CN101436777B - Relay protection monitoring system and method based on sensor network - Google Patents
Relay protection monitoring system and method based on sensor network Download PDFInfo
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- CN101436777B CN101436777B CN200810236733XA CN200810236733A CN101436777B CN 101436777 B CN101436777 B CN 101436777B CN 200810236733X A CN200810236733X A CN 200810236733XA CN 200810236733 A CN200810236733 A CN 200810236733A CN 101436777 B CN101436777 B CN 101436777B
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Abstract
The invention discloses a relay protection monitoring system based on a sensor network. The system comprises sensor nodes, actuator nodes, gateway nodes and a centralized-control center. A sensor node acquires electric capacity data and transmits the electric capacity data to an actuator node of a monitored object in a wireless mode; the actuator node receiving the electric capacity data gives an alarm or cuts off an electrical element and transmits fault information to the actuator nodes of other monitored objects in a wireless mode when finding a fault through judgment; the actuator nodes of the other monitored objects judge whether electrical elements are needed to be cut off successively or not, and if yes, the actuator nodes perform the operation; and the actuator node receiving the electric capacity data transmits the electric capacity data, the fault information and alarm or electric element cutting off information to the centralized-control center through the gateway nodes. The invention also provides a relay protection monitoring method based on the sensor network. A plurality of relay protective nodes are connected to form a network. The nodes share operation and fault information of the system and work in coordination mode to ensure safe and stable operation of the system.
Description
Technical field
The invention belongs to the relaying protection field, particularly a kind of novel, networked, intellectuality and multifunctional relay protection control system and method for work thereof.
Background technology
" transferring electricity from the west to the east, north and south send mutually, national network " will bring good opportunity to develop to China's power industry, arrive the year two thousand twenty, and national installed capacity, energy output all will be the first in the world.Along with developing rapidly of electrical network, putting into operation of a large amount of units, ehv power transmission proposes higher developing goal to the relaying protection product technology, for example computerization, and networking, protection, control, measurement, data communication is integrated and manual intelligent etc.
Up to the present, except differential protection and pilot protection, all protective relaying devices all can only reflect the electric parameters of protecting the installation place.The effect of relaying protection also is only limited to the excision fault element, dwindles the accident impact scope.This mainly is owing to do not form network between the protective relaying device, lacks strong data communication means.The effect of relaying protection mainly is excision fault element and restriction accident impact scope, also will guarantee system-wide safe and stable operation simultaneously.This just requires each protected location can both share the data of system-wide operation and fault message, and each protected location is cooperated on the basis of these information of analysis and data with reclosing device, and collaborative execution, guarantees the safe and stable operation of system.
Summary of the invention
The object of the present invention is to provide a kind of relay protection control system based on sensor network; to connect and compose network by a plurality of relaying protection nodes that sensor node and actuator node constitute; each protection node can both be shared system-wide operation and fault information data; on the basis of these information of analysis and data, cooperate; and collaborative execution, guarantee the safe and stable operation of system.
The present invention also provides a kind of relaying protection control method based on sensor network; the a plurality of relaying protection nodes that are made of sensor node and actuator node intercom mutually; share system-wide operation and fault information data; on the basis of these information of analysis and data, work in coordination with execution, guarantee the safe and stable operation of system.
A kind of relay protection monitoring system based on sensor network comprises sensor node, actuator node, gateway node and centralized control center, and monitored object be to should having at least one sensor node and at least one actuator node,
The sensor node of monitored object is gathered electrical data, sends it actuator node of this monitored object to by radio communication;
The actuator node of receiving electrical data carries out fault judgement, break down if judge, report to the police or the corresponding electric component rupturing operation of execution fault, and fault message is sent to the actuator node of other monitored object by radio communication, the actuator node of other monitored object judges whether the electric component that the chain cut-out of needs is controlled separately according to fault message, if need executable operations; The actuator node of receiving electrical data also sends electrical data, fault message and warning or electric component cut-out information to centralized control center by gateway node;
Gateway node is used for forwarding of data between centralized control center and the actuator node;
The centralized control center is used to store electrical data, fault message and warning or the electric component rupturing operation information from the actuator node.
