An inductive power supply energy storage power supply control method of a power transmission conductor galloping monitoring device

Abstract

The application discloses a kind of transmission conductor galloping monitoring device's inductive power supply control method of energy storage, collection inductive power supply unit after rectification DC output voltage etc., calculate real-time power, and after real-time power and battery state of charge normalization weighted fusion obtains energy adequacy, determines current power supply level;According to current power supply level control inductive power supply unit, super capacitor branch and battery branch selectively access DC bus, by inductive power supply unit priority to bear monitoring load, super capacitor branch supplements positioning module starting peak power, battery branch supplements continuous power gap;When strong galloping event occurs, connect available energy storage branch and start positioning module and data storage module;Event ends or power supply control period expires after re-determining power supply level and adjusting power supply branch, when power supply power is surplus, sequentially charge super capacitor and battery.The application improves the power supply stability under inductive power supply fluctuation condition and strong galloping event monitoring reliability.

Description

Technical Field

[0001] This invention relates to the field of circuit devices or systems for power supply or distribution, and particularly to a method for controlling the inductive power extraction and energy storage power supply of a power transmission line galloping monitoring device. Background Technology

[0002] Transmission line galloping monitoring devices are typically installed on overhead transmission lines to collect information such as conductor vibration, displacement, and operating status. They record galloping events and transmit data via positioning, data storage, and communication modules. Due to limitations in installation location and on-site power supply conditions, existing transmission line galloping monitoring devices mostly use inductive power extraction units to obtain power from the transmission line, and are equipped with batteries or supercapacitors as energy storage units to supply power to the monitoring load when the inductive power extraction power is insufficient. Existing power supply control methods typically control the charging and discharging state between the inductive power extraction unit and the energy storage unit based on the transmission line current, remaining battery power, or a preset operating cycle, and reduce device power consumption by switching between continuous monitoring, intermittent monitoring, or sleep mode.

[0003] However, the load current of transmission lines varies with the grid's operating status, causing significant fluctuations in the output power of the inductive power extraction unit. Existing power supply control methods typically switch modes based on a single power extraction state or remaining battery power, making it difficult to comprehensively reflect real-time power extraction and energy storage capabilities. This can easily lead to frequent power supply level switching, repeated charging and discharging of energy storage units, and DC bus voltage fluctuations. Furthermore, the instantaneous peak power at startup of the positioning module differs from the power requirements of the continuously monitored load, and existing methods lack a clear division of labor between the power supply functions of supercapacitors and batteries. During severe galloping events, insufficient energy storage or untimely power supply path switching may prevent the timely activation of the positioning module and data storage module, affecting the complete recording of galloping event data.

[0004] Therefore, it is necessary to propose an inductive power extraction and energy storage power supply control method suitable for transmission line galloping monitoring devices. Summary of the Invention

[0005] This application provides a method for controlling the inductive power extraction and energy storage power supply of a transmission line galloping monitoring device, so as to improve the power supply stability and the reliability of monitoring strong galloping events under inductive power extraction fluctuation conditions.

[0006] This application provides a method for controlling the inductive power extraction and energy storage power supply of a transmission line galloping monitoring device, including: The system collects the DC output voltage and DC output current of the inductive power harvesting unit after rectification, the battery state of charge, and the supercapacitor terminal voltage, and calculates the real-time power harvesting based on the DC output voltage and DC output current. The real-time power consumption and battery state of charge are normalized and weighted and fused to obtain the energy adequacy. The candidate power supply level is determined according to the threshold range of the energy adequacy. When the real-time power consumption is lower than the power consumption threshold or the battery state of charge is lower than the energy level threshold, the lowest power supply level is determined as the current power supply level. Otherwise, the current power supply level is determined according to the candidate power supply level and the confirmation time for upgrading and downgrading. Based on the current power supply level, the inductive power supply unit, supercapacitor branch and battery branch are selectively connected to the DC bus; the inductive power supply unit takes priority to undertake the current monitoring load, the supercapacitor branch supplements the peak power required for the positioning module to start, and the battery branch supplements the continuous power gap; When a strong galloping event is detected, the available energy storage branch is determined based on the supercapacitor terminal voltage and battery state of charge. The available energy storage branch is then connected, and the positioning module and data storage module are activated. When the strong galloping event ends or the power supply control cycle expires, the real-time power extraction power and battery state of charge are updated, the current power supply level is redefined, the power supply branch connected to the DC bus is adjusted according to the current power supply level, and when the real-time power extraction power exceeds the current monitored load power, the supercapacitor and battery are charged in sequence to generate the power supply path instruction for the next power supply control cycle.

[0007] The beneficial effects of this application mainly include: (1) By integrating real-time power consumption and battery state of charge to determine the power supply level, and setting a bottom line threshold and upgrade / downgrade confirmation mechanism, the accuracy and stability of power supply status judgment can be improved, and the frequent switching of power supply level can be reduced. (2) By dividing the power supply into inductive power supply unit, supercapacitor branch and battery branch, the supercapacitor bears the peak power of the positioning module startup and the battery bears the continuous power gap, which can reduce DC bus voltage fluctuation and reduce the risk of abnormal reset. (3) When a strong galloping event occurs, the available energy storage branch is connected according to the supercapacitor terminal voltage and battery state of charge, which can prioritize the startup of the positioning module and data storage module and improve the integrity of strong galloping event data recording. (4) Dynamically adjusting the power supply branch during the power supply control cycle and charging the supercapacitor and battery in sequence when the power consumption is surplus can improve the utilization rate of inductive power consumption energy and extend the continuous operation time of the monitoring device. Attached Figure Description

[0008] Figure 1 This is a flowchart of an inductive power extraction and energy storage power supply control method for a power transmission line galloping monitoring device provided in the first embodiment of this application.

[0009] Figure 2 These are test curves of the steady-state voltage of the DC bus under different real-time power extraction conditions.

[0010] Figure 3These are test curves showing the peak voltage drop of the positioning module during startup under different real-time power consumption conditions.

[0011] Figure 4 This is a comparison chart of the average number of daily power supply level switching times between the control scheme of this application and the traditional single-battery state of charge control scheme during on-site comparative verification.

[0012] Figure 5 This is a comparison chart of the average bus voltage fluctuation range between the control scheme of this application and the traditional single-battery state-of-charge control scheme in the field comparison verification.

[0013] Figure 6 It is the test curve of the lowest DC bus voltage under different power supply conditions in the strong galloping special test.

[0014] Figure 7 It is a parameter change curve of the on-site operation monitoring interface. Detailed Implementation

[0015] Many specific details are set forth in the following description to provide a full understanding of this application. However, this application can be implemented in many other ways different from those described herein, and those skilled in the art can make similar extensions without departing from the spirit of this application; therefore, this application is not limited to the specific embodiments disclosed below.

[0016] The first embodiment of this application provides an inductive power extraction and energy storage power supply control method for a power transmission line galloping monitoring device. Please refer to [link / reference]. Figure 1 This figure is a flowchart of the first embodiment of this application. The following is in conjunction with... Figure 1 The first embodiment of this application provides a detailed description of the inductive power extraction and energy storage power supply control method for a power transmission line galloping monitoring device.

[0017] Step S101: Collect the DC output voltage and DC output current of the inductive power harvesting unit after rectification, the battery state of charge and the supercapacitor terminal voltage, and calculate the real-time power harvesting based on the DC output voltage and DC output current.

[0018] In this embodiment, step S101 is used to obtain the basic electrical parameters required for subsequent power supply level determination. A transmission line galloping monitoring device is installed on the transmission line and obtains electrical energy from the alternating magnetic field around the transmission line through an inductive power extraction unit. The inductive power extraction unit includes a core, a rectifier circuit, a filter circuit, and a power management unit. The core is sleeved or clamped around the outer periphery of the transmission line. The alternating current in the transmission line generates an alternating magnetic flux in the core, inducing an alternating voltage in the power extraction winding. The rectifier circuit converts the alternating voltage output from the power extraction winding into a unidirectional pulsating voltage, and the filter circuit smooths the unidirectional pulsating voltage, thereby forming DC power capable of supplying power to the DC bus, supercapacitor, and battery.

[0019] The DC output voltage refers to the voltage at the output terminal of the inductive power extraction unit after rectification and filtering, relative to the reference terminal of the DC bus. The DC output current refers to the current flowing from the inductive power extraction unit to the DC bus or energy storage branch. The power management unit can acquire the DC output voltage and DC output current through voltage sampling channels and current sampling channels, respectively. The voltage sampling channel can use a resistor voltage divider circuit to convert the DC output voltage to the input range allowed by the analog-to-digital converter. The current sampling channel can use a series sampling resistor, a Hall current sensor, or other sampling devices capable of outputting an electrical signal corresponding to the current. The power management unit performs analog-to-digital conversion on the sampling results and calculates the DC output voltage and DC output current values ​​based on the pre-stored voltage division ratio, sampling resistor value, or sensor sensitivity.

[0020] To reduce the impact of instantaneous ripple, switching noise, and short-term disturbances in transmission line current on real-time power extraction calculations, multiple sets of DC output voltage and current values ​​can be continuously obtained within each sampling period, and their average values ​​can be calculated separately. The sampling period can be set according to the load change rate of the transmission line and the computing power of the controller, for example, one second. Within a one-second sampling period, data can be collected every ten milliseconds, resulting in one hundred sets of sampled values. After deleting abnormal sampled values ​​that clearly exceed the allowable measurement range, the remaining sampled values ​​are averaged to obtain the DC output voltage and DC output current for that sampling period. Averaging is not mandatory; those skilled in the art can also use median filtering, moving average, or low-pass filtering to obtain voltage and current values ​​that characterize the current power extraction state.

[0021] The real-time power extraction capacity refers to the average DC power that the inductive power extraction unit can provide to the DC bus and energy storage branches within the current sampling period. The power management unit multiplies the DC output voltage and DC output current within the same sampling period to obtain the real-time power extraction capacity. For example, if the collected DC output voltage is 5 volts and the DC output current is 20 milliamps, then the real-time power extraction capacity is 100 milliwatts. Or, if the DC output voltage remains 5 volts, but the DC output current drops to 4 milliamps, then the real-time power extraction capacity is 20 milliwatts. Therefore, the real-time power extraction capacity directly reflects the impact of changes in the current load current of the transmission line on the inductive power extraction capacity.

[0022] Step S101 also collects the battery's state of charge (SOC). The SOC refers to the percentage of the battery's current usable capacity relative to its rated usable capacity. The battery can be a lithium iron phosphate battery. The SOC can be calculated cumulatively by the battery management circuit based on the charging and discharging currents, and corrected by considering the battery terminal voltage. For example, for a battery with a rated usable capacity of 5 amp-hours, if the cumulative calculation shows a remaining usable capacity of 3 amp-hours, then the battery's SOC is 60%. To avoid long-term cumulative errors, the SOC can be corrected when the battery is idle and the current is below a preset idle current threshold, based on the battery's open-circuit voltage and a pre-established voltage-SOC correspondence. The SOC ranges from 0% to 100%, where 0% indicates the battery's usable capacity has reached its discharge limit, and 100% indicates the battery has reached its set charging limit.

[0023] Step S101 also involves acquiring the supercapacitor terminal voltage. The supercapacitor terminal voltage refers to the voltage between the positive and negative terminals of the supercapacitor, used to characterize the supercapacitor's ability to provide instantaneous peak power. The supercapacitor terminal voltage can be acquired through an independent voltage sampling channel. Since the energy stored in the supercapacitor varies with the terminal voltage, the closer the terminal voltage is to the rated upper limit, the more sufficient the instantaneous energy the supercapacitor typically provides for starting the positioning module and transmitting communication signals. When the supercapacitor terminal voltage is below a preset discharge lower limit, further discharge through the supercapacitor branch is not permitted to avoid excessively low DC bus voltage.

[0024] The power management unit writes the collected DC output voltage, DC output current, battery state of charge (SOC), supercapacitor terminal voltage, and calculated real-time power consumption into a status register or storage area using the same time identifier. To ensure that all parameters reflect the same power supply status, the DC output voltage, DC output current, and supercapacitor terminal voltage are preferably collected within the same sampling period, while the battery SOC is updated at least once at the beginning of each power supply control cycle. The real-time power consumption, battery SOC, and supercapacitor terminal voltage output in step S101 are used to subsequently determine energy adequacy, judge the power supply level, and determine whether the supercapacitor branch and battery branch are ready for connection, respectively.

