the disturbance tension components corresponding to wind speed, vibration, and traction wheel speed fluctuations respectively, and synthesizes the comprehensive disturbance tension component. This allows the environmental and mechanical disturbance effects to be removed from the current tension data, resulting in pure tension data that truly reflects the conductor's stress state. Furthermore, by constraining and verifying the temporal variation characteristics of the pure tension data to ensure it conforms to the mechanical response characteristics of the tension machine, abnormal, abrupt, and invalid tension data can be effectively eliminated, thereby improving the accuracy and reliability of tension detection.

[0046] In one embodiment of this application, if the rate of change of the pure tension data is greater than the maximum permissible rate of change of tension, or its fluctuation amplitude is greater than the maximum permissible fluctuation amplitude of tension, then the current tension data is determined to be invalid, including: Obtain the pure tension data sequence within a continuous time window; Calculate the tension change rate sequence of the pure tension data sequence; If the tension change rate sequence shows tension change rates with opposite signs at adjacent times, and the duration of the opposite sign state is greater than a preset threshold for the duration of a reverse mutation, then a reverse mutation is determined to exist. If the absolute value of the tension change rate in the tension change rate sequence is greater than the preset jump amplitude threshold, and the number of times the jump occurs within the preset time window is greater than the preset jump frequency threshold, then it is determined that there is an irregular jump. When there is a reverse mutation or an irregular jump, the current tension data is determined to be invalid.

[0047] In this embodiment, a continuous sequence of pure tension data is first extracted within a fixed time window. Based on this, the rate of change of tension at adjacent moments is calculated point by point to form a time-synchronized sequence of tension change rates. The fixed time window is determined comprehensively based on the sampling frequency of the tension sensor, the mechanical response time of the tension machine, and the dynamic characteristics of tension changes during overhead line construction.

[0048] When analyzing the tension change rate sequence, two typical abnormal features are identified: The first is a reverse abrupt change, where the tension change rate alternates between positive and negative values ​​at adjacent moments, indicating a rapid reversal of tension increase / decrease. If the duration of this alternation exceeds a preset reverse abrupt change duration threshold, it indicates that the tension signal is not caused by normal construction or controllable disturbances, but rather by sensor malfunction, signal interference, or mechanical shock. The second is an irregular jump, where the absolute value of the tension change rate exceeds a preset jump amplitude threshold and, within a preset time window, exceeds a preset jump frequency threshold, indicating unpredictable jumps in the tension data, violating the smooth response pattern of the tension machine's hydraulic or electric actuator. The reverse abrupt change duration threshold is set based on the tension machine's mechanical response lag time, sensor sampling period, and normal construction tension fluctuation period, used to distinguish between normal small-amplitude oscillations and abnormal reverse abrupt changes. The jump amplitude threshold is determined based on the tension machine's maximum allowable tension change rate, rated tension range, and permissible on-site disturbance level, used to determine whether the tension change exceeds the physical limits of the equipment's normal response.

[0049] By employing the aforementioned dual anomaly detection criteria, invalid data caused by sensor failure, circuit jamming, external strong impact, signal distortion, and other reasons can be further filtered out, on top of the already purified tension data which has been free of conventional interference. Only when both reverse abrupt changes and irregular jumps are simultaneously excluded can the current tension data be considered valid; once either anomaly is detected, the current tension data is deemed invalid and will no longer participate in subsequent tension closed-loop control and sag calculation.

[0050] As can be seen from the above, this embodiment, by performing time-series rate of change analysis on the pure tension data sequence within a continuous time window, identifies reverse mutations and irregular jumps in the tension signal. After eliminating conventional environmental and mechanical interference, it can further eliminate abnormal data caused by sensor malfunctions, signal distortion, external impacts, etc., effectively avoiding misjudgments or omissions caused by single value exceeding limits, and effectively improving the accuracy and robustness of tension data validity determination.

[0051] In one embodiment of this application, a method for intelligent tension control and real-time sag measurement during overhead line construction further includes: Based on the pre-configured first tension sensor and second tension sensor, the first current tension data and the second current tension data are obtained respectively; Acquire wind speed data, vibration data, and traction wheel speed fluctuation data at the installation positions corresponding to the first tension sensor and the second tension sensor, and calculate the first comprehensive disturbance tension component and the second comprehensive disturbance tension component respectively. The first pure tension data is obtained by subtracting the first comprehensive interference tension component from the first current tension data, and the second pure tension data is obtained by subtracting the second comprehensive interference tension component from the second current tension data. Calculate the consistency deviation between the first and second pure tension data; When the consistency deviation is less than or equal to the preset consistency threshold, the average value of the first pure tension data and the second pure tension data is taken as the pure tension data. When the consistency deviation is greater than the consistency threshold, it is determined whether the first pure tension data and the second pure tension data conform to the mechanical response characteristics of the tension machine, and the judgment result is obtained. Based on the judgment results, the pure tension data were determined.

[0052] In this embodiment, firstly, a first tension sensor and a second tension sensor, which are pre-arranged at different stress locations or different detection paths, synchronously collect and obtain the first current tension data and the second current tension data, respectively. The two sets of data are independent of each other and serve as backups for each other, thereby reducing the impact of the failure of the current tension data obtained by a single tension sensor on the entire control system from the hardware level.

[0053] After acquiring the first and second current tension data, each data stream undergoes independent interference removal processing. Specifically, considering the local environmental differences at the installation locations of the first and second tension sensors, wind speed data, vibration data, and traction wheel speed fluctuation data are collected at the corresponding locations. Following the same mechanical transmission model, the first and second comprehensive interference tension components are calculated based on the aforementioned calculation method for the comprehensive interference tension components. Then, the corresponding comprehensive interference tension components are subtracted from the first and second current tension data to obtain the first and second pure tension data.

[0054] Subsequently, consistency verification and intelligent fusion are performed on the two pure tension data streams. Specifically, the deviation between the first and second pure tension data streams is first calculated. When the deviation is less than or equal to a preset consistency threshold, it indicates that both sensors are working normally and the detection results are reliable. In this case, the average value of the two is taken as the final pure tension data. The preset consistency threshold is obtained by comprehensively calibrating based on the measurement error of the dual tension sensors themselves, the reasonable force deviation caused by differences in installation position, and the allowable fluctuation range under normal environmental disturbances. It is used to determine whether the two pure tension data streams are in a reliable and consistent state. When the consistency deviation is greater than the consistency threshold, it is determined whether the first and second pure tension data streams conform to the mechanical response characteristics of the tension machine. If only one conforms to the mechanical response characteristics of the tension machine, the conforming one is selected as the pure tension data. If both conform to the mechanical response characteristics of the tension machine, the one with the smaller absolute value of the deviation from the target tension data is selected as the pure tension data. If neither conforms to the mechanical response characteristics of the tension machine, a system-level fault is determined, and a shutdown alarm is triggered.