Described sensor node comprises data acquisition module 1.1.1, sensor node processes module 1.1.2, sensor node wireless communication module 1.1.3 and sensor node power module 1.1.4, data acquisition module 1.1.1 is used to gather electrical data, sensor node processes module 1.1.2 is used for the electrical data after analog-to-digital conversion and the storage analog-to-digital conversion, sensor node wireless communication module 1.1.3 is used between the sensor node and sensor node and the internodal electrical data transmission of actuator, and sensor node power module 1.1.4 is used to other three modules that power supply is provided.
Described actuator node comprises Executive Module 2.1.1, actuator node processing module 2.1.2, actuator node wireless communication module 2.1.3 and actuator node power module 2.1.4, Executive Module 2.1.1 is used for the instruction executable operations according to actuator node processing module 2.1.2, actuator node processing module 2.1.2 is used to store the electrical data from actuator node wireless communication module 2.1.3, carry out accident analysis and generate instruction, and pass to Executive Module 2.1.1; Actuator node wireless communication module 2.1.3 is used between the actuator node, between actuator node and sensor node and the electrical data between actuator node and gateway node transmit, actuator node power module 2.1.4 is used to other three modules that power supply is provided.
A kind of relay protection monitoring method based on sensor network, corresponding at least one sensor node of monitored object and at least one actuator node, this method is carried out according to following steps:
(1) sensor node of monitored object is gathered electrical data, sends it actuator node of this monitored object to;
(2) the actuator node of receiving electrical data carries out accident analysis to electrical data, break down if judge, then report to the police or the corresponding electric component rupturing operation of execution fault, and fault message is sent to the actuator node of other monitored object by radio communication;
(3) the actuator node of other monitored object judges whether other electric component of the chain cut-out of needs according to fault message, if needs, then executable operations.
(4) receive that the actuator node of electrical data is with the wireless actuator node that sends other monitored object to of fault message, the actuator node of other monitored object judges whether the electric component that the chain cut-out of needs is controlled separately according to fault message, if need executable operations.
Advantage of the present invention and characteristics are embodied in the following aspects:
(1) wireless mode.Adopt wireless mode based on the relay protection control system of sensor network,, set up convenient and simplely, do not need to lay telecommunication cable with respect to traditional wired mode.And, the wireless mode flexible configuration, easy to maintenance, be easy to the expansion.The present invention adopts sensor network technique, makes network system have self-organizing, adaptive function, better reliability.
(2) networking.The state isolated separately with respect to the traditional relay protection device, each relaying protection node among the present invention has formed network, and for data communication means efficiently is provided between the node.
(3) intellectuality.In the present invention; each relaying protection node can both be shared the data of system-wide operation and fault message; each protected location is cooperated on the basis of these information of analysis and data with reclosing device, and collaborative execution, guarantees the safe and stable operation of system.The system failure information that the relaying protection node can access is many more, then the judgement of nature of trouble, abort situation and the detection of fault distance is healed accurately, makes whole system more intelligent.
(4) multifunctional all.In the present invention, the relaying protection node obtains any information and the data of power system operation and fault from network, also can send any information and the data of the protected element that it obtained to centralized control center or any relaying protection node.Each relaying protection node not only can be finished the relaying protection function, and also can finish measurement, control, data communication function under the failure free operation situation, realizes that promptly measurement, data communication, protection, control are integrated.
Characteristics such as the present invention has high reliability, and is real-time.In addition, the centralized control center can write down electrical data and fault message day by day, and these data and information are analyzed, and power failure was taken precautions against after analysis result both can become provides foundation, important data is provided can for again the electric power system dilatation.
