CN106647567A - Hydraulic turbine automatic governor control system based on computer control - Google Patents

Abstract

The invention discloses a water turbine automatic governor control system based on computer control, which includes a computer, the computer is connected with a single-chip controller through a data line; the computer is connected with a wireless radio frequency transceiver module through a GPRS network; the single-chip control The input ends of the device are electrically connected to the output ends of the power transmitter module, the external power grid frequency monitoring module, the filter module and the power supply module; the output ends of the single-chip controller are respectively connected to the signal grounding module, signal amplification module, position monitoring The module is electrically connected to the input end of the liquid level monitoring module; the single-chip controller is electrically connected to the database module and the dynamic analog module respectively; the output end of the signal amplification module is electrically connected to the input end of the electro-hydraulic servo valve, The beneficial effect of the invention is that the remote control of the automatic governor of the water turbine by the computer is realized, the running condition of the water turbine can be monitored in real time, and the degree of intelligence is high.

Description

A Computer-Based Automatic Governor Control System for Water Turbines

technical field

The invention belongs to the technical field of governor control systems, and in particular relates to a computer-based automatic governor control system for water turbines.

Background technique

At present, under the background that fossil energy is non-renewable and its use is extremely easy to cause environmental pollution, countries around the world regard the development of renewable energy as an important measure to revitalize the economy, and China is the same. Hydropower is the renewable energy that countries give priority to develop. However, my country's hydropower reserves rank first in the world, mainly enriched in large rivers, and large-scale hydraulic turbines are needed to effectively develop them. The most important part of the power generation of the hydro-turbine unit is the automatic governor part. Because the output power of the hydro-generator set must be adjusted continuously with the continuous change of the power consumption to make it equal to the external power consumption, this requires the automatic regulation of the hydro-turbine unit. Accelerator can achieve precise control.

The control system of the automatic governor of the current water turbine unit is not highly intelligent, and can only be adjusted. When a fault occurs, the fault point cannot be determined in time. The electronic equipment in the control system is extremely susceptible to electromagnetic interference. For the precise operation of the water turbine unit It is a big hidden danger.

Contents of the invention

In order to solve the technical problems in the known technology, the present invention provides a computer-based automatic governor control system for water turbines that is remotely controlled by a computer, has a high degree of intelligence, effectively eliminates electromagnetic interference, and achieves precise control.

The present invention is realized in this way, a kind of water turbine automatic governor control system based on computer control, comprises computer, and described computer is connected with single-chip microcomputer controller through data line; Described computer is connected with wireless radio frequency transceiver module through GPRS network; The input ends of the single-chip controller are electrically connected to the output ends of the power transmitter module, the external grid frequency monitoring module, the filter module and the power supply module; the output ends of the single-chip controller are respectively connected to the signal grounding module and the signal amplification module , the input end of the position monitoring module and the liquid level monitoring module are electrically connected; the single-chip controller is electrically connected with the radio frequency transceiver module, the data storage module, the database module and the dynamic analog module respectively; the output end of the signal amplification module It is electrically connected to the input end of the electro-hydraulic servo valve; the output end of the position monitoring module is electrically connected to the input ends of the first position sensor, the second position sensor and the third position sensor respectively; the liquid level monitoring module The output ends are respectively electrically connected to the input ends of the first liquid level sensor, the second liquid level sensor and the third liquid level sensor;

The first position sensor is arranged on the main pressure distribution valve of the automatic governor of the water turbine;

The second position sensor is arranged on the servomotor of the automatic governor of the water turbine;

The third position sensor is arranged on the water guiding mechanism of the water turbine;

The first liquid level sensor is arranged in the oil pressure device of the water turbine automatic governor;

The second liquid level sensor is arranged in the oil return tank of the automatic governor of the water turbine;

The third liquid level sensor is arranged in the pressure tank of the water turbine automatic governor.