[0025] Step S102: Normalize and weightedly fuse the real-time power consumption and battery state of charge to obtain the energy adequacy. Determine the candidate power supply level based on the threshold range of the energy adequacy. If the real-time power consumption is lower than the power consumption threshold or the battery state of charge is lower than the energy level threshold, the lowest power supply level is determined as the current power supply level. Otherwise, the current power supply level is determined based on the candidate power supply level and the confirmation time for upgrading or downgrading.

[0026] In this embodiment, step S102 is used to convert the real-time power extraction and battery state of charge obtained in step S101 into a comparable energy adequacy, and determine the current power supply level adopted by the transmission line galloping monitoring device based on the energy adequacy. Real-time power extraction reflects the electrical energy currently available from the inductive power extraction unit, and battery state of charge reflects the available electrical energy stored in the battery; these represent immediate power supply capability and continuous power supply capability, respectively. Since real-time power extraction is expressed in watts or milliwatts, and battery state of charge is expressed as a percentage, they cannot be directly weighted and therefore need to be normalized separately.

[0027] The normalization of real-time power consumption is based on the rated load power of the equipment. The rated load power refers to the baseline power required for each working module of the transmission line galloping monitoring device to operate normally under preset standard operating conditions, and can be stored in the controller during factory configuration. For example, if the rated load power is set to 100 milliwatts and the current real-time power consumption is 60 milliwatt-hours, the normalized real-time power consumption is 0.6. If the current real-time power consumption is 120 milliwatt-hours, since the real-time power consumption already covers the rated load power, the normalized real-time power consumption is limited to 1. By limiting the normalization result to between zero and 1, excessive impact of high power consumption on energy adequacy can be avoided.

[0028] Normalization of the battery's state of charge (SOC) directly converts a percentage into a value between zero and one. For example, when the battery's SOC is 80%, the normalized SOC is 0.8; when the battery's SOC is 30%, the normalized SOC is 0.3.

[0029] The weighted fusion refers to assigning weights to the normalized real-time power extraction and the normalized battery state of charge (SBC) respectively, and then adding the two weighted results together. The sum of the two weights is one. Considering that the energy stored in the battery determines the time the device can maintain operation when the transmission line load current decreases, the weight of the battery SBC can be greater than the weight of the real-time power extraction. For example, the weight of the real-time power extraction can be set to 40%, and the weight of the battery SBC can be set to 60%. When the normalized real-time power extraction is 0.6 and the normalized battery SBC is 0.8, the energy adequacy is 0.72, which is the sum of 40% of 0.6 and 60% of 0.8. The weights can be pre-calibrated according to the degree of transmission line load fluctuation, battery capacity, and device power consumption, but remain unchanged within the same power supply control cycle.

[0030] The energy adequacy level is a comprehensive value characterizing the instantaneous power supply capability of inductive power and the continuous power supply capability of the battery. Its value ranges from zero to one; a higher value indicates more sufficient energy available for the device to maintain the monitored load. The controller pre-stores multiple consecutive and non-overlapping threshold intervals, each corresponding to a candidate power supply level. For example, the interval not lower than 0.75 can be set as the first power supply level, the interval not lower than 0.5 but lower than 0.75 as the second power supply level, the interval not lower than 0.25 but lower than 0.5 as the third power supply level, and the interval lower than 0.25 as the fourth power supply level. The first power supply level is the highest, and the fourth power supply level is the lowest. The controller compares the current energy adequacy level with each threshold to generate candidate power supply levels.

[0031] The candidate power supply level is a provisional level directly derived from the current energy adequacy. The current power supply level is the level actually used to control the inductive power extraction unit, supercapacitor branch, and battery branch. To avoid weighted fusion masking situations where a single power supply parameter is severely insufficient, a minimum power extraction threshold and a minimum battery charge threshold are also set. The minimum power extraction threshold can be set to 10% of the device's rated load power, and the minimum battery charge threshold can be set to 20% of the battery's state of charge. When the real-time power extraction is lower than the minimum power extraction threshold, or the battery's state of charge is lower than the minimum battery charge threshold, the candidate power supply level is no longer used; instead, the lowest power supply level is directly determined as the current power supply level, thereby limiting high-power loads and preventing excessive battery discharge.

[0032] When both the real-time power consumption and battery state of charge are not below their respective baseline thresholds, the controller determines the current power supply level through an upgrade / downgrade confirmation mechanism. During the first power supply control cycle after the device's initial startup, the candidate power supply level is directly determined as the current power supply level. In subsequent power supply control cycles, if the candidate power supply level is the same as the current power supply level of the previous power supply control cycle, the current power supply level is maintained; if the candidate power supply level is higher than the current power supply level of the previous power supply control cycle, an upgrade is only performed after the candidate power supply level has been continuously maintained for the upgrade confirmation duration; if the candidate power supply level is lower than the current power supply level of the previous power supply control cycle, a downgrade is performed after the candidate power supply level has been continuously maintained for the downgrade confirmation duration. If the confirmation duration has not yet been reached, the current power supply level of the previous power supply control cycle continues to be maintained.

[0033] The upgrade confirmation time is longer than the downgrade confirmation time. For example, the upgrade confirmation time can be set to five minutes, and the downgrade confirmation time can be set to thirty seconds. The longer upgrade confirmation time is used to prevent the monitoring load from recovering prematurely due to a sudden increase in the transmission line current, while the shorter downgrade confirmation time is used to reduce the load in a timely manner when the power extraction capacity decreases. When the candidate power supply level spans more than two levels, the controller changes only one power supply level at a time, and re-executes the level judgment after the new power supply level is running stably. Step S102 thus outputs a unique current power supply level in all states, including bottom line constraint, initial start-up, level stability, upgrade pending confirmation, and downgrade pending confirmation, for step S103 to generate the power supply path control result.

[0034] Step S103: Selectively connect the inductive power supply unit, supercapacitor branch and battery branch to the DC bus according to the current power supply level; the inductive power supply unit shall take priority to undertake the current monitoring load, the supercapacitor branch shall supplement the peak power required for the positioning module to start, and the battery branch shall supplement the continuous power gap.

[0035] In this embodiment, step S103 is used to control the connection status between the inductive power extraction unit, the supercapacitor branch, and the battery branch and the DC bus according to the current power supply level determined in step S102, so that different power sources supply power to the current monitored load according to their respective suitable power types. The DC bus is a common power supply node inside the transmission line galloping monitoring device used to collect and distribute DC power. The six-axis inertial sensor, positioning module, communication module, data storage module, and main controller are connected to the DC bus through their respective power conversion circuits. The current monitored load is the total power load formed by the above modules that are in working state during the current power supply control cycle. The current monitored load changes with the monitoring mode, module start / stop status, and operating power level.

[0036] The inductive power extraction unit, supercapacitor branch, and battery branch are each equipped with controlled switching devices. These controlled switching devices can be metal-oxide-semiconductor field-effect transistors, load switches, or power path controllers with reverse current blocking functionality. The main controller generates power path commands based on the current power supply level, and the power management unit controls the on / off states of each controlled switching device according to these commands, thereby enabling the inductive power extraction unit, supercapacitor branch, and battery branch to selectively connect to the DC bus. Selective connection means connecting one or more power sources and disconnecting power sources that are not currently needed or do not meet discharge conditions, based at least on the current power supply level, real-time power extraction power, and energy storage status.

[0037] The inductive power-taking unit prioritizes the current monitoring load, meaning that when the inductive power-taking unit can provide power, it prioritizes outputting power to the DC bus to reduce battery discharge cycles and conserve energy storage. When the real-time power output can cover the steady-state power required by the current monitoring load, the power supply path between the inductive power-taking unit and the DC bus is connected, while the supercapacitor branch and battery branch remain in standby or charging mode. The steady-state power is the power continuously consumed after the current monitoring load enters a stable operating state, excluding short-term peak power generated when the positioning module starts, communication transmission begins, or storage writing begins.

[0038] The supercapacitor branch is used to supplement the peak power required for the positioning module to start up. When the positioning module switches from a power-off state or a low-power state to a normal positioning state, its starting current is usually higher than its stable operating current. If this starting current is entirely provided by the inductive power supply unit, it may cause a momentary drop in the DC bus voltage. The main controller connects the supercapacitor branch before starting the positioning module, so that the supercapacitor and the inductive power supply unit jointly supply power to the DC bus; after the positioning module completes startup and enters a stable operating state, when the DC bus voltage recovers to the preset stable range, the supercapacitor branch is disconnected or its discharge current is limited. Thus, the supercapacitor mainly bears the short-duration, high-power startup peak load, rather than bearing the steady-state load for a long time.

[0039] The battery branch is used to supplement the continuous power gap. The continuous power gap is the portion of the steady-state power required by the current monitored load that exceeds the real-time power draw. When the real-time power draw is insufficient to maintain the current monitored load, and the battery state of charge is above the lower limit of permissible discharge, the main controller activates the battery branch, allowing the battery and the inductive power draw unit to jointly supply power to the DC bus. The battery branch can be connected to the DC bus via a current-limiting DC-DC converter circuit to limit the battery discharge current and maintain a stable DC bus voltage. When the real-time power draw again reaches the steady-state power required by the current monitored load, the battery branch stops discharging.

[0040] For example, if the steady-state power of the monitored load is 80 milliwatts and the real-time power consumption is 100 milliwatt-hours, the inductive power supply unit will handle all the steady-state power. When the positioning module starts up, it requires 200 milliwatts for a short period; the peak power consumption during startup that the real-time power supply cannot cover is supplemented by the supercapacitor branch. As another example, if the steady-state power of the monitored load is 80 milliwatts, but the real-time power consumption is only 50 milliwatt-hours, the battery branch will supplement the 30 milliwatt continuous power gap, provided the battery meets the discharge conditions.

[0041] The current power supply level also limits the monitoring modules that can be started and the power supply branches that can be connected. At higher power supply levels, the six-axis inertial sensor, positioning module, and communication module can operate at higher frequencies; at lower power supply levels, the sampling rate of the six-axis inertial sensor can be reduced, the positioning interval extended, the number of communication communications reduced, or unnecessary modules can be shut down. At the lowest power supply level, priority is given to maintaining the low-power monitoring of the six-axis inertial sensor and the wake-up function of the main controller to prevent the battery state of charge from continuing to decline rapidly.

[0042] To prevent reverse current between different power sources, each power supply branch is preferably equipped with a unidirectional conducting device or a power path controller with ideal diode function. The power management unit continuously monitors the DC bus voltage, supercapacitor terminal voltage, and battery state of charge. When the DC bus voltage is lower than the undervoltage threshold, the supercapacitor terminal voltage is lower than the allowable discharge threshold, or the battery state of charge is lower than the allowable discharge lower limit, the corresponding power supply branch is restricted or disconnected. Step S103 ultimately forms the connection status of each power supply branch and the operating status of each monitoring module within the current power supply control cycle, and provides the connection status and operating status to step S104 so as to determine the energy storage branch that needs to be preemptively connected in the event of a strong galloping event.

[0043] Furthermore, the selective connection of the inductive power supply unit, supercapacitor branch, and battery branch to the DC bus based on the current power supply level; the inductive power supply unit prioritizes the current monitoring load, the supercapacitor branch supplements the peak power required for the positioning module to start, and the battery branch supplements the continuous power gap, including: The permitted monitoring modules are determined based on the current power supply level, the current monitored load power is determined based on the operating power of the permitted monitoring modules, and the remaining inductive power is determined based on the difference between the real-time power consumption and the current monitored load power. The positioning startup power gap is determined by the difference between the startup power of the positioning module and the remaining power of the inductive power extraction. The energy that the supercapacitor can release and the allowable output power of the supercapacitor are determined by the supercapacitor terminal voltage, the supercapacitor discharge cutoff voltage, the supercapacitor capacitance and the positioning startup time. Compare the allowable output power of the supercapacitor with the positioning start-up power gap, and determine the smaller of the two as the target output power of the supercapacitor. After connecting the supercapacitor branch according to the target output power, start the positioning module. During the startup of the positioning module, the DC bus voltage is collected. Based on the minimum value of the DC bus voltage and the time required for the DC bus voltage to recover to the positioning maintenance voltage threshold, the startup completion result of the positioning module and the insufficient power supply of the bus are generated. When the positioning module startup completion result indicates startup completion, the continuous power gap is determined based on the current monitored load power, real-time power consumption, and insufficient bus power supply after the positioning module has been running stably. The target output power of the battery is determined based on the continuous power gap and the battery state of charge. The battery branch is connected according to the target output power of the battery, and the output of the supercapacitor branch is stopped after the DC bus voltage is continuously maintained at or above the positioning maintenance voltage threshold for a preset stable duration.