Description of drawings
Fig. 1 is an overall construction drawing of the present invention;
Fig. 2 is a relaying protection monitoring node structure chart;
Fig. 3 is a relaying protection XM structure chart;
Fig. 4 is relay protection control system operating procedure figure of the present invention;
Fig. 5 is a relaying protection node communication data packet format of the present invention;
Fig. 6 is the relaying protection monitoring node hardware structure diagram of example of the present invention;
Fig. 7 is the relaying protection XM hardware structure diagram of example of the present invention;
Fig. 8 is the relaying protection monitoring node switching value input circuit of example of the present invention;
Fig. 9 is the relaying protection monitoring node analog quantity input circuit of example of the present invention;
Figure 10 is the relaying protection XM switching value output loop of example of the present invention.
Embodiment
As shown in Figure 1; the present invention is by several relaying protection monitoring nodes RPN (i; j) (be expressed as j the sensor node that i monitored object settled; i; j ∈ N, N are natural number), (m n) (is expressed as n the relaying protection XM that m monitored object settled to relaying protection XM RPA; m, n ∈ N), gateway node and centralized control center form.The all the sensors node of a monitored object and actuator node constitute a relaying protection node, and a plurality of relaying protection nodes connect and compose wireless network.
Sensor node is installed on the electric equipments such as generator, transformer, bus, electric line, is used to collect electric data.In addition, also has route forwarding function.Sensor node forms the sub-clustering network by specific algorithm, bunch first Monitoring Data of collecting monitoring node, and electric data is sent to corresponding relaying protection XM.The actuator node compares electric data and predefined setting value, judges whether to have taken place fault.If power failure has taken place, and need to cut off the respective electric element, then action immediately.Then, this actuator node and other actuator node communicate, and mutually consult, and need to judge whether other electric component of chain cut-out.If need, then action immediately.For example, sensor node RPN (I
0, j) be used to collect transmission line I
0Electric current.Sensor node RPN (I
0, j) form the sub-clustering network.Bunch first RPN (I
0, J
0), J
0The unified magnitude of current of collecting transmission line of ∈ N, and send it to XM RPA (I into line protection
0, n).Actuator node R PA (I
0, n) magnitude of current and the predefined setting value of receiving compared, judge whether transmission line breaks down.
Sensor node comprises: data acquisition module 1.1.1, transducer processing module 1.1.2, sensor wireless communication module 1.1.3, sensor electrical source module 1.1.4 form, as shown in Figure 2.Data acquisition module 1.1.1 comprises switching value input circuit and analog quantity input circuit, is responsible for certain data transaction is gathered and done to the electric parameters of electric equipments such as generator, transformer, bus, electric line; The operation of transducer processing module 1.1.2 control whole sensor node, the data of storage and processing collection itself, and the data sent of other node; Between the sensor wireless communication module 1.1.3 specified sensor node or sensor node intercom exchange image data and control information mutually according to certain communication protocol with the actuator node; Sensor electrical source module 1.1.4 provides all required power supplys for the sensor node operation.
The relaying protection XM comprises: Executive Module 2.1.1, actuator processing module 2.1.2, actuator wireless communication module 2.1.3, actuator power module 2.1.4 form, as shown in Figure 3.Executive Module 2.1.1 executes the task according to the order that actuator processing module 2.1.2 sends, and as circuit breaker trip, excises corresponding electric component etc.; Actuator processing module 2.1.2 controls the operation of whole actuator node, and storage and deal with data compare the data of collection and the setting value of setting, judge whether to break down; Actuator wireless communication module 2.1.3 specifies between the actuator node or the actuator node intercoms according to certain communication protocol mutually with sensor node, exchange image data and control information; Actuator power module 2.1.4 provides all required power supplys for the operation of actuator node.
Gateway node has very strong processor ability, storage capacity and communication capacity, and it is connecting the local area network (LAN) of relaying protection network and centralized control center, realizes the communication Protocol Conversion between two kinds of network protocol stacks, issues user's monitoring and control task simultaneously.As the platform that relay protection control system exchanges with the user, above-mentioned said centralized control center all is stored in power system monitoring data and fault message in the database, checks for the user.