[0055] As can be seen from the above, this embodiment uses dual tension sensors for redundant acquisition and performs interference removal and pure tension calculation separately. Then, it achieves intelligent data fusion by judging consistency deviation. When the two data are consistent, it can improve the tension detection accuracy and suppress random noise by averaging. When the data are inconsistent, it can select the reliable data by verifying the validity of each data separately. This effectively avoids the measurement distortion problem caused by single sensor drift, failure or local abnormal interference, and further improves the reliability and fault tolerance of tension data.

[0056] In one embodiment of this application, based on terrain geometry data, conductor data, adjusted tension, and meteorological data, the current sag value is obtained through an overhead line sag calculation equation, including: Based on topographic geometry data, determine the span, elevation difference angle, and suspension point height of the conductor between two adjacent towers; Determine the conductor's self-weight per unit length, rated breaking force, and elastic modulus based on the conductor's own data; Based on meteorological environmental data, determine the current ambient temperature and current wind speed, and calculate the wind load per unit length of the conductor based on the current wind speed; By inputting the span, elevation difference angle, self-weight per unit length, adjusted tension, current ambient temperature, elastic coefficient, wind load per unit length, and rated breaking force into the overhead line state equation, the actual horizontal tension is obtained. Based on the actual horizontal tension, span, elevation difference angle, and unit length self-weight, input the sag formula of the oblique parabola to obtain the current sag value.

[0057] In this embodiment, firstly, key geometric parameters between adjacent towers are extracted and analyzed from the terrain geometry data. These key geometric parameters include the span between adjacent towers, the elevation difference angle between two suspension points, and the actual suspension point height of the conductor. Simultaneously, the self-weight per unit length, rated breaking force, and elastic modulus are determined based on the conductor's own parameters.

[0058] Secondly, external loads are quantified based on meteorological environmental data. For example, the impact of conductor thermal expansion and contraction is determined based on the current ambient temperature, and the horizontal wind load per unit length of conductor is calculated using a wind load model based on real-time wind speed, transforming environmental factors such as temperature and wind force into physical quantities that can participate in mechanical calculations. Subsequently, multiple parameters, including span, elevation difference angle, self-weight per unit length, adjusted tension, ambient temperature, elastic coefficient, wind load per unit length, and rated breaking force, are uniformly input into the overhead line state equation to solve for the actual horizontal tension. The wind load model uses real-time wind speed, conductor diameter, and conductor cross-sectional area as inputs, and is a unit-length horizontal wind load calculation model constructed based on the square relationship between wind pressure and wind speed. By combining the horizontal wind load and the conductor self-weight ratio into a comprehensive load ratio, the quantitative calculation of the wind load's influence on conductor stress and sag is achieved. The overhead line state equation, considering temperature deformation, conductor elastic elongation, wind load, and elevation difference, is used to convert the adjusted tension into the actual horizontal tension. The expression is: H m The actual horizontal tension under the current working conditions is given by: g is the comprehensive specific load per unit length, α is the coefficient of thermal expansion of the conductor, E is the elastic modulus, A is the cross-sectional area of ​​the conductor, and t is the current value of the conductor. m -t0 represents the difference between the current ambient temperature and the reference temperature. The conductor's coefficient of thermal expansion, elastic modulus, and cross-sectional area are the conductor's own data.

[0059] Finally, using the actual horizontal tension as the core input, and based on the span, elevation difference angle, and unit length self-weight, the parabolic sag formula applicable to overhead line construction scenarios is input for calculation to obtain the current sag value under the current working condition. The formula is: f is the current sag value, and H is the actual horizontal tension.

[0060] As can be seen from the above, this embodiment solves for the actual horizontal tension based on terrain geometric parameters, conductor properties, adjusted tension, and real-time meteorological data, along with the overhead line state equation. It then uses the parabolic sag formula for calculation, comprehensively considering the influence of various key factors such as span, elevation difference, temperature, wind load, and conductor elastic deformation on sag. This effectively improves the accuracy and adaptability of sag calculation, making the current sag value more closely match the actual stress state on site. This provides a reliable basis for real-time sag monitoring and precise tension control during overhead line construction.

[0061] In one embodiment of this application, the current sag value is corrected to obtain an output sag value, including: Analyze elevation change points in topographic geometry data to obtain topographic change point data; perform spectral analysis on wind speed data in meteorological environmental data to obtain wind vibration frequency data; Based on topographic abrupt change point data, determine the local elevation difference correction factor for the traverse when crossing gullies or steep slopes; Based on the wind vibration frequency data and the natural frequency of the conductor, the sag increment is determined; The current sag value is compensated and corrected based on the local elevation difference correction coefficient and the sag increment to obtain the output sag value.

[0062] In this embodiment, firstly, elevation change points in the terrain geometry data are identified and extracted to form terrain change point data. Change points in the terrain change point data usually correspond to special terrain locations such as gullies, steep slopes, and side slopes, which will cause the local shape of the guide to deviate from the standard parabolic model. At the same time, the wind speed data is subjected to spectrum analysis to extract the dominant frequency, amplitude and other features of wind vibration, and obtain wind vibration frequency data that represents the law of wind-induced vibration.