[0044] In this embodiment, after the current power supply level is determined, the main controller first reads the monitoring module operation table corresponding to the current power supply level. The monitoring module operation table is pre-stored in the main controller and is used to indicate the monitoring modules allowed to be started under different power supply levels, the operating status of each monitoring module, and the corresponding operating power. The allowed monitoring modules may include the main controller, a six-axis inertial sensor, a positioning module, a data storage module, and a communication module. Under different power supply levels, the same monitoring module may be in a powered-off state, a low-power state, an intermittent operating state, or a continuous operating state.

[0045] The current monitored load power is the sum of the power required by all operating monitoring modules under the current power supply level in their current working state. The operating power of each monitoring module can be a preset value obtained from factory testing, or it can be measured by the voltage sampling circuit and current sampling circuit set in the corresponding power supply branch. For example, if the operating power of the main controller and the six-axis inertial sensor are 15 milliwatts and 25 milliwatts respectively, and the operating power of the data storage module in standby mode is 5 milliwatts, then the current monitored load power is 45 milliwatts if the positioning module and communication module have not yet been started.

[0046] The main controller subtracts the current monitored load power from the real-time power draw to obtain the remaining inductive power draw. The remaining inductive power draw represents the power that the inductive power draw unit can continue to use for starting the positioning module or charging energy storage after assuming the current monitored load. When the real-time power draw is lower than the current monitored load power, the remaining inductive power draw is recorded as zero, and the difference between the two is used as the power supply gap for the current base load. For example, if the real-time power draw is 120 milliwatts and the current monitored load power is 50 milliwatts, then the remaining inductive power draw is 70 milliwatts.

[0047] The positioning module startup power is the average input power required for the positioning module to switch from a shutdown or low-power state to a normal positioning state. The positioning module startup power can be predetermined based on the positioning module's rated startup current and input voltage, or it can be calibrated through actual startup testing. The main controller subtracts the remaining power from the inductive power draw from the positioning module startup power to obtain the positioning startup power gap. When the remaining inductive power draw is not lower than the positioning module startup power, the positioning startup power gap is recorded as zero; when the remaining inductive power draw is lower than the positioning module startup power, the difference is the power that needs to be supplemented by the supercapacitor branch.

[0048] For example, if the starting power of the positioning module is 600 milliwatts and the remaining power from inductive power extraction is 100 milliwatts, then the positioning starting power gap is 500 milliwatts. This positioning starting power gap reflects the starting power of the positioning module that the inductive power extraction unit cannot cover while maintaining the operation of the existing monitoring module.

[0049] The releaseable energy of a supercapacitor is the electrical energy it can output during the period from its current terminal voltage to its discharge cutoff voltage. The main controller determines the releaseable energy of the supercapacitor based on its terminal voltage, discharge cutoff voltage, and capacitance. The discharge cutoff voltage is a preset minimum allowable discharge voltage to prevent over-discharge and ensure the normal operation of the DC bus and subsequent power conversion circuits.

[0050] When determining the releaseable energy of a supercapacitor, the difference between the energy stored at the current terminal voltage and the energy stored at the discharge cutoff voltage should be calculated, taking into account the characteristic that the energy stored in a supercapacitor varies with the square of the terminal voltage. For example, if the supercapacitor capacitance is one farad, the terminal voltage is five volts, and the discharge cutoff voltage is three volts, then the releaseable energy is approximately eight joules. If the discharge efficiency of the supercapacitor branch is considered, the releaseable energy can be multiplied by a preset discharge efficiency to obtain the usable energy that can actually be transferred to the DC bus.

[0051] The allowable output power of a supercapacitor is the average power that the supercapacitor can continuously provide during the positioning startup duration without causing the supercapacitor's terminal voltage to fall below its discharge cutoff voltage. The main controller allocates the supercapacitor's releaseable energy according to the positioning startup duration to obtain the allowable output power. The positioning startup duration is the preset time required for the positioning module to complete initialization and enter a stable operating state from power-on. For example, if the supercapacitor can release eight joules of energy and the positioning startup duration is four seconds, then the allowable output power of the supercapacitor is two watts, without considering additional losses; if the releaseable energy is 1.2 joules and the positioning startup duration is four seconds, then the allowable output power of the supercapacitor is three hundred milliwatts.

[0052] The main controller compares the supercapacitor's allowable output power with the positioning start-up power deficit, and determines the smaller of the two as the supercapacitor's target output power. This avoids the supercapacitor's output power exceeding the actual positioning start-up requirements, and also avoids setting the output power beyond the supercapacitor's capacity to handle during the positioning start-up period. For example, if the positioning start-up power deficit is 500 milliwatts and the supercapacitor's allowable output power is 800 milliwatts, then the supercapacitor's target output power is 500 milliwatts; if the supercapacitor's allowable output power is only 300 milliwatts, then the supercapacitor's target output power is 300 milliwatts.

[0053] The supercapacitor branch includes a controlled switch and a current-limiting power conversion circuit. The main controller determines the target output current of the supercapacitor based on the target output power and the current DC bus voltage, and controls the current-limiting power conversion circuit to output to the DC bus according to the target output current of the supercapacitor. After the supercapacitor branch is connected and the DC bus voltage reaches the voltage that allows the positioning module to start, the main controller then starts the positioning module, so that the output of the supercapacitor corresponds to the peak value of the positioning module's start-up in time.

[0054] During the startup of the positioning module, the main controller continuously samples the DC bus voltage at preset sampling intervals and determines the lowest DC bus voltage during startup. The main controller also starts timing from the moment the lowest DC bus voltage occurs until the DC bus voltage recovers to the positioning sustaining voltage threshold, thus obtaining the bus recovery time. The positioning sustaining voltage threshold is the lowest DC bus voltage that ensures the positioning module can continue operating after startup without undervoltage reset.

[0055] The positioning module startup completion result indicates whether the positioning module has completed initialization and entered a stable operating state. The positioning module can indicate startup completion to the main controller by outputting a positioning data validity flag, an initialization completion flag, or a stable operating current flag. The startup completion result only indicates startup completion if the positioning module outputs a startup completion flag and the DC bus voltage is not lower than the positioning module's undervoltage shutdown voltage; otherwise, it indicates startup incomplete.

[0056] The insufficient bus power supply indicates the degree of persistent power shortage that persists even after the inductive power supply unit and the supercapacitor branch jointly supply power during the startup process of the positioning module. The main controller determines the insufficient bus power supply based on the voltage difference between the positioning sustaining voltage threshold and the minimum DC bus voltage, as well as the bus recovery time. When the minimum DC bus voltage is not lower than the positioning sustaining voltage threshold and the bus recovery time does not exceed the preset recovery time, the insufficient bus power supply is recorded as zero.

[0057] When the minimum DC bus voltage falls below the positioning sustaining voltage threshold, the main controller first determines the voltage difference between the positioning sustaining voltage threshold and the minimum DC bus voltage. Then, it determines the voltage drop compensation power based on the ratio of this voltage difference to a preset voltage difference range, and the recovery compensation power based on the ratio of the bus recovery time to a preset recovery time. The larger of the voltage drop compensation power and the recovery compensation power is determined as the insufficient bus power supply. The preset voltage difference range, preset recovery time, and corresponding compensation power can be established in a table through device startup testing and stored in the main controller.

[0058] For example, the voltage maintenance threshold is set to 3.6 volts, and the minimum DC bus voltage is 3.3 volts, with a voltage difference of 0.3 volts. A pre-calibrated voltage drop compensation power of 50 milliwatts is determined for every 0.1 volt drop, resulting in a voltage drop compensation power of 150 milliwatts. The bus recovery time is 1 second, with a preset recovery time of 0.5 seconds. A pre-calibrated increase in recovery compensation power of 100 milliwatts is determined for every 0.5 seconds exceeding the preset recovery time, resulting in a recovery compensation power of 100 milliwatts. The main controller identifies a larger voltage drop compensation power of 150 milliwatts as insufficient bus power supply.

[0059] The positioning module startup completion result indicates that after startup, the main controller re-determines the current monitored load power under stable operating conditions. This current monitored load power includes the stable operating power of the positioning module and the operating power of other permitted monitoring modules. The main controller first determines the power difference between the current monitored load power and the real-time power consumption after the positioning module has stabilized. Then, it adds the insufficient bus power supply to this power difference to obtain the continuous power gap. When the real-time power consumption is already higher than the current monitored load power after the positioning module has stabilized, the basic power difference is recorded as zero. However, if the insufficient bus power supply is greater than zero, the battery branch can still be connected based on the insufficient bus power supply to compensate for the insufficient power supply exhibited by the inductive power unit under dynamic load.

[0060] For example, if the current monitored load power after the positioning module is running stably is 300 milliwatts, the real-time power consumption is 220 milliwatts, the basic power difference is 80 milliwatts, and the insufficient power supply from the bus is 150 milliwatts, then the continuous power gap is 230 milliwatts.

[0061] The main controller determines the target battery output power based on the continuous power deficit and the battery state of charge (SBC). When the battery SBC is higher than the battery's discharge cutoff SBC, the target battery output power is, in principle, equal to the continuous power deficit, but must not exceed the battery's allowable discharge power. The allowable discharge power is determined by the battery management circuit based on the battery SBC, battery temperature, and allowable discharge current. When the continuous power deficit is higher than the battery's allowable discharge power, the allowable discharge power is set as the target battery output power; when the battery SBC is not higher than the battery's discharge cutoff SBC, the target battery output power is set to zero.

[0062] After the battery branch is connected, it supplies power to the DC bus according to the target output power of the battery through a current-limiting power conversion circuit. The main controller continues to collect the DC bus voltage. When the DC bus voltage is continuously maintained at or above the positioning maintenance voltage threshold for a preset stable period of time, it indicates that the inductive power supply unit and the battery branch are able to bear the continuous load after the positioning module is operating stably. The main controller gradually reduces the output power of the supercapacitor branch, and stops the output of the supercapacitor branch when the DC bus voltage still meets the positioning maintenance voltage threshold during the reduction process.

[0063] If the DC bus voltage falls below the positioning sustaining voltage threshold again after reducing the output power of the supercapacitor branch, the output of the supercapacitor branch is restored, and the continuous power gap and the target output power of the battery are redefined. Through the above control, the supercapacitor branch only bears the short-term peak power during the startup phase of the positioning module, while the battery branch bears the continuous power gap after correction by the actual response of the DC bus, thereby avoiding long-term discharge of the supercapacitor and the battery's participation in unnecessary startup peak power supply.

[0064] Step S104: When a strong galloping event is determined, the available energy storage branch is determined based on the supercapacitor terminal voltage and the battery state of charge. The available energy storage branch is then connected, and the positioning module and data storage module are started.

[0065] In this embodiment, step S104 is used to temporarily increase the power supply priority of the galloping monitoring task when a strong galloping occurs in the transmission line, and select a safe energy storage branch to be connected based on the supercapacitor terminal voltage and battery state of charge to ensure that the positioning module and data storage module obtain the power required to complete the event recording. The strong galloping event refers to the galloping process in which the vibration amplitude, dominant frequency, and duration of the transmission line reach the preset strong galloping judgment conditions. A six-axis inertial sensor continuously or periodically collects three-axis acceleration and three-axis angular velocity data, and the main controller extracts the vibration amplitude, dominant frequency, and duration from the collected data. When the vibration amplitude exceeds the strong vibration amplitude threshold, the dominant frequency is within the preset galloping frequency range, and the above conditions continue for the strong galloping confirmation duration, a strong galloping event is determined to have occurred. Using multiple judgment conditions can reduce false triggering caused by vehicle passage, short-term impact, conductor vibration, or sensor noise.