Sensor node adopts the mode of sub-clustering to form network, and the forming process of sub-clustering network is as follows: at first, and bunch first broadcast beacon frame.After adjacent node is received beacon frame, just can apply for adding this bunch.Whether bunch first this node of decision can become a bunch member.If request is allowed to, then this node will as bunch the member join the neighbor list of bunch head.Initiate node can join bunch head in the neighbor list of oneself as its father node.In this way, form a tree bunch network.Bunch head can specify the new bunch head of another node as adjacency, forms more bunch with this.New bunch of head can select other node to become a bunch head equally, further enlarges the coverage of network.But, too much bunch first can increase bunch between the message delay and the communication overhead that transmit.For delay and the communication overhead that message between reducing bunch is transmitted, bunch head can select farthest node as bunch head of adjacent cluster.
Communication Routing Protocol between actuator node, the gateway node adopts the agreement that floods.Actuator node R PA (m, n) wish to send data to gateway node S, the use algorithm that floods, at first data trnascription is sent to its each neighbor node by network, each neighbor node is transferred to it each neighbor node separately again, except just to their send data trnascription node R PA (m, n) outside.So continue, till transfer of data arrives gateway node S.
Among the present invention, network protocol stack adopts the Zigbee protocol stack, for the interference of power equipments such as generator, power distribution room, transformer good precautionary technology is arranged.Network system is operated in the 2.4GHz ISM band, and therefore the electromagnetic wave that generation is set with electric power does not disturb not in same frequency range.Because the Zigbee agreement is exempted from patent fee, the complexity of node is low in addition, and these can reduce relaying protection Control Node cost effectively.
Bunch first election process that sensor node forms the sub-clustering network is as follows: the random number R and (i) between sensor node produces 0～1, if Rand (i)＜T (i), then oneself is a bunch head, and sends broadcast.Take turns in the circulation every, if node had been elected to a bunch head, T (i)=0 is set then, this node can be elected as a bunch head once more like this.For the node of not being elected to bunch head, then will be elected with the probability of T (i).Along with the interstitial content of being elected to bunch head increases, the threshold value T (i) of the elected bunch head of residue node increases thereupon, and node produces less than the probability of the random number of T (i) also big more, and arbitrarily the probability of the elected bunch head of node increases.When only surplus next node was not elected, T (i)=1 represented that this node is necessarily elected.T (i) can be expressed as
Wherein, P is bunch head shared percentage in all nodes, and r is election wheel number, and on behalf of this, r mod (1/P) take turns the node number of being elected to bunch head in the circulation, and G is that this takes turns the node set of not being elected to bunch head in the circulation.
Figure 5 shows that in the relay protection control system a kind of version of communication data packet between each node, form by data sequence number 5.1, frame control field 5.2, address 5.3, fault data 5.4, setting value 5.5, timestamp 5.6.Wherein the address comprises network identity 5.3.1, the source address 5.3.2 of source node, network identity 5.3.3, the destination address 5.3.4 of destination node.
Fig. 6 is an instance graph of sensor node hardware configuration.This node comprises input circuit 6.1 (switching value input circuit and analog quantity input circuit), processing module 6.2 (Atmega128 processor and Flash memory), wireless transceiver 6.3 (CC2420), power supply 6.4.Atmega128 is the AVR series monolithic of Atmel company, select it as micro controller unit, mainly for two reasons: on the one hand the RISC technology that adopts of Atmega128 makes it have higher calculated performance, and increase income develop software instrument maturation and TinyOS operating system of Atmega128 available is supported better it on the other hand.Atmega128 has 32 general registers, 128KB program storage in 64 I/O control registers, sheet, UART able to programme, I
2C, SPI interface, RTC able to programme, house dog, clock source and counter, 8 path 10 position ADC, six kinds of characteristics such as low-power consumption mode.CC2420 be Chipcon company release first meet the wireless transceiver of 2.4GHz IEEE802.15.4 standard, and TinyOS operating system has comprised the CC2420 driver.Use CC2420, only need few external component, can guarantee the validity and the reliability of short haul connection, support data transmission rate up to 250kbps, can realize multi-multipoint quickly networking, has ultralow current drain, anti-adjacent channel interference performance strong (39dB), characteristics such as power output programmed controlled.