[0063] Specifically, on the one hand, based on the location, elevation difference, and span of the terrain abrupt change point, the local elevation difference correction coefficient for the conductor crossing complex terrain such as gullies or steep slopes is calculated and determined. Specifically, using any terrain abrupt change point within the conductor span as the calculation benchmark, the actual horizontal distance and elevation difference between the abrupt change point and the suspension points of the towers on both sides, as well as the relative position of the abrupt change point within the span, are obtained. The difference between the actual catenary geometric offset of the conductor at the abrupt change point and the calculated value of the standard oblique parabola is then calculated. Based on this difference, and according to the distribution ratio of the abrupt change point within the span, the rate of change of terrain elevation difference, and the theoretical sag weight of the conductor at that location, a linear superposition operation is performed to obtain the proportion of sag deviation caused solely by the current terrain abrupt change. The sag deviation ratio is multiplied by the influence coefficient of the current sag value in the abrupt change region to obtain the local elevation difference correction coefficient. This local elevation difference correction coefficient is used to compensate for the deviation between the theoretical sag and the actual sag caused by the drastic terrain undulations. On the other hand, the wind vibration frequency is compared with the conductor's own natural frequency to determine whether it is close to the resonance region. Based on the wind speed and vibration intensity, the sag increment caused by wind vibration is calculated. For example, the wind vibration frequency obtained from the spectrum analysis is compared with the conductor's own natural frequency in the frequency domain to determine the frequency difference and the degree of frequency proximity. This determines whether the current wind vibration has entered the conductor's resonance sensitive range. The smaller the frequency difference, the closer it is to the resonance region, and the more significant the impact of wind vibration on the conductor's morphology. Secondly, the intensity of the wind load on the conductor is quantified based on the real-time wind speed. At the same time, the actual vibration intensity is characterized by the conductor vibration acceleration signal. The wind load level corresponding to the wind speed and the vibration intensity level are coupled and analyzed to determine the dynamic deformation trend of the conductor under wind vibration. Finally, using the frequency similarity as a weighting coefficient, and based on the dynamic deformation amplitude obtained by coupling wind load and vibration intensity, the vertical displacement increment of the conductor under wind vibration is derived through the mechanical equilibrium relationship. This increment is the sag increment caused by wind vibration.

[0064] Finally, the aforementioned local elevation difference correction coefficient and sag increment are applied together to the current sag value for comprehensive compensation and correction, resulting in the final output sag value.

[0065] As can be seen from the above, this embodiment analyzes elevation change points in terrain geometry data to determine local elevation difference correction coefficients, performs spectral analysis on wind speed data, and obtains the sag increment caused by wind vibration based on the conductor's natural frequency. These two correction results are then used to compensate and correct the theoretically calculated current sag value. This effectively eliminates errors in sag measurement caused by complex terrain, steep slopes, and the dynamic effects of wind vibration, further improving the authenticity, accuracy, and environmental adaptability of the sag results. This makes the output sag value more closely match the actual operating state of the conductor, providing more reliable and high-precision data support for intelligent tension control and construction safety monitoring.

[0066] In one embodiment of this application, a method for intelligent tension control and real-time sag measurement during overhead line construction further includes: The entire route is divided into several terrain feature sections based on topographic geometry data. These terrain feature sections include plain sections, ravine-crossing sections, steep slope sections, and wind tunnel sections. Establish a rule library for mapping terrain features and tension requirements. The rule library contains preset tension adjustment amounts and adjustment trigger distances for various types of terrain feature segments.

[0067] In this embodiment, the entire construction line is first identified and segmented based on high-precision terrain geometry data. The continuous line is divided into sections with different terrain features, mainly including plain sections, ravine crossing sections, steep slope sections, and wind tunnel sections. Each section corresponds to different conductor stress environment, sag change trend, and disturbance risk, thereby realizing the zoned and segmented refined management of the control strategy.

[0068] After completing the terrain segmentation, a rule library for mapping terrain features and tension requirements is established and invoked. This rule library is pre-built through a large number of field tests, simulation calculations and engineering experience. It stores key control parameters such as the preset tension adjustment amount, tension adjustment range, adjustment speed and adjustment trigger distance corresponding to different terrain feature segments.

[0069] By segmenting the data first and then matching the rules, the tension can be pre-adjusted before the conductor enters a special terrain section, thus achieving a control upgrade from passively correcting deviations to actively predicting and adapting in advance.

[0070] As can be seen from the above, this embodiment divides the entire route into different terrain feature sections such as plains, ravine crossings, steep slopes, and wind tunnels based on terrain geometry data, and establishes a corresponding terrain feature and tension demand mapping rule library. This allows for the pre-configuration of appropriate tension preset adjustment amounts and adjustment trigger distances for different terrain sections, achieving predictive, segmented, and precise adaptation of tension control. This effectively avoids sag anomalies and tension fluctuations caused by sudden terrain changes and wind field differences.

[0071] In one embodiment of this application, a method for intelligent tension control and real-time sag measurement during overhead line construction further includes: When the distance between the traction point and the target terrain feature segment is less than or equal to the preset adjustment trigger distance, the tension setting value is adjusted in advance based on the corresponding tension preset adjustment amount in the rule base. At the junction of two adjacent terrain feature sections, a transition control zone is set up. The length of the transition zone is dynamically calculated based on the elastic modulus of the conductor and the current traction speed. Within the transition control zone, the tension setpoint smoothly transitions from the target tension of the previous terrain feature segment to the target tension of the next terrain feature segment according to the preset transition curve. At the end of the transition control zone, sag verification is performed. If the actual sag deviates from the pre-controlled target sag by more than the preset second deviation threshold, compensation correction is performed at the beginning of the next terrain feature segment.

[0072] In this embodiment, a three-level collaborative control strategy is adopted, consisting of forward-looking pre-adjustment, dynamic transition zone, and post-transition sag verification. Specifically, when the distance between the traction point and the entrance of the target terrain feature segment is less than or equal to the preset adjustment trigger distance, the preset tension adjustment amount corresponding to that segment is retrieved from the rule base.

[0073] A dedicated transition control zone is established at the junction of two terrain sections. Its length is not fixed but dynamically calculated based on key parameters such as the conductor's elastic modulus and current traction speed, ensuring the transition process matches the conductor's mechanical response characteristics and construction pace. Within the transition control zone, the tension setpoint is based on a pre-defined smooth transition curve (e.g., a linear curve or S-curve), continuously and gently transitioning from the stable target tension of the previous terrain section to the target tension of the next.

[0074] At the end of the transition control zone, a closed-loop verification of the sag control effect is performed by comparing the real-time calculated actual sag with the target sag. If the deviation between the two is greater than the preset second deviation threshold, it indicates that there are problems such as insufficient tension compensation or adjustment lag during the transition process. In this case, sag deviation compensation correction will be initiated immediately at the beginning of the next terrain feature segment, and the deviation will be eliminated by adjusting the tension setpoint.