[0066] For example, the peak-to-peak value of the triaxial composite acceleration can be used as the vibration amplitude. When the difference between the maximum and minimum values ​​of the triaxial composite acceleration in continuously acquired data exceeds a preset strong vibration amplitude threshold, and the dominant vibration frequency obtained through spectrum analysis is within a preset galloping frequency range, and this state continues for more than a preset confirmation time, the main controller generates a strong galloping trigger signal. The strong vibration amplitude threshold, galloping frequency range, and strong galloping confirmation time can be pre-calibrated according to the transmission line type, span, icing conditions, and sensor installation location, and stored in the main controller. Specific thresholds can be set by distinguishing between normal operation data and known galloping data; this embodiment is not limited to a single value.

[0067] The connectable energy storage branches include supercapacitor branches and battery branches. "Connectable" means that the energy storage state of the energy storage branch meets preset discharge conditions, and connecting the energy storage branch will not cause the supercapacitor or battery to enter a prohibited discharge state. The main controller determines whether the supercapacitor branch meets the discharge conditions based on the supercapacitor terminal voltage obtained in step S101. When the supercapacitor terminal voltage is not lower than the supercapacitor discharge threshold, the supercapacitor branch is determined to be connectable; when the supercapacitor terminal voltage is lower than the supercapacitor discharge threshold, the supercapacitor branch is determined to be non-connectable. The supercapacitor discharge threshold is higher than the minimum voltage required to maintain normal operation of the DC bus to prevent over-discharge of the supercapacitor from causing undervoltage on the DC bus.

[0068] The main controller determines whether the battery branch meets the discharge conditions based on the battery's state of charge (SBC). When the battery SBC is higher than the battery discharge threshold, the battery branch is determined to be connectable; when the battery SBC is not higher than the battery discharge threshold, the battery branch is determined to be disconnectable. The battery discharge threshold is not lower than the minimum charge threshold in step S102, thus creating a constraint between the strong vibration event recording and the battery over-discharge protection. If the battery management circuit also outputs overcurrent, overtemperature, or undervoltage protection states, the battery branch is only determined to be connectable if the battery SBC meets the requirements and there is no state prohibiting discharge.

[0069] Upon detecting a strong galloping event, the main controller, unaffected by the conventional monitoring load limitations corresponding to the current power supply level, re-determines the connection status of the supercapacitor branch and the battery branch. If both the supercapacitor branch and the battery branch meet the discharge conditions, the supercapacitor branch is connected first, followed by the battery branch. The positioning module and data storage module are then activated after the energy storage branch output stabilizes. The supercapacitor branch provides the instantaneous peak power required for the positioning module to transition from a power-off or low-power state to normal operation, while the battery branch compensates for the continuous power shortage caused by the positioning module's continuous operation, data processing, and data writing. Connecting the supercapacitor branch first reduces the impact of the positioning module's startup current on the DC bus voltage.

[0070] If only the supercapacitor branch meets the discharge conditions, it is activated. The system then determines whether to activate the positioning module based on the supercapacitor terminal voltage and the estimated startup energy of the positioning module. After startup, the main controller continuously monitors the supercapacitor terminal voltage. When the voltage drops to the supercapacitor discharge threshold, the supercapacitor branch discharge is stopped, and the acquired positioning and inertial data are saved first. If only the battery branch meets the discharge conditions, it is activated, and current limiting control enables the positioning module to start in stages to reduce the DC bus voltage drop caused by the startup current. If neither the supercapacitor nor the battery branch meets the discharge conditions, the positioning module is not activated. The low-power acquisition functions of the six-axis inertial sensor and the main controller are retained, and the strong vibration trigger time, inertial data, and insufficient energy storage status are written to the data storage module.

[0071] After the positioning module is activated, it acquires positioning data of the power transmission line according to a preset sampling period, while the six-axis inertial sensor continues to collect vibration data. The main controller adds a unified time stamp to the positioning and vibration data and writes the start time of the strong galloping event, vibration amplitude, dominant frequency, positioning trajectory, real-time power consumption, battery state of charge, and supercapacitor terminal voltage into the data storage module. The data storage module preferably uses non-volatile memory and saves data in the following order: first, write the event header information; then, write the monitoring data continuously; and finally, write the event end marker. This ensures that the device can retain the data already written even when the power supply is interrupted.

[0072] During the duration of a strong galloping event, the main controller periodically updates the supercapacitor terminal voltage and the battery state of charge, and maintains or disconnects the supercapacitor branch and the battery branch based on the update results. The supercapacitor branch is disconnected when the supercapacitor terminal voltage falls below the supercapacitor discharge threshold; the battery branch is disconnected when the battery state of charge drops to the battery discharge threshold or the battery management circuit outputs a state prohibiting discharge. Through the above control, step S104 can determine a unique energy storage branch connection result under different energy storage states, and prioritize the location and data recording of strong galloping events while meeting energy storage safety conditions.

[0073] Furthermore, when a strong galloping event is detected, the system determines which energy storage branch can be connected based on the supercapacitor terminal voltage and the battery state of charge, connects the connected energy storage branch, and activates the positioning module and data storage module, including: The energy that the supercapacitor can release is determined based on the supercapacitor terminal voltage, the supercapacitor's preset capacitance, and the supercapacitor's discharge cutoff voltage. The positioning start-up energy is determined based on the positioning module's preset start-up power, preset start-up time, and power conversion efficiency. The supercapacitor's release energy is compared with the positioning start energy to generate the supercapacitor branch connection result. When the supercapacitor's release energy is not lower than the positioning start energy, the supercapacitor branch is connected first and then the positioning module is started. The battery output capacity is determined based on the battery's rated available capacity, battery state of charge, and battery discharge cutoff state of charge. The power required for continuous recording is determined based on the positioning module's continuous power, data storage module's write power, and the effective analysis duration of strong dancing events. The battery output capacity is compared with the power required for continuous recording to generate the battery branch connection result. Based on the connection results of the supercapacitor branch and the battery branch, the connection is executed in the order of supercapacitor branch, positioning module, battery branch and data storage module, and the DC bus voltage is collected. When the DC bus voltage is lower than the bus holding threshold, the positioning module will stop collecting data in sequence, encapsulate the collected positioning data and gyratory data, write the encapsulated positioning data and gyratory data into the data storage module, and disconnect the supercapacitor branch and battery branch after writing is completed.

[0074] In this embodiment, after a strong dancing event is triggered, the main controller first determines the energy that the supercapacitor can currently release to the positioning module based on the supercapacitor's terminal voltage. The supercapacitor's releaseable energy refers to the electrical energy it can output during the period from the current supercapacitor terminal voltage down to the supercapacitor's discharge cutoff voltage. The supercapacitor discharge cutoff voltage is a preset minimum allowable discharge voltage to ensure the DC bus and subsequent power conversion circuits can still operate normally. When the supercapacitor terminal voltage drops to this voltage, the supercapacitor branch stops discharging. The main controller pre-stores the supercapacitor's preset capacitance and discharge cutoff voltage, and determines the supercapacitor's releaseable energy based on the voltage difference between the current supercapacitor terminal voltage and the discharge cutoff voltage. The calculation should consider the characteristic that the supercapacitor's energy storage varies with the square of the terminal voltage, and only the usable portion above the discharge cutoff voltage should be calculated.

[0075] For example, if the preset capacitance of a supercapacitor is one farad, the current terminal voltage of the supercapacitor is five volts, and the discharge cutoff voltage of the supercapacitor is three volts, then the main controller determines the energy that the supercapacitor can release based on the energy difference between the five-volt and three-volt states. The converted result is approximately eight joules. If losses in the supercapacitor branch and subsequent power conversion circuits are considered, this can be further multiplied by the preset discharge efficiency. For example, when the discharge efficiency is 90%, the energy actually available for the positioning module is approximately seven and two joules. The preset capacitance of the supercapacitor can be the nominal value of the device or the effective capacitance obtained from factory testing, and it is stored in the non-volatile memory area of ​​the main controller.

[0076] The positioning startup energy refers to the input energy required for the positioning module to switch from a shutdown or low-power state to a working state capable of outputting positioning data normally. The main controller determines the positioning startup energy based on the positioning module's preset startup power, preset startup duration, and power conversion efficiency. The preset startup power is the average input power required by the positioning module during startup; the preset startup duration is the time from power-on at the positioning module's power supply terminal to the positioning module completing initialization and entering a positioning-ready state; and the power conversion efficiency is the effective proportion of DC bus power transferred to the positioning module through the subsequent power conversion circuit. To ensure successful startup, the main controller determines the positioning startup energy to be provided by the supercapacitor branch by dividing the actual load energy required by the positioning module by the power conversion efficiency.

[0077] For example, if the preset startup power of the positioning module is 1.2 watts, the preset startup time is 3 seconds, and the power conversion efficiency is 85%, then the positioning module itself requires 3.6 joules to complete startup. Considering power conversion losses, the supercapacitor branch needs to provide at least approximately 4.24 joules. When the actual usable energy of the supercapacitor is 7.2 joules, it is higher than the positioning startup energy, thus generating a result indicating that the supercapacitor branch is allowed to be connected. If the actual usable energy of the supercapacitor is only 3 joules, then a result indicating that the supercapacitor branch is not allowed to be connected for positioning startup is generated. By comparing energy rather than a single voltage, the situation where the supercapacitor terminal voltage is high but the capacitance is insufficient to complete the positioning module startup can be avoided.

[0078] The supercapacitor branch connection result includes at least two states: enabled connection and disabled connection. Upon generating an enabled connection state, the main controller first controls the controlled switch of the supercapacitor branch to turn on and detects the DC bus voltage. When the DC bus voltage reaches the positioning module's allowable power-on voltage and remains stable for a preset time, a start command is sent to the positioning module. The preset stabilization time is used to filter out voltage oscillations at the moment the branch is connected and can be set according to the DC bus filter capacitor and the power path response time. When a disabled connection state is generated, the supercapacitor branch is not used to start the positioning module, and the decision on whether to use the battery branch for subsequent power supply is determined based on the battery branch connection result.

[0079] The main controller also determines the battery's output capacity based on its rated usable capacity, state of charge (SOC), and discharge cutoff SOC. The rated usable capacity refers to the nominal capacity the battery can output within its permissible charge / discharge range. The discharge cutoff SOC is the minimum SOC set to prevent over-discharge and retain the capacity required for basic monitoring. The output capacity is the portion of the battery's capacity above its current SOC. For example, if the battery's rated usable capacity is 5 amp-hours, the current SOC is 60%, and the discharge cutoff SOC is 20%, then the capacity available for continuous recording during intense vibration is 40% of the rated usable capacity, or 2 amp-hours. If the battery's nominal voltage is 3.2 volts, the corresponding output capacity is approximately 6.4 watt-hours. In actual implementation, battery discharge efficiency, low-temperature capacity reduction, and a safety margin reserved for basic monitoring can also be deducted.

[0080] The effective analysis duration for a strong goofing event refers to the minimum continuous operating time required for the positioning module and data storage module to obtain data that can be used to reconstruct the strong goofing process, identify motion trends, and analyze conductor displacement changes. This duration is not an arbitrary value, but is predetermined based on the minimum amount of positioning data required for goofing event analysis, the output frequency of the positioning module, and the synchronization requirements of the goofing data. For example, if the positioning module outputs ten sets of positioning data per second, and the event analysis requires at least six hundred sets of continuous positioning data, then the effective analysis duration for a strong goofing event can be set to sixty seconds.

[0081] The power consumption required for continuous recording is determined based on the continuous power of the positioning module, the write power of the data storage module, and the effective analysis duration of strong vibration events. The continuous power of the positioning module is the average power consumed when continuously outputting positioning data after startup. The write power of the data storage module is the average power consumed when continuously writing positioning and vibration data. The main controller adds these two figures and calculates the power consumption required for continuous recording based on the effective analysis duration of strong vibration events. If necessary, the power consumption of the main controller, the six-axis inertial sensor, and the data buffer circuit during this duration can also be added.

[0082] For example, if the positioning module has a continuous power of 0.5 watts, the data storage module has a write power of 0.1 watt, and the effective analysis time for a strong dancing event is 60 seconds, then the energy required for continuous recording is 36 joules, approximately 0.01 watt-hours. If the battery can output 6.4 watt-hours, then the battery output is higher than the power required for continuous recording, generating a result indicating that the battery branch is allowed to connect; if the battery output is lower than the power required for continuous recording, then a result indicating that the connection is denied is generated, or the battery branch is only allowed to maintain the data storage module to complete the writing of existing data, without undertaking the complete continuous positioning task.