Fig. 7 is an instance graph of actuator node hardware configuration.This node comprises switching value output loop 7.1, processing module 7.2 (Atmega128 processor and Flash memory), wireless transceiver 7.3 (CC2420), power supply 7.4.
Fig. 8 is the switching value input circuit instance graph of sensor node.The switching value input circuit comprises that the auxiliary contact of circuit breaker and isolating switch or breaker tripping and closing position relay contact are imported, external device (ED) locking reclosing contact is imported, the input of light and heavy gas relay tip, also comprises pulsed quantity input, meritorious idle electric degree input etc.When input terminal KR is high level, by current-limiting resistance R1, filter circuit (C1, C2, R2, R3), then photoelectricity is isolated the TP121 conducting, and output PA is a low level just.Otherwise when KR was low level, output PA was a high level just.R4 is a pull-up resistor.
Fig. 9 is the analog quantity input circuit instance graph of sensor node.The analog signal that is input to the relaying protection Control Node by electric power system mainly contains two classes: a class is alternating voltage (or electric current) signal from voltage transformer pt (or current transformer CT), and another kind of is direct voltage (or electric current) signal from voltage divider (or shunt).These signals at first form the loop by voltage and are switched to the level that is complementary with node, remove wherein HFS by analog filter filter (ALF), keep link (S/H) with the continuous signal discretization by sampling then.Because more than one usually of the signal of input is so become digital quantity by analog to digital converter (ADC) one by one with multicircuit switch.
Figure 10 is the switching value output loop instance graph of actuator node.The switching value output loop is an exit passageway of controlling object such as circuit breaker being realized control operation.Main task is that small-signal is converted to high-power output, satisfies the power requirement that drives output.Adopt output port arranged side by side (PA) to control the relay of node.In output channel, also will prevent the feedback interference of controlling object, so output channel needs also photoelectricity to isolate to the relaying protection XM.When PA was high level, through not circuit, then photoelectricity was isolated the TP127 conducting, relay K C work.R is a current-limiting resistance.
A kind of relaying protection control method based on sensor network as shown in Figure 4, may further comprise the steps:
The first step: in electric power system, electric parameters to be detected is input to the processor of sensor node.If electric parameters is a switching value, then enter the switching value input circuit, auxiliary contact or the breaker tripping and closing position relay contact that comprises circuit breaker and isolating switch imported, external device (ED) locking reclosing contact is imported, the input of light and heavy gas relay tip, also comprises pulsed quantity input, meritorious idle electric degree input etc.; If analog quantity then enters the analog quantity input circuit,, use A/D converter to change analog quantity into digital quantity by simulation low-pass filter standard input variable.
Second step: sensor node sends to electric parameters the actuator node that belongs to a monitored object.The processor of actuator node calculates electric parameters by the program in the caller memory, its result of calculation with leave the setting value in the memory in or the value that transfinites compares, and make corresponding judgement.When electric power system is broken down, can occur electric current increase, voltage rising or reduction, frequency reduction usually, phenomenons such as gas, temperature rising perhaps occur.
The 3rd step:, and need to cut off corresponding electric component, action immediately if break down.To carry out signal by input/output port and deliver to corresponding peripheral hardware and send alarm signal, perhaps carry out tripping operation.Executing the task is that controlling object (for example circuit breaker) is implemented control operation, and main task is that small-signal is converted to high-power output, satisfies the power requirement that drives output.In order to prevent the feedback interference of controlling object, therefore also need through one-level photoelectricity isolation processing to system.
The 4th step: the actuator node of actuator node and other monitored object communicates, the real-time Transmission fault message.And hold consultation, which determines to finish execute the task.If need other task of chain cut-out, then action immediately.