[0075] Specifically, the preset adjustment trigger distance is set comprehensively based on the conductor traction speed, the tensioner response lag characteristics, and the impact range of terrain changes, and is used to initiate proactive tension adjustments in advance. The preset smooth transition curve is designed based on the conductor's elastic modulus, the tensioner adjustment rate, and construction stability requirements to achieve continuous tension switching without impact. The preset second deviation threshold is determined based on the line construction sag control accuracy requirements, safety distance specifications, and the allowable range of terrain disturbance, and is used to determine whether the sag in the transition zone meets the standards.

[0076] From the above, it can be concluded that this embodiment, by triggering the tension preset adjustment in advance before the traction point reaches the target terrain feature section, setting a transition control zone at the junction of different terrain sections that is dynamically determined based on the elastic modulus of the conductor and the traction speed, and achieving a smooth switching of the tension set value according to the smooth transition curve, and then based on the sag verification and deviation compensation correction after the transition zone ends, can achieve forward-looking prediction and shock-free smooth switching of tension control under different terrain conditions, effectively avoiding tension fluctuations and sag exceeding the standard caused by sudden terrain changes, thereby improving the system's adaptability, control stability and sag control accuracy in complex line construction.

[0077] In one embodiment of this application, a method for intelligent tension control and real-time sag measurement during overhead line construction further includes: Spatial correlation is performed between wind direction and wind speed in meteorological environmental data and topographic geometric data to identify topographic-meteorological coupling risk areas, including leeward slope turbulence areas and valley wind enhancement areas. When the distance from the traction point into the terrain-meteorological coupling risk zone is less than the preset risk warning distance, within the preset time window before entry, the traction speed is reduced by the preset first step length, and the safety margin coefficient of tension control is increased.

[0078] The safety margin factor is a multiplicative factor of the tension setpoint, and it increases in the following way: Safety margin coefficient = 1 + risk level factor × preset maximum margin; The risk level factor is calculated based on the coupling strength between wind speed, wind direction and terrain.

[0079] In this embodiment, spatial coupling analysis is used to identify risk areas. Specifically, real-time meteorological environmental data (including wind direction and speed) is spatially correlated and matched with topographic geometric data to analyze the disturbance and amplification effects of topography on the wind field, thereby identifying typical topographic-meteorological coupling risk areas such as leeward turbulence zones and valley wind enhancement zones. These areas, due to topographic obstruction, bypassing, or funneling effects, experience sudden changes in wind speed, increased turbulence, and erratic wind direction, which increases the probability of conductor vibration, sag loss of control, and tension fluctuations.

[0080] When the distance between the traction point and the aforementioned coupled risk zone is detected to be less than the preset risk warning distance, the system enters a pre-risk intervention mode. Within a preset time window before the conductor officially enters the risk zone, preventative control measures are implemented: firstly, the traction speed is smoothly reduced according to the preset first-step length to decrease the conductor's movement speed and dynamic excitation within the risk zone, reducing severe vibrations caused by wind disturbances; secondly, the safety margin coefficient of tension control is increased, enhancing the system's ability to resist disturbances by raising the conservative value of the tension setting, thus avoiding safety issues such as excessive sag and tension exceeding limits due to instantaneous strong winds or turbulence. The preset risk warning distance is comprehensively set based on the traction speed, the response lag time of the tensioner and traction machine, and the length range of the terrain-meteorological risk zone. The preset time window is determined based on the conductor traction speed, the adjustment response time of the safety margin coefficient, and the effective distance of disturbances in the risk zone, ensuring that preventative adjustments are completed before entering the risk zone. The preset first-step length is set based on the traction machine's speed regulation characteristics, the allowable rate of change of conductor speed, and construction stability requirements.

[0081] The safety margin coefficient is calculated dynamically in conjunction with the risk level. The formula is: Safety Margin Coefficient = 1 + Risk Level Factor × Preset Maximum Margin. The risk level factor is calculated based on the coupling strength of real-time wind speed, wind direction, and terrain, with a value range of 0-1. The preset maximum margin is pre-calibrated based on the tensioner's rated capacity and construction safety requirements, with a value range of 0.2-0.5. Specifically, it is selected as the maximum safety margin that can effectively withstand extreme disturbances such as strong winds and turbulence.

[0082] The specific calculation process of the risk level factor in this embodiment is as follows: First, determine the wind speed factor based on the ratio of real-time wind speed to preset benchmark wind speed, where the larger the wind speed, the larger the factor. The second step is to determine the wind direction coupling factor based on the angle between the wind direction and the dominant direction of the terrain such as valleys and slopes. The more consistent the wind direction is with the magnified direction of the terrain, the larger the factor will be. The third step is to assign a corresponding terrain gain factor based on the terrain type, with the value being greater for the valley wind enhancement zone and the leeward slope turbulence zone than for the conventional terrain. The fourth step involves multiplying the three factors mentioned above by weight to obtain the coupling strength value. Then, through amplitude limiting and normalization, the result is mapped to the 0-1 range, which becomes the risk level factor. The weights of each factor in the risk level factor calculation are pre-set based on the degree of influence of wind speed, wind direction, and terrain on tension and sag disturbances. Factors with a greater impact on conductor tension fluctuations have higher weights, and the sum of all weights is 1.

[0083] As can be seen from the above, this embodiment spatially correlates meteorological data such as wind direction and wind speed with topographic geometric data to identify terrain-meteorological coupling risk areas such as leeward slope turbulence areas and valley wind enhancement areas. Before the traction point enters the risk area, the traction speed is reduced in advance, and the safety margin coefficient of tension control is dynamically increased based on the risk level factor calculated by wind speed, wind direction and terrain coupling strength. This enables early prediction and proactive defense against the risks of combined disturbances such as strong winds and turbulence, effectively improving the stability and anti-disturbance capability of the tension control system under complex terrain and severe weather coupling conditions, and further avoiding problems such as abnormal sag and excessive tension fluctuations.

[0084] In one embodiment of this application, a method for intelligent tension control and real-time sag measurement during overhead line construction further includes: Acquire topographic geometry data, conductor data, and tension after adjustment for multiple consecutive spans; Based on the topographic geometry data, conductor data, tension after adjustment, and meteorological data for each span, the sub-sag values ​​for each span are obtained through the overhead line sag calculation equation. Based on the sub-sag values ​​of each span, the sag distribution curve of the entire overhead line is constructed. Points in the sag distribution curve where the absolute difference between the sub-sag value and the sub-sag value of the adjacent span is greater than the preset sag difference threshold between spans are designated as sag anomaly points. When abnormal sag points are present, the tension distribution strategy for the corresponding gear length is adjusted according to the location and deviation of the abnormal sag points.