[0083] The main controller determines the activation sequence based on the activation results of the supercapacitor branch and the battery branch. When the supercapacitor branch is allowed to activate, it is activated first to establish a power supply path sufficient to cover the peak power required for the positioning module's startup; the positioning module is started after the DC bus voltage stabilizes. When the battery branch is allowed to activate, it is activated after the positioning module starts to supplement the continuous power required for stable operation and data recording of the positioning module; subsequently, the data storage module is activated to receive and write positioning and gyratory data. This sequence avoids excessive instantaneous load on the DC bus caused by simultaneous startup of the data storage module and the positioning module.

[0084] During the connection process and strong vibration event recording, the main controller continuously collects the DC bus voltage. The bus holding threshold is the minimum DC bus voltage required to ensure that the main controller, data buffer circuit, and data storage module can complete data preservation operations; its value is higher than the undervoltage reset voltage of the relevant modules. When the DC bus voltage falls below the bus holding threshold, it indicates that the current inductive power extraction unit and the connected energy storage branch cannot continue to stably bear the entire load. The main controller immediately stops the positioning module from acquiring new positioning data to first unload the positioning load with higher power.

[0085] After the positioning module stops acquiring data, the main controller reads the data that has not yet been written to the data buffer area and encapsulates the acquired positioning data and motion data according to the same strong motion event identifier. This encapsulation includes adding an event identifier, acquisition time, data type, data length, and integrity verification information, enabling the data storage module to identify data boundaries and check data integrity during subsequent reads. After encapsulation, the main controller writes the encapsulated positioning data and motion data to the non-volatile data storage module and reads the write completion status returned by the data storage module. Only after receiving the write completion status or confirming that the data has been written through a readback verification is the supercapacitor branch and the battery branch disconnected.

[0086] If the DC bus voltage continues to drop during the writing process, the main controller can prioritize writing the event start time, strong galloping trigger information, and the latest galloping data, and then write the earlier positioning data to ensure that the limited remaining energy is used to save the most important information for event identification. Through the above-mentioned energy budgeting, phased connection, continuous bus monitoring, and undervoltage data preservation process, a definite power supply and recording result can be formed under different supercapacitor and battery states, ensuring that those skilled in the art can implement power supply control for strong galloping events accordingly.

[0087] Furthermore, the connection process, based on the supercapacitor branch connection results and the battery branch connection results, executes the connection in the order of supercapacitor branch, positioning module, battery branch, and data storage module, and collects the DC bus voltage, including: When the supercapacitor branch connection result is that connection is allowed, the supercapacitor branch is connected, and the DC bus voltage is continuously collected during the first detection period to determine the first minimum bus voltage during the first detection period, and the first duration during which the DC bus voltage is continuously kept not lower than the positioning start voltage threshold. The first minimum bus voltage is compared with the positioning start voltage threshold, and the first duration is compared with the positioning start confirmation duration. The positioning module start result is generated based on the comparison result. The positioning module is started when the first minimum bus voltage is not lower than the positioning start voltage threshold and the first duration reaches the positioning start confirmation duration. During the second detection period after the positioning module is started, the DC bus voltage is continuously collected to determine the second lowest bus voltage and the bus recovery time required for the DC bus voltage to recover from the second lowest bus voltage to the bus recovery threshold during the second detection period. The bus voltage drop is determined based on the difference between the positioning maintenance voltage threshold and the second lowest bus voltage. The execution result of the battery branch is generated based on the bus voltage drop, bus recovery time and battery branch connection result. The battery branch is connected when the bus voltage drop is greater than the drop threshold, the bus recovery time exceeds the recovery time threshold and the battery branch connection result is allowed to be connected. During the third detection period after the battery branch is connected, the DC bus voltage is continuously collected to determine the third minimum bus voltage, the average bus voltage, and the bus voltage fluctuation amplitude during the third detection period. The data storage module startup result is generated based on the third minimum bus voltage, the average bus voltage, and the bus voltage fluctuation amplitude. The data storage module is started when the third minimum bus voltage is not lower than the storage holding voltage threshold, the average bus voltage is not lower than the storage startup voltage threshold, and the bus voltage fluctuation amplitude is not greater than the storage allowable fluctuation threshold.

[0088] In this embodiment, after a strong galloping event occurs, the supercapacitor branch, positioning module, battery branch, and data storage module are sequentially switched on. The main controller does not simply switch on each power-consuming object sequentially with a fixed delay, but instead detects the actual voltage response of the DC bus after each switching action and uses the detection result as the basis for deciding whether to execute the next switching action. This avoids DC bus undervoltage caused by peak startup of the positioning module or simultaneous power-on of multiple modules.

[0089] When the supercapacitor branch connection result indicates that connection is permitted, the main controller first activates the controlled switch between the supercapacitor branch and the DC bus. The supercapacitor branch connection time serves as the start time of the first detection period. The first detection period is used to determine whether the DC bus has established stable power supply conditions sufficient to start the positioning module after the supercapacitor is connected. The first detection period can be set from several hundred milliseconds to several seconds, and its specific length should be greater than the response time of the controlled switch of the supercapacitor branch and the stabilization time of the DC bus filter circuit.

[0090] The main controller continuously acquires the DC bus voltage at a preset sampling interval during the first detection period. The preset sampling interval should be sufficient to identify the transient voltage drop generated when the branch is connected; for example, it can be set to one millisecond, five milliseconds, or ten milliseconds. The first lowest bus voltage is the minimum value among all DC bus voltage samples during the first detection period, used to characterize the most severe transient voltage drop occurring on the DC bus during the connection of the supercapacitor branch.

[0091] The positioning start-up voltage threshold is the minimum DC bus voltage required to ensure the positioning module's input power conversion circuit can start normally without triggering undervoltage protection. The positioning start-up voltage threshold should be higher than the undervoltage lockout release voltage of the positioning module's input power conversion circuit, while retaining a preset voltage margin. For example, if the positioning module's input power conversion circuit can release undervoltage lockout when the DC bus voltage reaches 3.6 volts, the positioning start-up voltage threshold can be set to 3.8 volts.

[0092] The main controller also determines the first duration from the sampled data during the first detection period. The first duration is the time during which the DC bus voltage remains continuously above the positioning start-up voltage threshold. When any sampled value falls below the positioning start-up voltage threshold, the current continuous timer is reset to zero, and the timer restarts when the DC bus voltage reaches the positioning start-up voltage threshold again. The positioning start-up confirmation duration is the shortest continuous holding time required to confirm that the DC bus has the capability for positioning start-up, and its length should cover the main oscillation process after the DC bus is switched on.

[0093] For example, the first detection period is one second, the positioning start voltage threshold is 3.8 volts, and the positioning start confirmation duration is 500 milliseconds. After the supercapacitor branch is connected, the DC bus voltage drops to a minimum of 3.9 volts, and then remains above 3.8 volts for 700 milliseconds. If this occurs, the first minimum bus voltage meets the requirements, and the first duration also meets the positioning start confirmation duration. The main controller then generates a positioning module start result indicating that startup is permitted. If the first minimum bus voltage drops to 3.7 volts, or the DC bus voltage remains above 3.8 volts for only 300 milliseconds, a positioning module start result indicating startup is prohibited is generated, and the positioning module is not started in this instance.

[0094] When the positioning module starts up and is deemed ready to start, the main controller outputs a start signal to the power control terminal of the positioning module. The moment the positioning module begins to power on is designated as the start time of the second detection period. This second detection period is used to detect the impact of the positioning module's peak startup power on the DC bus and to determine whether the battery branch needs to be connected to supplement the continuous power shortage. The second detection period must cover at least the time from the positioning module's power-on to the completion of initialization.

[0095] The main controller continuously acquires the DC bus voltage during the second detection period and determines the second minimum bus voltage from the sampled values. The second minimum bus voltage represents the lowest voltage reached by the DC bus during the startup of the positioning module. The positioning sustaining voltage threshold is the lowest DC bus voltage that ensures the powered-on positioning module can maintain operation without resetting. The positioning sustaining voltage threshold can be lower than the positioning startup voltage threshold, but should be higher than the undervoltage shutdown voltage of the positioning module's power conversion circuit.

[0096] The bus voltage sag is determined based on the difference between the positioning sustaining voltage threshold and the second minimum bus voltage. When the second minimum bus voltage is lower than the positioning sustaining voltage threshold, the bus voltage sag is the positioning sustaining voltage threshold minus the second minimum bus voltage; when the second minimum bus voltage is not lower than the positioning sustaining voltage threshold, the bus voltage sag is recorded as zero. This process allows the bus voltage sag to directly represent the undervoltage level caused by the positioning module startup.

[0097] The main controller also determines the bus recovery time. The bus recovery time is the time elapsed from the moment the second lowest bus voltage occurs until the DC bus voltage first recovers to the bus recovery threshold. The bus recovery threshold should not be lower than the positioning sustaining voltage threshold, indicating that the DC bus has recovered from the positioning module startup impact to a state capable of handling subsequent loads. If the DC bus voltage fails to reach the bus recovery threshold before the end of the second detection period, the entire remaining time of the second detection period is determined as the bus recovery time, and the unrecovered state is also recorded.

[0098] For example, the positioning maintenance voltage threshold is 3.5 volts, and the bus recovery threshold is 3.9 volts. After the positioning module starts, the second lowest bus voltage is 3.2 volts, so the bus voltage drop is 0.3 volts. If the DC bus voltage recovers to 3.9 volts after 800 milliseconds, the bus recovery time is 800 milliseconds. The drop threshold can be set to 0.2 volts, and the recovery time threshold can be set to 500 milliseconds. Since the bus voltage drop is greater than the drop threshold and the bus recovery time exceeds the recovery time threshold, it indicates that the supercapacitor and the inductive power unit cannot independently and stably bear the load after the positioning module starts.

[0099] The main controller uses the bus voltage drop, bus recovery time, and battery branch connection result together to generate the battery branch execution result. Only when the bus voltage drop exceeds a drop threshold, the bus recovery time exceeds a recovery time threshold, and the battery branch connection result is "allowed to connect," is a battery branch execution result generated. This joint judgment can exclude situations with only minor instantaneous fluctuations or where the bus can quickly recover on its own, avoiding frequent discharge of the battery branch.

[0100] When the battery branch connection result is disabled, the battery branch will not be connected even if both the bus voltage drop and the bus recovery time exceed their respective thresholds. At this time, the main controller can stop the positioning module from continuing initialization, or return the positioning module to a low-power state and save the collected data according to the data preservation process described above. If the bus voltage drop does not exceed the drop threshold, or the bus recovery time does not exceed the recovery time threshold, the current connection state of the supercapacitor branch and the positioning module will be maintained, and the battery branch will not be connected additionally.

[0101] When the battery branch is activated, the main controller turns on the controlled switch between the battery branch and the DC bus. The activation time of the battery branch serves as the start time of the third detection period. The third detection period is used to determine whether the DC bus can simultaneously meet the requirements of stable operation of the positioning module and reliable writing of the data storage module after the battery branch is activated. The third detection period can be set according to the response time of the DC-DC converter circuit of the battery branch and should cover the rise and stabilization process of the DC bus after the battery branch is activated.

[0102] The main controller continuously acquires the DC bus voltage during the third detection period, determines the third lowest bus voltage from all sampled values, and averages all sampled values ​​to obtain the average bus voltage. The bus voltage fluctuation amplitude can be determined based on the difference between the highest bus voltage and the third lowest bus voltage during the third detection period. The third lowest bus voltage is used to determine whether there is a momentary undervoltage that could cause the data storage module to reset or interrupt writing; the average bus voltage is used to determine the overall power supply level after the battery branch is connected; and the bus voltage fluctuation amplitude is used to determine whether there is still significant oscillation in the DC bus.

[0103] The storage hold voltage threshold is the lowest DC bus voltage that ensures the data storage module does not lose power or reset during data writing. The storage startup voltage threshold is the lowest average DC bus voltage that allows the data storage module to enter the writing state from a shutdown or standby state; the storage startup voltage threshold can be higher than the storage hold voltage threshold. The storage allowable fluctuation threshold is the maximum allowable range of bus voltage variation during data storage module startup and writing.