Claims (7)
1. the relay protection monitoring system based on sensor network is characterized in that, comprises sensor node, actuator node, gateway node and centralized control center, and monitored object be to should having at least one sensor node and at least one actuator node,
The sensor node of monitored object is gathered electrical data, sends it actuator node of this monitored object to by radio communication;
The actuator node of receiving electrical data carries out fault judgement, break down if judge, report to the police or the corresponding electric component rupturing operation of execution fault, and fault message is sent to the actuator node of other monitored object by radio communication, the actuator node of other monitored object judges whether the electric component that the chain cut-out of needs is controlled separately according to fault message, if need executable operations; The actuator node of receiving electrical data also sends electrical data, fault message and warning or electric component cut-out information to centralized control center by gateway node;
Gateway node is used for forwarding of data between centralized control center and the actuator node;
The centralized control center is used to store electrical data, fault message and warning or the electric component rupturing operation information from the actuator node.
2. a kind of relay protection monitoring system according to claim 1 based on sensor network; it is characterized in that; described sensor node comprises data acquisition module (1.1.1); sensor node processes module (1.1.2); sensor node wireless communication module (1.1.3) and sensor node power module (1.1.4); data acquisition module (1.1.1) is used to gather electrical data; sensor node processes module (1.1.2) is used for the electrical data after analog-to-digital conversion and the storage analog-to-digital conversion; sensor node wireless communication module (1.1.3) is used between the sensor node and sensor node and the internodal electrical data transmission of actuator, and sensor node power module (1.1.4) is used to other three modules that power supply is provided.
3. a kind of relay protection monitoring system according to claim 1 based on sensor network, it is characterized in that, described actuator node comprises Executive Module (2.1.1), actuator node processing module (2.1.2), actuator node wireless communication module (2.1.3) and actuator node power module (2.1.4), Executive Module (2.1.1) is used for the instruction executable operations according to actuator node processing module (2.1.2), actuator node processing module (2.1.2) is used for the electrical data of storage from actuator node wireless communication module (2.1.3), carry out accident analysis and generate instruction, and pass to Executive Module (2.1.1); Actuator node wireless communication module (2.1.3) is used between the actuator node, between actuator node and sensor node and the electrical data between actuator node and gateway node transmit, actuator node power module (2.1.4) is used to other three modules that power supply is provided.
4. a kind of relay protection monitoring system according to claim 1 based on sensor network; it is characterized in that; the sensor node of described single monitored object constitutes the wireless cluster network; wherein the sensor node of conduct bunch head compiles the electrical data of all the sensors node collection of this monitored object, and sends it actuator node of this monitored object to.
5. a kind of relay protection monitoring system based on sensor network according to claim 1 is characterized in that, described actuator node also carries out the electric component rupturing operation according to the monitor task from the centralized control center.
6. relay protection monitoring method based on sensor network, corresponding at least one sensor node of monitored object and at least one actuator node, this method is carried out according to following steps:
(1) sensor node of monitored object is gathered electrical data, sends it actuator node of this monitored object to;
(2) the actuator node of receiving electrical data carries out accident analysis to electrical data, break down if judge, report to the police or the corresponding electric component rupturing operation of execution fault, and fault message is sent to the actuator node of other monitored object by radio communication;
(3) the actuator node of other monitored object judges whether other electric component of the chain cut-out of needs according to fault message, if needs, then executable operations.
7. a kind of relay protection monitoring method according to claim 6 based on sensor network; it is characterized in that; described step (1) is specially: the sensor node of single monitored object forms the wireless cluster network; wherein compile the electrical data of all the sensors node collection of this monitored object, send it actuator node of this monitored object to as the sensor node of bunch head.
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| KR102087143B1 (en) * | 2018-03-06 | 2020-03-10 | 엘에스산전 주식회사 | Protecting and interlocking system for plurality of circuit breakers in low voltage grid |
| CN111787512B (en) * | 2020-07-30 | 2023-07-14 | 许继集团有限公司 | Relay protection communication system and communication method based on 5G communication |
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