[0085] In this embodiment, topographic geometric data, conductor parameters, and real-time tension data for each span after tension adjustment are continuously collected from multiple adjacent spans, treating the entire line as a single monitoring object. Continuous collection of multiple adjacent spans refers to acquiring relevant data on the spans between several consecutive adjacent towers within the current construction section, based on the line's deployment sequence, forming a global monitoring sequence with multi-span linkage. These "several" numbers are preset fixed positive integers, pre-set according to the continuous span construction range of the overhead line, monitoring redundancy requirements, and the control system's processing capacity.

[0086] Based on this, for each span, the sub-sag value is calculated span by span using the overhead line sag calculation equation, based on topographic, conductor, tension, and meteorological data. Then, with the span as the abscissa and the sub-sag value as the ordinate, a sag distribution curve for the entire overhead line is constructed. This curve represents the sag variation pattern and uniformity of the conductor within continuous spans, enabling operators and control systems to clearly understand the overall construction quality of the line.

[0087] Subsequently, anomaly detection is performed on the sag distribution curve, including: calculating the absolute difference between the sag value of the current span and the sag value of the adjacent span, and marking locations where the difference exceeds the preset sag difference threshold between spans as sag anomaly points. These anomalies are caused by sudden changes in terrain, uneven local wind disturbance, unreasonable tension distribution, etc., and can affect the stress balance and safety distance of the line. The preset sag difference threshold between spans is a threshold for judging sag uniformity determined comprehensively based on the overhead line construction and acceptance specifications, the allowable sag deviation between adjacent spans, the line safety clearance requirements, and the range of terrain elevation changes.

[0088] Once an abnormal sag point is detected, the tension distribution strategy for the corresponding gear length is dynamically optimized and adjusted based on the location, direction, and magnitude of the abnormal point.

[0089] As can be seen from the above, this embodiment, by uniformly calculating the sag of continuous multi-span sections and constructing a sag distribution curve for the entire line, can achieve global monitoring of overhead line sag and judgment of inter-span balance. It can promptly identify abnormal points where sag differences exceed the standard, and adjust the tension distribution strategy of the corresponding span according to the location and deviation of the abnormal points. This effectively avoids problems such as uneven sag, local over- or under-sag caused by independent control of a single span, further improving the consistency, coordination, and construction quality of sag control throughout the entire line, and providing a reliable guarantee for safe, standardized, and efficient construction of the entire line.

[0090] In one embodiment of this application, when an abnormal sag point exists, the tension distribution strategy for the corresponding gear length is adjusted according to the location and deviation of the abnormal sag point, including: Spatially correlate the locations of sag anomalies with terrain abrupt change points in terrain geometry data; If the abnormal sag point is located within the span range of the terrain change point, the tension setting value of the span is adjusted according to the deviation direction between the current sag value and the target sag value of the span. If the sag anomaly point deviates from the terrain change point, obtain the wind speed and vibration data of the span of the sag anomaly point and its adjacent spans. Based on wind speed and vibration data, identify whether there are localized wind-induced vibrations or abnormal mechanical vibrations. If there is localized wind-induced vibration or abnormal mechanical vibration, the anti-disturbance mode will be activated.

[0091] In this embodiment, firstly, the spatial location of the sag anomaly point is associated with the terrain change point in the terrain geometry data to determine the relative positional relationship between the anomaly point and the terrain change area, thereby distinguishing whether the sag anomaly is caused by terrain change or by other factors such as meteorological disturbances and mechanical vibrations.

[0092] Specifically, if the sag anomaly is located within the span range of the terrain abrupt change point, it indicates that the sag deviation is mainly caused by terrain factors such as gullies, steep slopes, and elevation changes. In this case, based on the direction of deviation between the current sag value and the target sag value of the span at the sag anomaly point, the tension setting value of that span is adjusted directionally to bring the sag back to the target range. If the sag anomaly is deviated from the terrain abrupt change area, the terrain-dominant factor can be ruled out, and real-time wind speed and vibration data of the span where the anomaly point is located and its adjacent spans can be retrieved for further analysis of external disturbance characteristics.

[0093] By comprehensively analyzing wind speed and vibration data, it is possible to identify abnormal wind-induced and mechanical vibrations such as localized strong winds, duct effects, mechanical jamming, or conductor resonance. Once such disturbances are identified, the system immediately switches to anti-disturbance mode, suppressing the impact of dynamic disturbances on sag by increasing tension control gain, increasing safety margin, optimizing PID parameters, or appropriately reducing traction speed.

[0094] As can be seen from the above, this embodiment traces the cause of anomalies by spatially associating abnormal sag points with abrupt changes in terrain. It directly adjusts the tension setting value for sag deviations caused by terrain, and for non-terrain factors, it judges local wind vibration or mechanical vibration anomalies based on wind speed and vibration data and activates the anti-disturbance mode. This enables accurate tracing and classification of sag anomalies, avoids blindly adjusting the tension, and further improves the pertinence and effectiveness of anomaly handling.

[0095] In one embodiment of this application, if local wind-induced vibration or mechanical vibration anomalies exist, an anti-disturbance mode is activated, including: Switch the tension control mode from steady-state control mode to anti-disturbance mode; Disturbance immunity modes include: Switch the proportional coefficient, integral coefficient, and derivative coefficient of the proportional-integral-derivative control operation to the set of anti-disturbance parameters corresponding to the current wind vibration frequency or mechanical vibration frequency; Calculate the tension compensation amount based on wind speed and vibration data; The tension compensation amount and the tension control amount are superimposed to generate the anti-disturbance control amount; Based on the anti-disturbance control amount, the tension machine actuator is driven at a response frequency greater than that of the steady-state control mode.

[0096] In this embodiment, when abnormal disturbances such as local wind vibration or mechanical vibration are detected, the tension control mode is switched from the conventional steady-state control mode to an anti-disturbance mode specifically designed to deal with dynamic disturbances.