[0104] For example, the storage hold voltage threshold is 3.4 volts, the storage start voltage threshold is 3.8 volts, and the storage allowable fluctuation threshold is 0.2 volts. If the third lowest bus voltage during the third detection period is 3.6 volts, the average bus voltage is 4 volts, and the highest bus voltage is 4.1 volts, then the bus voltage fluctuation is 0.5 volts, which does not meet the storage allowable fluctuation threshold, and the main controller does not start the data storage module. If the third lowest bus voltage is 3.7 volts, the average bus voltage is 4 volts, and the highest bus voltage is 4.05 volts, then the bus voltage fluctuation is 0.35 volts, and the data storage module still does not start. Only when the third lowest bus voltage, the average bus voltage, and the bus voltage fluctuation simultaneously meet their respective conditions will a start result for the data storage module be generated, allowing it to start.

[0105] When the data storage module startup result is "start-allowed," the main controller connects the power supply path to the data storage module and writes the positioning data output by the positioning module and the gyratory data output by the six-axis inertial sensor into the data storage module. When the data storage module startup result is "start-disallowed," the main controller temporarily stores the positioning data and gyratory data in the volatile buffer area and continues to monitor the DC bus voltage. When subsequent detection results meet the storage startup conditions, the data storage module is started. If the DC bus voltage drops below the bus holding threshold, the undervoltage data preservation process is initiated.

[0106] Through the above control, the DC bus response after the supercapacitor branch is turned on is used to determine whether the positioning module is started. The drop degree and recovery capability of the DC bus after the positioning module is started are used to determine whether the battery branch is turned on. The minimum value, average value and fluctuation degree of the DC bus after the battery branch is turned on are used to determine whether the data storage module is started, thus forming a closed-loop turn-on control that releases the load step by step based on the actual bearing capacity of the DC bus.

[0107] Furthermore, when the DC bus voltage is lower than the bus holding threshold, the following steps are performed sequentially: stopping the positioning module from acquiring data, encapsulating the acquired positioning and gyratory data, writing the encapsulated positioning and gyratory data into the data storage module, and disconnecting the supercapacitor branch and the battery branch after writing is complete: After the positioning module stops collecting data, the DC bus voltage is continuously collected during the preset undervoltage detection period. The bus voltage drop rate is determined based on the starting bus voltage, ending bus voltage, and collection duration during the preset undervoltage detection period. The first remaining writable duration is determined based on the bus voltage drop rate, ending bus voltage, and storage cutoff voltage of the data storage module. The first effective write duration is obtained by subtracting the data encapsulation duration, readback verification duration, and energy storage branch disconnection duration from the first remaining writable duration. The first allowed write data amount is determined based on the amount of data written per unit time of the data storage module and the first effective write duration. The maximum amplitude of the dance data and the peak acquisition time corresponding to the maximum amplitude are determined from the collected dance data. The peak data time window is determined with the peak acquisition time as the center and according to the preset forward duration and preset backward duration. The data is sorted in the following order: strong dance event identifier, dance data within the peak data time window, positioning data with the same time identifier as the dance data within the peak data time window, and positioning data outside the peak data time window, to generate a data queue to be written. Extract data from the beginning of the data queue to be written, with a data volume not exceeding the first allowed data volume. Add a strong dancing event identifier, collection time range, data length and verification information to the extracted data to generate the first undervoltage protection data packet. Write the first undervoltage protection data packet to the data storage module, obtain the first write completion flag returned by the data storage module, and perform a readback verification on the first undervoltage protection data packet based on the first write completion flag to generate the first data protection result; When the first data preservation result indicates that the first undervoltage preservation data packet is written completely, the supercapacitor branch and the battery branch are disconnected; when the first data preservation result indicates that the first undervoltage preservation data packet is not written completely, the DC bus voltage is continuously re-acquired, the second remaining writable time is determined based on the re-acquired DC bus voltage, and the second effective writable time is obtained by subtracting the second data encapsulation time, the second write confirmation time, and the energy storage branch disconnection time from the second remaining writable time. The second allowed write data amount is determined based on the second effective write duration and the amount of data written per unit time of the data storage module. Data with a data amount not exceeding the second allowed write data amount is extracted from the first undervoltage protection data packet in the order of strong dancing event identifier, dancing data within the peak data time window, and positioning data with the same time identifier as dancing data within the peak data time window, and the data is generated to generate the second undervoltage protection data packet. The second undervoltage protection data packet is written to the data storage module, and the supercapacitor branch and the battery branch are disconnected after the second write completion flag of the second undervoltage protection data packet is obtained.

[0108] In this embodiment, when the DC bus voltage is lower than the bus holding threshold and the remaining power supply capacity of the transmission line galloping monitoring device is insufficient to maintain all monitoring functions, the remaining power supply time is used to prioritize saving data with high value for analyzing strong galloping events. The bus holding threshold is the minimum DC bus voltage required to maintain the simultaneous operation of the positioning module, main controller, and data storage module. After the DC bus voltage falls below the bus holding threshold, the main controller first stops the positioning module from acquiring data to relieve the continuous power consumption and radio frequency operating power consumption of the positioning module, but retains power supply to the main controller, data buffer area, DC bus voltage sampling circuit, and data storage module.

[0109] The moment the positioning module stops collecting data is used as the start time of the preset undervoltage detection period. The preset undervoltage detection period is used to obtain the actual downward trend of the DC bus voltage after the positioning load is removed. Its length should be greater than the duration of power path switching and DC bus transient oscillation, but less than the expected remaining power supply time. For example, the preset undervoltage detection period can be set to 100 milliseconds to 1 second. The main controller continuously collects DC bus voltage at fixed sampling intervals within the preset undervoltage detection period. The first valid sample value obtained within this period is determined as the starting bus voltage, and the last valid sample value is determined as the ending bus voltage.

[0110] The bus voltage drop rate is used to represent the degree of decrease in DC bus voltage per unit time. The main controller divides the difference between the starting and ending bus voltages by the preset undervoltage detection period's acquisition duration to obtain the bus voltage drop rate. For example, if the starting bus voltage is 3.8 volts, the ending bus voltage is 3.6 volts, and the acquisition duration is 0.2 seconds, then the bus voltage drops by 0.2 volts during that period, corresponding to a bus voltage drop rate of one volt per second. If the ending bus voltage is not lower than the starting bus voltage, it indicates that the inductive power extraction unit or the connected energy storage branch can still maintain the DC bus voltage, and the data reduction process based on the voltage drop rate is not initiated; instead, the DC bus voltage continues to be monitored.

[0111] The storage cutoff voltage of the data storage module is the lowest DC bus voltage at which the data storage module and its input power conversion circuit can reliably perform write operations. This voltage is higher than the power-down reset voltage of the data storage module to reserve the voltage margin required to complete the current write and shut down the energy storage branch. The first remaining writable duration is the expected time from the end bus voltage drop to the storage cutoff voltage, based on the current bus voltage drop trend. The main controller determines the first remaining writable duration based on the voltage difference between the end bus voltage and the storage cutoff voltage, and the bus voltage drop rate.

[0112] For example, if the DC bus voltage is 3.6 volts, the storage cutoff voltage is 3.2 volts, and the bus voltage drop rate is 1 volt per second, then it is estimated that it will take 0.4 seconds for the DC bus voltage to drop to the storage cutoff voltage, and the first remaining writeable time is 0.4 seconds. This prediction is based on the voltage drop trend within the preset undervoltage detection period and is mainly used to determine the upper limit of the data that can be written this time, rather than to accurately represent the total remaining energy of the supercapacitor or battery.

[0113] The remaining writable time cannot be entirely used for data writing. The main controller also needs to reserve time for data encapsulation, readback verification, and energy storage branch disconnection. Data encapsulation time is the time required for the main controller to add event identifiers, time ranges, lengths, and verification information to the data to be saved; readback verification time is the time required to read the written data from the data storage module and complete the verification; energy storage branch disconnection time is the time required from issuing the disconnection command to the controlled switches of the supercapacitor and battery branches completing the shutdown. These times can be obtained and stored through factory testing, or preset values ​​not less than the maximum value from multiple tests can be used.

[0114] The main controller sequentially subtracts the data encapsulation time, readback verification time, and energy storage branch disconnection time from the first remaining writable time to obtain the first effective write time. When the subtraction result is less than or equal to zero, the first undervoltage protection data packet containing complete positioning data is no longer generated; instead, the strong swirl event identifier and the swirl data closest to the peak acquisition time are directly retained. The amount of data written per unit time by the data storage module is the number of data bytes that the data storage module can reliably write per unit time in the current write mode, which can be pre-calibrated according to the memory interface rate, page write time, and main controller transmission speed. The main controller multiplies the amount of data written per unit time by the first effective write time to obtain the first allowed write data amount.

[0115] For example, if the first remaining write time is 400 milliseconds, the data encapsulation time is 40 milliseconds, the readback verification time is 60 milliseconds, and the energy storage branch disconnection time is 20 milliseconds, then the first effective write time is 280 milliseconds. When the data storage module can reliably write 20 kilobytes per second, the first allowed write data volume is 5.6 kilobytes. Based on this, the main controller limits the data volume of the first undervoltage protection data packet to prevent the generated data packet from exceeding the amount of data that can be written and verified within the remaining power supply time.

[0116] Subsequently, the main controller determines the maximum amplitude of the gobling from the gobling data already cached in the data buffer area. The gobling data may include triaxial acceleration, triaxial angular velocity, or a conductor displacement representation value obtained from the data. The gobling amplitude may be represented by a composite triaxial acceleration, a composite angular velocity value, or a vibration amplitude in a pre-selected direction. The main controller compares the gobling amplitudes corresponding to each acquisition moment and determines the maximum gobling amplitude and its corresponding time marker as the maximum amplitude and peak acquisition moment, respectively.

[0117] The peak data time window is a continuous time range selected around the peak acquisition time, used to preserve the changes in the amplitude of the strong gyration before and after reaching its maximum value. The main controller uses the peak acquisition time as a reference, extending forward by a preset forward duration and backward by a preset backward duration to obtain the peak data time window. For example, if the peak acquisition time is 10:20:15, the preset forward duration is 2 seconds, and the preset backward duration is 3 seconds, then the peak data time window is from 10:20:13 to 10:20:18. The preset forward duration is used to preserve the rise of the gyration amplitude, and the preset backward duration is used to preserve the decay or continuation process after the peak.

[0118] The main controller sorts the data to be saved according to a predetermined priority order. Strong goblins event identifiers are placed first, and these identifiers include at least the event number, trigger time, and event type, used to identify the event to which the data belongs during subsequent reads. Goblins data within the peak data time window are placed after the strong goblins event identifiers. Positioning data with the same time identifier as the goblins data within the peak data time window are then placed, used to correlate changes in goblins amplitude with changes in the conductor's spatial position. Positioning data outside the peak data time window is placed last. The resulting queue of data to be written is not simply arranged according to the original acquisition order, but rather according to the importance of the data for identifying and analyzing strong goblins events.

[0119] The main controller sequentially extracts data from the beginning of the data queue until the total amount of extracted data reaches or approaches the first allowed write data amount. If the next complete data record in the queue would cause the total data amount to exceed the first allowed write data amount, then the complete data record will not be extracted, thus avoiding truncation in the middle of a data record. The main controller adds a strong dance event identifier, acquisition time range, data length, and verification information to the extracted data, forming the first undervoltage protection data packet. The verification information can use a cyclic redundancy check value to determine whether the data before and after writing is consistent.

[0120] After receiving the first undervoltage protection data packet, the data storage module performs the write operation and returns a first write completion flag after writing the predetermined data length. The first write completion flag indicates that the data storage module has finished the write operation, but does not alone indicate that the written content is complete. Upon receiving the first write completion flag, the main controller reads back the first undervoltage protection data packet from the data storage module and compares the length of the read data, the event flag, and the verification information. If all match, a first data protection result indicating a complete write is generated; if the first write completion flag is not received, the read length is insufficient, or the verification information is inconsistent, a first data protection result indicating an incomplete write is generated.

[0121] When the first data preservation result indicates a complete write operation, it means the first undervoltage protection data packet has been reliably saved. The main controller then issues a branch disconnect command to disconnect the supercapacitor branch and the battery branch. When the first data preservation result indicates an incomplete write operation, the main controller does not immediately repeat the same data packet; instead, it continuously re-acquires the DC bus voltage. The re-acquisition can use a detection period that is the same as or shorter than the preset undervoltage detection period. The second remaining writeable time is determined based on the re-acquired starting bus voltage, ending bus voltage, acquisition duration, and storage cutoff voltage.