[0097] Specifically, the core of the anti-disturbance mode lies in parameter adaptation and disturbance feedforward compensation. Firstly, the PID control parameters originally used for steady-state conditions are switched to a dedicated anti-disturbance parameter set that matches the current real-time wind vibration frequency or mechanical vibration frequency. By adjusting the proportional, integral, and derivative coefficients, the controller's ability to track and suppress rapidly changing signals is improved. Simultaneously, based on the collected wind speed and vibration data, the corresponding tension compensation amount is calculated using a mechanical model. This feedforward compensation amount is then superimposed on the tension control amount calculated using a conventional closed-loop model to form the anti-disturbance control amount. The mechanical model, based on a feedforward compensation calculation model established using conductor wind load and vibration dynamics, is used to convert measurable wind speed, vibration amplitude, and vibration frequency into a tension compensation amount that can be directly superimposed on the PID output, thus offsetting tension fluctuations caused by wind and mechanical vibrations in advance. This mechanical model is based on the dynamics of lateral vibration of conductors and the mechanical balance of wind loads. It is constructed by combining the conductor's unit length mass, span, elastic stiffness, wind-receiving area, real-time wind speed, vibration amplitude, and vibration frequency. By establishing a quantitative mapping relationship between external disturbances and conductor tension fluctuations, a dynamic calculation model that can calculate tension compensation in real time is formed.

[0098] Based on this, the tension machine actuator is driven with a response frequency higher than that of the steady-state control mode, enabling the actuator to keep up with the rate of vibration change and achieve rapid and precise tension adjustment. This high-frequency, high-response control method with feedforward compensation can offset the dynamic tension fluctuations caused by wind vibration and mechanical vibration in real time, pulling sag and tension back to the stable range. This ensures that the conductor remains stable even in complex disturbance environments, while improving the safety, control stability, and sag accuracy of the construction process.

[0099] As can be seen from the above, this embodiment switches the tension control from steady-state mode to anti-disturbance mode, matches the PID parameters corresponding to the frequency of wind vibration or mechanical vibration, calculates the tension compensation amount based on wind speed and vibration data and superimposes it to form an anti-disturbance control amount, and drives the actuator with a higher response frequency. This can suppress tension fluctuations caused by dynamic disturbances and further improve the control system's ability to suppress complex disturbances such as wind vibration and mechanical vibration and its response speed.

[0100] Corresponding to the overhead line construction tension intelligent control and real-time sag measurement method in the above embodiment, Figure 2 This is a structural block diagram of an intelligent tension control and real-time sag measurement system for overhead line construction, provided as an embodiment of this application. For ease of explanation, only the parts relevant to the embodiment of this application are shown. References Figure 2 The overhead line construction tension intelligent control and sag real-time measurement system 20 includes: a data acquisition module 21, a tension verification module 22, a target calculation module 23, a control calculation module 24, a tension execution module 25, a sag calculation module 26, and a sag correction module 27.

[0101] Among them, the data acquisition module 21 is used to acquire construction environment data, conductor self data and current tension data. The construction environment data includes topographic geometry data, meteorological environment data and environmental interference data. Tension verification module 22 is used to determine the validity of the current tension data based on environmental interference data; The target calculation module 23 is used to input the preset target sag, meteorological environment data, conductor data and topographic geometry data into the tension calculation model based on the mechanical equilibrium equation if the current tension data is valid tension data, so as to obtain the target tension data. The control calculation module 24 is used to calculate the deviation between the target tension data and the current tension data; the deviation value is input into the proportional-integral-derivative control calculation to obtain the tension adjustment amount; The tension execution module 25 is used to drive the tension machine actuator to adjust the tension of the conductor based on the tension control amount, so as to obtain the adjusted tension. The sag calculation module 26 is used to obtain the current sag value based on topographic geometric data, conductor data, adjusted tension, and meteorological environmental data, through the overhead line sag calculation equation. The sag correction module 27 is used to correct the current sag value and obtain the output sag value.

[0102] See Figure 3 , Figure 3 This is a schematic block diagram of an electronic device provided according to an embodiment of this application. Figure 3 The electronic device 300 in this embodiment may include one or more processors 301, one or more input devices 302, one or more output devices 303, and one or more memories 304. The processors 301, input devices 302, output devices 303, and memories 304 communicate with each other via a communication bus 305. The memories 304 store computer programs, including program instructions. The processors 301 execute the program instructions stored in the memories 304. Specifically, the processors 301 are configured to invoke the program instructions to perform the functions of the modules in the aforementioned device embodiments, for example... Figure 2 The functions of the data acquisition module 21, tension verification module 22, target calculation module 23, control calculation module 24, tension execution module 25, sag measurement module 26, and sag correction module 27 are shown.

[0103] It should be understood that, in the embodiments of this application, the processor 301 may be a central processing unit (CPU), or it may be other general-purpose processors, digital signal processors (DSPs), application-specific integrated circuits (ASICs), field-programmable gate arrays (FPGAs), or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, etc. The general-purpose processor may be a microprocessor or any conventional processor.

[0104] Input device 302 may include a touchpad, a fingerprint sensor (for collecting the user's fingerprint information and fingerprint orientation information), a microphone, etc., and output device 303 may include a display (LCD, etc.), a speaker, etc.

[0105] The memory 304 may include read-only memory and random access memory, and provides instructions and data to the processor 301. A portion of the memory 304 may also include non-volatile random access memory. For example, the memory 304 may also store device type information.

[0106] In specific implementations, the processor 301, input device 302, and output device 303 described in the embodiments of this application can execute the implementation methods described in any embodiment of the overhead line construction tension intelligent control and sag real-time measurement method provided in the embodiments of this application, or they can execute the implementation methods of the electronic devices described in the embodiments of this application, which will not be repeated here.

[0107] In another embodiment of this application, a computer-readable storage medium is provided. This computer-readable storage medium stores a computer program, which includes program instructions. When executed by a processor, the program instructions implement all or part of the processes in the methods described above. Alternatively, the computer program can instruct related hardware to complete the process. The computer program can be stored in a computer-readable storage medium, and when executed by a processor, it can implement the steps of the various method embodiments described above. The computer program includes computer program code, which can be in the form of source code, object code, executable files, or certain intermediate forms. The computer-readable medium can include any entity or device capable of carrying computer program code, a recording medium, a USB flash drive, a portable hard drive, a magnetic disk, an optical disk, a computer memory, a read-only memory (ROM), a random access memory (RAM), an electrical carrier signal, a telecommunication signal, and a software distribution medium, etc.

[0108] The computer-readable storage medium can be an internal storage unit of the electronic device in any of the foregoing embodiments, such as a hard disk or memory of the electronic device. The computer-readable storage medium can also be an external storage device of the electronic device, such as a plug-in hard disk, smart media card (SMC), secure digital card (SD), flash card, etc., equipped on the electronic device. Furthermore, the computer-readable storage medium can include both internal and external storage units of the electronic device. The computer-readable storage medium is used to store computer programs and other programs and data required by the electronic device. The computer-readable storage medium can also be used to temporarily store data that has been output or will be output.

[0109] Those skilled in the art will recognize that the units and algorithm steps of the various examples described in conjunction with the embodiments disclosed herein can be implemented in electronic hardware, computer software, or a combination of both. To clearly illustrate the interchangeability of hardware and software, the components and steps of the various examples have been generally described in terms of functionality in the foregoing description. Whether these functions are implemented in hardware or software depends on the specific application and design constraints of the technical solution. Those skilled in the art can use different methods to implement the described functions for each specific application, but such implementations should not be considered beyond the scope of this application.

[0110] Those skilled in the art will clearly understand that, for the sake of convenience and brevity, the specific working process of the electronic devices and units described above can be referred to the corresponding process in the foregoing method embodiments, and will not be repeated here.

[0111] In the several embodiments provided in this application, it should be understood that the disclosed electronic devices and methods can be implemented in other ways. For example, the device embodiments described above are merely illustrative; for instance, the division of units is only a logical functional division, and in actual implementation, there may be other division methods. For example, multiple units or components may be combined or integrated into another system, or some features may be ignored or not executed. In addition, the mutual coupling or direct coupling or communication connection shown or discussed may be indirect coupling or communication connection through some interfaces or units, or it may be an electrical, mechanical, or other form of connection.

[0112] The units described as separate components may or may not be physically separate. The components shown as units may or may not be physical units; that is, they may be located in one place or distributed across multiple network units. Some or all of the units can be selected to achieve the purpose of the embodiments of this application, depending on actual needs.

[0113] Furthermore, the functional units in the various embodiments of this application can be integrated into one processing unit, or each unit can exist physically separately, or two or more units can be integrated into one unit. The integrated unit can be implemented in hardware or as a software functional unit.

[0114] The above are merely specific embodiments of this application, but the scope of protection of this application is not limited thereto. Any person skilled in the art can easily conceive of various equivalent modifications or substitutions within the technical scope disclosed in this application, and these modifications or substitutions should all be covered within the scope of protection of this application. Therefore, the scope of protection of this application should be determined by the scope of the claims.

Claims

1. A method for intelligent tension control and real-time sag measurement during overhead line construction, characterized in that, include: Acquire construction environment data, conductor self-data, and current tension data. The construction environment data includes topographic geometry data, meteorological environment data, and environmental interference data. Determining the validity of the current tension data based on the environmental interference data includes: The environmental interference data includes wind speed data, vibration data, and traction wheel speed fluctuation data. Based on a preset mechanical transmission relationship, the wind-induced tension component corresponding to the wind speed data, the vibration tension component corresponding to the vibration data, and the traction disturbance tension component corresponding to the traction wheel speed fluctuation data are calculated respectively. The wind-induced tension component, the vibration tension component, and the traction disturbance tension component are superimposed to obtain a comprehensive interference tension component. The comprehensive interference tension component is subtracted from the current tension data to obtain pure tension data. It is determined whether the pure tension data conforms to the mechanical response characteristics of the tension machine in time sequence, wherein the mechanical response characteristics of the tension machine include the maximum allowable tension change rate and the maximum allowable tension fluctuation amplitude. If the pure tension data changes continuously in time sequence and the change rate is less than or equal to the maximum allowable tension change rate, and its fluctuation amplitude is less than or equal to the maximum allowable tension fluctuation amplitude, then the current tension data is determined to be valid tension data. If the change rate of the pure tension data is greater than the maximum allowable tension change rate, or its fluctuation amplitude is greater than the maximum allowable tension fluctuation amplitude, then the current tension data is determined to be invalid. If the current tension data is valid tension data, then the preset target sag, the meteorological environment data, the conductor's own data, and the terrain geometry data are input into the tension calculation model constructed based on the mechanical equilibrium equation to obtain the target tension data; Calculate the deviation between the target tension data and the current tension data; input the deviation value into the proportional-integral-derivative control operation to obtain the tension adjustment amount; Based on the tension control amount, the tension control mechanism is driven to adjust the tension of the conductor to obtain the adjusted tension. Based on the terrain geometry data, the conductor's own data, the adjusted tension, and the meteorological environment data, the current sag value is obtained through the overhead line sag calculation equation. The current sag value is corrected to obtain the output sag value.

2. The method for intelligent tension control and real-time sag measurement during overhead line construction according to claim 1, characterized in that, If the rate of change of the pure tension data is greater than the maximum permissible rate of change of tension, or its fluctuation amplitude is greater than the maximum permissible fluctuation amplitude of tension, then the current tension data is determined to be invalid, including: Obtain the pure tension data sequence within a continuous time window; Calculate the tension change rate sequence of the pure tension data sequence; If the tension change rate sequence shows tension change rates with opposite signs at adjacent times, and the duration of the opposite sign state is greater than a preset threshold for the duration of a reverse mutation, then a reverse mutation is determined to exist. If the absolute value of the tension change rate in the tension change rate sequence is greater than a preset jump amplitude threshold, and the number of times the jump occurs within a preset time window is greater than a preset jump frequency threshold, then it is determined that there is an irregular jump. When the aforementioned reverse mutation or the aforementioned irregular jump exists, the current tension data is determined to be invalid.

3. The method for intelligent tension control and real-time sag measurement during overhead line construction according to claim 2, characterized in that, Also includes: Based on the pre-configured first and second tension sensors, the first current tension data and the second current tension data are acquired respectively. Acquire wind speed data, vibration data, and traction wheel speed fluctuation data at the installation positions corresponding to the first tension sensor and the second tension sensor, and calculate the first comprehensive disturbance tension component and the second comprehensive disturbance tension component respectively. The first pure tension data is obtained by subtracting the first comprehensive interference tension component from the first current tension data, and the second pure tension data is obtained by subtracting the second comprehensive interference tension component from the second current tension data. Calculate the consistency deviation between the first pure tension data and the second pure tension data; When the consistency deviation is less than or equal to a preset consistency threshold, the average value of the first pure tension data and the second pure tension data is taken as the pure tension data; When the consistency deviation is greater than the consistency threshold, it is determined whether the first pure tension data and the second pure tension data conform to the mechanical response characteristics of the tension machine, and the determination result is obtained. Based on the judgment result, the pure tension data is determined.