[0122] The main controller subtracts the second data encapsulation time, the second write confirmation time, and the energy storage branch disconnection time from the second remaining writable time to obtain the second effective write time. The second write confirmation time is the reserved time required for the data storage module to complete the second write and return the second write completion flag. Since the second protection occurs after the first undervoltage protection failure, the second effective write time is usually less than the first effective write time. The main controller multiplies the second effective write time by the amount of data written per unit time by the data storage module to obtain the second allowed write data amount.

[0123] When generating the second undervoltage protection data packet, the main controller no longer retains the lower-priority positioning data outside the peak data time window. Instead, it extracts data from the first undervoltage protection data packet in the following order: strong dancing event identifier, dancing data within the peak data time window, and positioning data with the same time identifier as the dancing data. The total amount of extracted data must not exceed the second allowed write data amount. When the second allowed write data amount is insufficient to save all the dancing data within the peak data time window, it can start from the data closest to the peak acquisition time and extract data in ascending order of time distance from the peak acquisition time, thereby prioritizing the retention of data near the maximum dancing amplitude.

[0124] The main controller writes the second undervoltage protection data packet to the data storage module. After completing the second write, the data storage module returns a second write completion flag. Upon receiving the second write completion flag, the main controller disconnects the supercapacitor branch and the battery branch. If the DC bus voltage has dropped to the storage cutoff voltage during the second write process, the data storage module stops writing, and the main controller directly executes branch disconnection to prevent the data storage module from repeatedly writing under conditions below the allowable operating voltage.

[0125] Through the above processing, the device can determine the available write time based on the actual downward trend of the DC bus, convert the available write time into the amount of data that can be written, and prioritize saving strong galloping event identifiers, galloping data near the peak, and positioning data synchronized with them within the limited data amount. When the initial protection fails, the device reassesses the remaining power supply capacity and generates a second undervoltage protection data packet with a smaller data size and higher priority, thereby improving the probability of saving key strong galloping data under conditions of insufficient induced power supply and impending depletion of energy storage.

[0126] Step S105: When the strong galloping event ends or the power supply control cycle expires, update the real-time power extraction power and battery state of charge, redetermine the current power supply level, adjust the power supply branch connected to the DC bus according to the current power supply level, and charge the supercapacitor and battery in sequence when the real-time power extraction power exceeds the current monitored load power, and generate the power supply path instruction for the next power supply control cycle.

[0127] In this embodiment, step S105 is used to reassess the power supply status of the inductive power extraction unit and the battery after the strong galloping event ends or the current power supply control cycle expires, adjust the connection relationship between the inductive power extraction unit, the supercapacitor branch, the battery branch and the DC bus, and generate a power supply path instruction for the next power supply control cycle. The power supply control cycle is the time interval corresponding to the main controller performing one power supply status acquisition, power supply level determination, power supply branch control and result update. The power supply control cycle can be preset according to the rate of change of the load current of the transmission line, the power consumption of the monitoring device and the computing power of the main controller, for example, set to one minute, five minutes or fifteen minutes. During the duration of the strong galloping event, the main controller can pause the switching of power supply branches according to the normal power supply control cycle and prioritize the execution of the strong galloping event power supply control in step S104.

[0128] The end of a strong goofing event refers to a situation where the vibration signal collected by the six-axis inertial sensor no longer meets the strong goofing judgment criteria and the state does not continue for the event end confirmation duration. The event end confirmation duration is used to prevent short-term fluctuations in vibration amplitude near the strong goofing judgment threshold from causing frequent start-stops of the positioning module and data storage module. For example, the main controller can start timing after the vibration amplitude falls below the strong vibration amplitude threshold, the main vibration frequency deviates from the preset goofing frequency range, or the continuous vibration duration is interrupted. When the above conditions persist for thirty seconds, the strong goofing event is determined to have ended. After the strong goofing event is determined to have ended, the main controller completes the writing of the current goofing event data and generates an event end marker.

[0129] When the strong vibration event ends or the power supply control cycle expires, the main controller re-obtains the DC output voltage, DC output current, and battery state of charge according to the acquisition method in step S101, and recalculates the real-time power consumption. To avoid the influence of transient currents caused by the positioning module being shut down or the energy storage branch being switched on on the reclassification, the update can be performed after the load state has stabilized. The stability of the load state can be determined by the DC bus voltage remaining within an allowable range for a preset stabilization time. For example, if the DC bus voltage does not fall below the undervoltage threshold for five consecutive seconds and the change amplitude does not exceed a preset fluctuation range, the load state is determined to be stable.

[0130] The main controller inputs the updated real-time power consumption and battery state of charge into the normalization, weighted fusion, baseline constraint, and upgrade / downgrade confirmation process described in step S102 to re-determine the current power supply level. After re-determining the current power supply level, the main controller generates a new power supply branch connection state based on the current power supply level. When the current power supply level allows the inductive power supply unit to independently handle the current monitored load, the inductive power supply unit remains connected to the DC bus, and the battery branch discharge is stopped; when the current power supply level indicates that the real-time power consumption is insufficient to handle the current monitored load, the battery branch is connected if the battery state of charge meets the discharge conditions; when it is necessary to start the positioning module or other instantaneous high-power modules, the supercapacitor branch is connected if the supercapacitor terminal voltage meets the discharge conditions.

[0131] The current monitored load power is the total power consumed by the main controller, six-axis inertial sensor, positioning module, communication module, and data storage module during the current power supply control cycle. The current monitored load power can be obtained by summing the preset power parameters of each module and their current operating status, or it can be measured through voltage and current sampling channels located on the DC bus output side. For example, if the main controller and six-axis inertial sensor continuously consume 20 milliwatts, the positioning module consumes 50 milliwatts during stable operation, and the communication module is currently off, then the current monitored load power is 70 milliwatts. If the real-time power consumption is 90 milliwatts, then the 20 milliwatts exceeding the current monitored load power are surplus power available for charging.

[0132] The main controller only allows energy storage charging when the real-time power input exceeds the currently monitored load power and the surplus power input continues for the charging confirmation duration. Setting a charging confirmation duration avoids frequent switching of charging branches when the real-time power input increases briefly. The main controller prioritizes connecting the supercapacitor charging branch and uses at least a portion of the surplus power input to charge the supercapacitor. Once the supercapacitor terminal voltage reaches the supercapacitor charging upper limit, charging to the supercapacitor stops, and then the battery charging branch is connected to charge the battery. If the supercapacitor terminal voltage has not yet reached the supercapacitor charging upper limit, but the supercapacitor charging current has decreased to the preset end current, it can also be determined that the supercapacitor has completed this energy replenishment.

[0133] When charging the battery, the power management unit adopts a charging method adapted to the battery type. For lithium iron phosphate batteries, constant current charging is initially used, switching to constant voltage charging once the battery terminal voltage reaches the upper limit of the charging voltage. Charging stops when the charging current falls below the preset termination current. The battery charging current must not exceed the current supported by the surplus power draw, and should retain the power margin required for the normal operation of the currently monitored load. If the real-time power draw drops to a level not exceeding the current monitored load power during charging, charging the battery is immediately stopped; if the real-time power draw continues to decrease and forms a persistent power deficit, the decision to connect the battery branch for discharge is made based on the redefined current power supply level.

[0134] For example, if the current monitored load power is 60 milliwatts and the real-time power draw is 100 milliwatts, then the surplus power draw is 40 milliwatts. When the supercapacitor's terminal voltage is lower than its charging limit, the main controller first uses no more than 40 milliwatts of power to charge the supercapacitor; after the supercapacitor reaches its charging limit, it then uses the surplus power draw to charge the battery. If the real-time power draw drops to 50 milliwatts during charging, then the real-time power draw is lower than the current monitored load power. The main controller stops all charging and decides whether to connect the battery branch to supplement the continuous power gap of 10 milliwatts based on the redefined current power supply level.

[0135] The power supply path instruction is control data used to indicate the target connection status of the inductive power extraction unit, supercapacitor branch, battery branch, supercapacitor charging branch, and battery charging branch in the next power supply control cycle. The power supply path instruction includes at least the on / off status of each branch, and may also include the allowed output current, allowed charging current, branch connection sequence, and branch switching delay. The main controller writes the power supply path instruction into the power management unit, which controls each controlled switching device according to the power supply path instruction at the beginning of the next power supply control cycle. Through the above processing, step S105 can form the power supply branch connection result and the control basis for the next power supply control cycle at the end of each power supply control cycle, thereby forming a continuous, closed-loop power supply control process between the inductive power extraction unit, supercapacitor, and battery.

[0136] Furthermore, to verify the actual effects of the aforementioned inductive power extraction, energy storage branch power supply division, priority power supply during strong galloping events, and dynamic adjustment within the power supply control cycle, laboratory verification and field operation comparison verification were conducted on the prototype of the transmission line galloping monitoring device under different power extraction capacity conditions. During the verification process, DC bus voltage, real-time power extraction, battery state of charge, energy storage branch status, and the operating status of the positioning module and data storage module were continuously collected to determine the stability of the DC bus after the power supply path switching, the peak voltage drop when the positioning module starts, and whether the data of strong galloping events can be completely recorded.

[0137] In the verification under different power extraction conditions, the real-time power extraction was set to 20 milliwatts, 40 milliwatts, 80 milliwatts, and 150 milliwatts, respectively, and the battery state of charge was kept within the operational range corresponding to each condition. The main controller determined the current power supply level and controlled the inductive power extraction unit, supercapacitor branch, and battery branch according to the aforementioned method. The steady-state DC bus voltages obtained under the four conditions were 4.51 volts, 4.65 volts, 4.78 volts, and 4.92 volts, respectively. Figure 2 As shown; the peak voltage drops during the startup process of the corresponding positioning module are 0.50V, 0.45V, 0.38V, and 0.30V, respectively. Figure 3 As shown. By Figure 2 and Figure 3 It can be seen that during the process of the real-time power consumption decreasing from 150 milliwatts to 20 milliwatts, the device maintains continuous power supply to the DC bus by adjusting the power supply level and dividing the power supply between the supercapacitor and the battery branch. At the same time, it limits the instantaneous voltage drop caused by the startup of the positioning module to within 0.5 volts. This verifies that the control method of the supercapacitor bearing the peak startup power and the battery supplementing the continuous power gap can reduce the impact of dynamic load on the DC bus.

[0138] For the power supply process during a strong galloping event, three sets of simulated galloping signals were input under different power supply states. The first set had a peak-to-peak vibration amplitude of eight times the gravitational acceleration, a dominant frequency of 0.8 Hz, and lasted for twelve seconds; the controller connected the supercapacitor branch and the battery branch. The second set had a peak-to-peak vibration amplitude of six times the gravitational acceleration, a dominant frequency of 0.7 Hz, and lasted for ten seconds; the controller prioritized connecting the supercapacitor branch and maintained the corresponding energy storage branch according to continuous power demand. The third set had a peak-to-peak vibration amplitude of five times the gravitational acceleration, a dominant frequency of 0.9 Hz, and lasted for eight seconds; when the current energy storage state met the conditions, the supercapacitor branch provided the start-up power supply. In all three sets of tests, the positioning module completed positioning data acquisition during the event at a sampling frequency of 20 Hz. Positioning and galloping data were successfully written, and no event data loss occurred. The lowest DC bus voltages measured during the three sets of tests were 3.62 V, 3.71 V, and 3.85 V, respectively. Figure 6 As shown in the figure. The results indicate that after a strong vibration is triggered, the power supply to the energy storage branch is determined based on the energy storage status, and power is supplied according to the operating conditions of the energy storage branch, the positioning module, and the data storage module. This can maintain the power supply conditions required for event recording even when power extraction is limited.