4. The method for intelligent tension control and real-time sag measurement during overhead line construction according to claim 1, characterized in that, The current sag value is obtained based on the terrain geometry data, the conductor's own data, the adjusted tension, and meteorological environmental data, using the overhead line sag calculation equation, including: Based on the terrain geometry data, the span, elevation difference angle between two adjacent towers and the suspension point height of the conductor are determined. The self-weight per unit length, rated breaking force, and elastic modulus of the conductor are determined based on the conductor's own data. Based on the meteorological environment data, the current ambient temperature and current wind speed are determined, and the wind load per unit length of the conductor is calculated based on the current wind speed. The actual horizontal tension is obtained by inputting the span, elevation difference angle, self-weight per unit length, adjusted tension, current ambient temperature, elastic coefficient, wind load per unit length, and rated breaking force into the overhead line state equation. Based on the actual horizontal tension, the span, the elevation difference angle, and the unit length self-weight, the sag formula of the oblique parabola is input to obtain the current sag value.

5. The method for intelligent tension control and real-time sag measurement during overhead line construction according to claim 4, characterized in that, The step of correcting the current sag value to obtain the output sag value includes: The elevation change points in the terrain geometry data are analyzed to obtain terrain change point data; the wind speed data in the meteorological environment data are subjected to spectral analysis to obtain wind vibration frequency data. Based on the terrain abrupt change point data, determine the local elevation difference correction coefficient of the traverse line at the crossing of gullies or steep slopes; Based on the wind vibration frequency data and the natural frequency of the conductor, the sag increment is determined; The current sag value is compensated and corrected based on the local elevation difference correction coefficient and the sag increment to obtain the output sag value.

6. The method for intelligent tension control and real-time sag measurement during overhead line construction according to claim 1, characterized in that, Also includes: Acquire topographic geometry data, conductor data, and tension after adjustment for multiple consecutive spans; Based on the topographic geometry data, conductor data, tension after adjustment, and meteorological data for each span, the sub-sag values ​​for each span are obtained through the overhead line sag calculation equation. Based on the sub-sag values ​​of each span, the sag distribution curve of the entire overhead line is constructed. Points in the sag distribution curve where the absolute difference between the sub-sag value and the adjacent span sub-sag value is greater than a preset span sag difference threshold are designated as sag abnormal points. When the abnormal sag point exists, the tension distribution strategy of the corresponding gear length is adjusted according to the position and deviation of the abnormal sag point.

7. The method for intelligent tension control and real-time sag measurement during overhead line construction according to claim 6, characterized in that, When the abnormal sag point exists, the tension distribution strategy for adjusting the corresponding gear length according to the location and deviation of the abnormal sag point includes: The location of the sag anomaly point is spatially correlated with the terrain abrupt change point in the terrain geometry data; If the abnormal sag point is located within the span range of the terrain change point, the tension setting value of the span is adjusted according to the deviation direction between the current sag value and the target sag value of the span. If the sag anomaly point deviates from the terrain change point, then obtain the wind speed data and vibration data of the span of the sag anomaly point and its adjacent spans. Based on the wind speed and vibration data, identify whether there are localized wind-induced vibrations or abnormal mechanical vibrations. If there is localized wind-induced vibration or abnormal mechanical vibration, the anti-disturbance mode will be activated.

8. The method for intelligent tension control and real-time sag measurement during overhead line construction according to claim 7, characterized in that, If localized wind-induced vibration or abnormal mechanical vibration occurs, the anti-disturbance mode will be activated, including: Switch the tension control mode from steady-state control mode to anti-disturbance mode; The disturbance rejection mode includes: Switch the proportional coefficient, integral coefficient, and derivative coefficient of the proportional-integral-derivative control operation to the set of anti-disturbance parameters corresponding to the current wind vibration frequency or mechanical vibration frequency; Calculate the tension compensation amount based on the wind speed data and the vibration data; The tension compensation amount and the tension control amount are superimposed to generate the anti-disturbance control amount; Based on the aforementioned anti-disturbance control amount, the tension machine actuator is driven at a response frequency greater than that of the steady-state control mode.

9. A system for intelligent tension control and real-time sag measurement during overhead line construction, characterized in that, include: The data acquisition module is used to acquire construction environment data, conductor self-data, and current tension data. The construction environment data includes topographic geometry data, meteorological environment data, and environmental interference data. The tension verification module is used to determine the validity of the current tension data based on the environmental interference data, including: The environmental interference data includes wind speed data, vibration data, and traction wheel speed fluctuation data. Based on a preset mechanical transmission relationship, the wind-induced tension component corresponding to the wind speed data, the vibration tension component corresponding to the vibration data, and the traction disturbance tension component corresponding to the traction wheel speed fluctuation data are calculated respectively. The wind-induced tension component, the vibration tension component, and the traction disturbance tension component are superimposed to obtain a comprehensive interference tension component. The comprehensive interference tension component is subtracted from the current tension data to obtain pure tension data. It is determined whether the pure tension data conforms to the mechanical response characteristics of the tension machine in time sequence, wherein the mechanical response characteristics of the tension machine include the maximum allowable tension change rate and the maximum allowable tension fluctuation amplitude. If the pure tension data changes continuously in time sequence and the change rate is less than or equal to the maximum allowable tension change rate, and its fluctuation amplitude is less than or equal to the maximum allowable tension fluctuation amplitude, then the current tension data is determined to be valid tension data. If the change rate of the pure tension data is greater than the maximum allowable tension change rate, or its fluctuation amplitude is greater than the maximum allowable tension fluctuation amplitude, then the current tension data is determined to be invalid. The target calculation module is used to input the preset target sag, the meteorological environment data, the conductor's own data and the terrain geometry data into a tension calculation model based on the mechanical equilibrium equation if the current tension data is effective tension data, so as to obtain the target tension data. The control calculation module is used to calculate the deviation between the target tension data and the current tension data; and input the deviation value into the proportional-integral-derivative control calculation to obtain the tension adjustment amount; The tension execution module is used to drive the tension machine execution mechanism to adjust the tension of the conductor based on the tension control amount, so as to obtain the adjusted tension. The sag calculation module is used to obtain the current sag value based on the terrain geometry data, the conductor's own data, the adjusted tension, and meteorological environmental data, through the overhead line sag calculation equation. The sag correction module is used to correct the current sag value to obtain the output sag value.

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