[0139] Further on-site operational comparison verification was conducted for three consecutive months. The device using the power supply control method of this application and a control device using a single battery state of charge for mode switching were placed under the same line operating conditions. During the verification period, a total of seventeen strong galloping events were recorded. The device using the control method of this application did not miss any strong galloping events, while the control device missed six. The device using the control method of this application did not experience any undervoltage shutdowns, while the control device experienced a total of twenty-one undervoltage shutdowns. The average daily power supply level switching frequency of the control method of this application was eight times, while that of the control device was one hundred and twenty-six times. Figure 4 As shown; the average DC bus voltage fluctuation range of the control method in this application is ±0.39 volts, while that of the control device is ±1.18 volts. Figure 5 As shown in the figure. It can be seen that, under the above field conditions, combining real-time power extraction capacity with battery energy storage status for power supply level determination, and setting up an upgrade / downgrade confirmation mechanism, can significantly reduce repeated switching of power supply status caused by short-term fluctuations in line current; through the division of power supply between supercapacitors and batteries, it is also possible to reduce DC bus voltage fluctuations and the number of undervoltage shutdowns.

[0140] On-site operation monitoring interface as follows Figure 7 As shown, the system records battery voltage, wire current, battery charging current, and environmental and equipment status parameters on the same time axis. Figure 7 As can be seen from the conductor current curve and battery charging current curve, during periods when the conductor current decreases significantly, the battery charging current drops to near zero; after the conductor current recovers, the battery charging current returns to a non-zero output. This on-site change relationship is consistent with the aforementioned control process of executing energy storage charging when the real-time power extraction exceeds the current monitored load power and the charging confirmation conditions are met, and stopping charging after the power extraction decreases, indicating that the device can dynamically adjust the energy storage replenishment state according to changes in the induced power extraction capability.

[0141] Therefore, under the aforementioned laboratory and field verification conditions, the method of this application can maintain continuous adjustment of the power supply path when changes in the load current of the transmission line cause fluctuations in induced power extraction, reducing frequent switching of power supply levels and DC bus voltage fluctuations; it utilizes a supercapacitor to supplement peak power when the positioning module starts up, and continues to supply power from the battery branch when there is a continuous power gap; it prioritizes the operation of the positioning module and data storage module when a strong galloping event occurs, thereby improving the integrity of strong galloping event data recording and the continuous operational reliability of the monitoring device. A second embodiment of this application provides an electronic device, the electronic device comprising: processor; The memory is used to store a program, which, when read and executed by the processor, executes the inductive power extraction and energy storage power supply control method for a power transmission line galloping monitoring device provided in the first embodiment of this application.

[0142] The third embodiment of this application provides a computer-readable storage medium storing a computer program thereon. When the program is executed by a processor, it executes the inductive power extraction and energy storage power supply control method for a power transmission line galloping monitoring device provided in the first embodiment of this application.

[0143] Although this application discloses preferred embodiments as described above, it is not intended to limit this application. Any person skilled in the art can make possible changes and modifications without departing from the spirit and scope of this application. Therefore, the scope of protection of this application should be determined by the scope defined in the claims of this application.

Claims

1. A method for controlling the inductive power extraction and energy storage supply of a transmission line galloping monitoring device, characterized in that, include: The system collects the DC output voltage and DC output current of the inductive power harvesting unit after rectification, the battery state of charge, and the supercapacitor terminal voltage, and calculates the real-time power harvesting based on the DC output voltage and DC output current. The real-time power consumption and battery state of charge are normalized and weighted and fused to obtain the energy adequacy. Candidate power supply levels are determined based on the threshold range of the energy adequacy. When the real-time power consumption is lower than the minimum power consumption threshold or the battery state of charge is lower than the minimum charge threshold, the lowest power supply level will be determined as the current power supply level; otherwise, the current power supply level will be determined based on the candidate power supply levels and the confirmation time for upgrading or downgrading. Based on the current power supply level, the inductive power supply unit, supercapacitor branch and battery branch are selectively connected to the DC bus; the inductive power supply unit takes priority to undertake the current monitoring load, the supercapacitor branch supplements the peak power required for the positioning module to start, and the battery branch supplements the continuous power gap; When a strong galloping event is detected, the available energy storage branch is determined based on the supercapacitor terminal voltage and battery state of charge. The available energy storage branch is then connected, and the positioning module and data storage module are activated. When the strong galloping event ends or the power supply control cycle expires, the real-time power extraction power and battery state of charge are updated, the current power supply level is redefined, the power supply branch connected to the DC bus is adjusted according to the current power supply level, and when the real-time power extraction power exceeds the current monitored load power, the supercapacitor and battery are charged in sequence to generate the power supply path instruction for the next power supply control cycle.

2. The inductive power extraction and energy storage power supply control method for the transmission line galloping monitoring device according to claim 1, characterized in that, When a strong galloping event is detected, the system determines which energy storage branch can be connected based on the supercapacitor terminal voltage and the battery state of charge, connects the connected energy storage branch, and activates the positioning module and data storage module, including: The energy that the supercapacitor can release is determined based on the supercapacitor terminal voltage, the supercapacitor's preset capacitance, and the supercapacitor's discharge cutoff voltage. The positioning start-up energy is determined based on the positioning module's preset start-up power, preset start-up time, and power conversion efficiency. The supercapacitor's release energy is compared with the positioning start energy to generate the supercapacitor branch connection result. When the supercapacitor's release energy is not lower than the positioning start energy, the supercapacitor branch is connected first and then the positioning module is started. The battery output capacity is determined based on the battery's rated available capacity, battery state of charge, and battery discharge cutoff state of charge. The power required for continuous recording is determined based on the positioning module's continuous power, data storage module's write power, and the effective analysis duration of strong dancing events. The battery output capacity is compared with the power required for continuous recording to generate the battery branch connection result. Based on the connection results of the supercapacitor branch and the battery branch, the connection is executed in the order of supercapacitor branch, positioning module, battery branch and data storage module, and the DC bus voltage is collected. When the DC bus voltage is lower than the bus holding threshold, the positioning module will stop collecting data in sequence, encapsulate the collected positioning data and gyratory data, write the encapsulated positioning data and gyratory data into the data storage module, and disconnect the supercapacitor branch and battery branch after writing is completed.

3. The inductive power extraction and energy storage power supply control method for the transmission line galloping monitoring device according to claim 2, characterized in that, The process involves connecting the supercapacitor branch and the battery branch according to their connection results, following the sequence of supercapacitor branch, positioning module, battery branch, and data storage module, and acquiring the DC bus voltage, including: When the supercapacitor branch connection result is that connection is allowed, the supercapacitor branch is connected, and the DC bus voltage is continuously collected during the first detection period to determine the first minimum bus voltage during the first detection period, and the first duration during which the DC bus voltage is continuously kept not lower than the positioning start voltage threshold. The first minimum bus voltage is compared with the positioning start voltage threshold, and the first duration is compared with the positioning start confirmation duration. The positioning module start result is generated based on the comparison result. The positioning module is started when the first minimum bus voltage is not lower than the positioning start voltage threshold and the first duration reaches the positioning start confirmation duration. During the second detection period after the positioning module is started, the DC bus voltage is continuously collected to determine the second lowest bus voltage and the bus recovery time required for the DC bus voltage to recover from the second lowest bus voltage to the bus recovery threshold during the second detection period. The bus voltage drop is determined based on the difference between the positioning maintenance voltage threshold and the second lowest bus voltage. The execution result of the battery branch is generated based on the bus voltage drop, bus recovery time and battery branch connection result. The battery branch is connected when the bus voltage drop is greater than the drop threshold, the bus recovery time exceeds the recovery time threshold and the battery branch connection result is allowed to be connected. During the third detection period after the battery branch is connected, the DC bus voltage is continuously collected to determine the third minimum bus voltage, the average bus voltage, and the bus voltage fluctuation amplitude during the third detection period. The data storage module startup result is generated based on the third minimum bus voltage, the average bus voltage, and the bus voltage fluctuation amplitude. The data storage module is started when the third minimum bus voltage is not lower than the storage holding voltage threshold, the average bus voltage is not lower than the storage startup voltage threshold, and the bus voltage fluctuation amplitude is not greater than the storage allowable fluctuation threshold.

4. The inductive power extraction and energy storage power supply control method for the transmission line galloping monitoring device according to claim 2, characterized in that, When the DC bus voltage is lower than the bus holding threshold, the following steps are performed sequentially: stopping the positioning module from acquiring data, encapsulating the acquired positioning and gyratory data, writing the encapsulated positioning and gyratory data into the data storage module, and disconnecting the supercapacitor branch and the battery branch after writing is complete. After the positioning module stops collecting data, the DC bus voltage is continuously collected during the preset undervoltage detection period. The bus voltage drop rate is determined based on the starting bus voltage, ending bus voltage, and collection duration during the preset undervoltage detection period. The first remaining writable duration is determined based on the bus voltage drop rate, ending bus voltage, and storage cutoff voltage of the data storage module. The first effective write duration is obtained by subtracting the data encapsulation duration, readback verification duration, and energy storage branch disconnection duration from the first remaining writable duration. The first allowed write data amount is determined based on the amount of data written per unit time of the data storage module and the first effective write duration. The maximum amplitude of the dance data and the peak acquisition time corresponding to the maximum amplitude are determined from the collected dance data. The peak data time window is determined with the peak acquisition time as the center and according to the preset forward duration and preset backward duration. The data is sorted in the following order: strong dance event identifier, dance data within the peak data time window, positioning data with the same time identifier as the dance data within the peak data time window, and positioning data outside the peak data time window, to generate a data queue to be written. Extract data from the beginning of the data queue to be written, with a data volume not exceeding the first allowed data volume. Add a strong dancing event identifier, collection time range, data length and verification information to the extracted data to generate the first undervoltage protection data packet. Write the first undervoltage protection data packet to the data storage module, obtain the first write completion identifier returned by the data storage module, and perform a readback verification on the first undervoltage protection data packet based on the first write completion identifier to generate the first data protection result; When the first data preservation result indicates that the first undervoltage preservation data packet is written completely, the supercapacitor branch and the battery branch are disconnected; when the first data preservation result indicates that the first undervoltage preservation data packet is not written completely, the DC bus voltage is continuously re-acquired, the second remaining writable time is determined based on the re-acquired DC bus voltage, and the second effective writable time is obtained by subtracting the second data encapsulation time, the second write confirmation time, and the energy storage branch disconnection time from the second remaining writable time. The second allowed write data amount is determined based on the second effective write duration and the amount of data written per unit time of the data storage module. Data with a data amount not exceeding the second allowed write data amount is extracted from the first undervoltage protection data packet in the order of strong dancing event identifier, dancing data within the peak data time window, and positioning data with the same time identifier as dancing data within the peak data time window, and the data is generated to generate the second undervoltage protection data packet. The second undervoltage protection data packet is written to the data storage module, and the supercapacitor branch and the battery branch are disconnected after the second write completion flag of the second undervoltage protection data packet is obtained.

5. The inductive power extraction and energy storage power supply control method for the transmission line galloping monitoring device according to claim 1, characterized in that, The control system selectively connects the inductive power supply unit, supercapacitor branch, and battery branch to the DC bus based on the current power supply level; the inductive power supply unit prioritizes the current monitoring load, the supercapacitor branch supplements the peak power required for the positioning module to start, and the battery branch supplements the continuous power gap, including: The permitted monitoring modules are determined based on the current power supply level, the current monitored load power is determined based on the operating power of the permitted monitoring modules, and the remaining inductive power is determined based on the difference between the real-time power consumption and the current monitored load power. The positioning startup power gap is determined by the difference between the startup power of the positioning module and the remaining power of the inductive power extraction. The energy that the supercapacitor can release and the allowable output power of the supercapacitor are determined by the supercapacitor terminal voltage, the supercapacitor discharge cutoff voltage, the supercapacitor capacitance and the positioning startup time. Compare the allowable output power of the supercapacitor with the positioning start-up power gap, and determine the smaller of the two as the target output power of the supercapacitor. After connecting the supercapacitor branch according to the target output power, start the positioning module. During the startup of the positioning module, the DC bus voltage is collected. Based on the minimum value of the DC bus voltage and the time required for the DC bus voltage to recover to the positioning maintenance voltage threshold, the startup completion result of the positioning module and the insufficient power supply of the bus are generated. When the positioning module startup completion result indicates startup completion, the continuous power gap is determined based on the current monitored load power, real-time power consumption, and insufficient bus power supply after the positioning module has been running stably. The target output power of the battery is determined based on the continuous power gap and the battery state of charge. The battery branch is connected according to the target output power of the battery, and the output of the supercapacitor branch is stopped after the DC bus voltage is continuously maintained at or above the positioning maintenance voltage threshold for a preset stable duration.

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