Further, the single-chip controller is provided with a signal nonlinear transformation module, and the signal nonlinear transformation module performs nonlinear transformation on the received signal s(t), according to the following formula:

in A represents the amplitude of the signal, a(m) represents the symbol of the signal, p(t) represents the shaping function, f _c represents the carrier frequency of the signal, Represents the phase of the signal, which is obtained after the nonlinear transformation:

Further, the signal amplification module is provided with

The first step is to perform the FFT operation of N _FFT points on the RF or IF sampling signal in Reived_V1 or Reived_V2, and then perform a modulo operation, and store the first N _FFT /2 points in VectorF, which stores the signal x2 amplitude spectrum;

In the second step, the analysis bandwidth Bs is divided into N equal Blocks, N=3, 4, ..., the bandwidth to be calculated by each Block is Bs/N, and the lowest frequency of the analysis bandwidth Bs is set to FL, where FL=0, then block nBlock, n=1...N, the corresponding frequency ranges are respectively [FL+(n-1)Bs/N, FL+(n)Bs/N], the VectorF The frequency point of the corresponding frequency band is assigned to each block, where the VectorF point range of nBlock is [S _n , S _n +k _n ], where Indicates the number of frequency points assigned to each segment, and Indicates the starting point, fs is the signal sampling frequency, and round(*) indicates rounding operation;

The third step is to calculate the energy Σ|·| ² of its spectrum for each Block, and obtain E(n), n=1...N;

The fourth step is to average the vector E

The fifth step is to find the variance sum of the vector E

The sixth step is to update the flag bit, flag = 0, indicating that the previous detection result is no signal, under this condition, only when σ _sum > K2 is judged as the current detected signal, flag becomes 1; when flag = 1 , indicating that the previous detection result is a signal. Under this condition, only when σ _sum <K1 is judged as no signal is currently detected, the flag becomes 0, and K1 and K2 are threshold values, which are given by theoretical simulation and empirical values. Out, K2>K1;

The seventh step is to control whether the follow-up demodulation thread is enabled according to the flag bit: flag=1, enable the follow-up demodulation thread, etc., otherwise close the follow-up demodulation thread.

Further, the computer is provided with a sleep scheduling and coverage compensation coverage maintenance module, the sleep scheduling of the sleep scheduling and coverage compensation coverage maintenance module and the coverage maintenance method of coverage compensation include:

Step 1, determine the number of neighbor nodes: the node broadcasts the HELLO message to the surrounding nodes, and the node records the number of different HELLO messages received to obtain the number N of its own neighbor nodes;

Step 2, estimate node redundancy: use the number of neighbor nodes N to get the expected value of node redundancy:

When E(η _N )≥α, it is considered as an absolute redundant node, when 1-α<E(η _N )<α, it is a relative redundant node, and when 0≤E(η _N )≤1-α, it is non-redundant Remaining nodes, where α is a preset threshold;

Step 3: Estimate the remaining energy of the node after the information exchange stage: the transmitter consumes energy per transmission of 1 bit information: E _elec-te , and the receiver consumes energy per reception of 1 bit information:

E _elec-re , and there is E _elec-te ＝E _elec-re ; the energy consumed by transmitting 1 bit of information per unit distance through the transmitter amplifier: E _amp , the energy consumed by the transmitter sending kbits information to the receiver at a distance d E _elec-te *k+E _amp *k*d ² , the energy consumed by the receiving end to receive kbits information is: E _elec-re ^* k; the energy consumed by a node with m neighbor nodes in the process of information exchange is:

(E _elec-te *k+E _amp *k*d ² )*m+(E _elec-re *k)*m;

The remaining energy of a node with m neighbors after the information exchange process is:

E _est1 ＝E1-(E _elec-te *k+E _amp *k*d ² )*m-(E _elec-re *k)*m, where E1 is the real-time energy of the node before information exchange;

Step 4, find potential dead nodes: if the node energy satisfies: is a potential death node, where, is the average energy consumed in a period of time;

Step 5, node information exchange: each node broadcasts information including its own redundancy information and whether it is a potential dead node to all neighboring nodes;

Step 6, estimate whether the non-potential dead node can move to the position of the potential dead node;

Estimate the energy consumed by information exchange: All movable nodes need to exchange information before moving, and the energy consumed in this process is:

(E _elec-te *k+E _amp *k*d ² )*L+(E _elec-re *k)*L, L is the number of nodes for information exchange, k is the bit of information, d is the bit of information transmission distance;

If the node moves, estimate the remaining energy of the node after the move:

E _est2 ＝E2-(E _elec - _te *k+E _amp *k*d ² )*L-(E _elec-re *k)*LE _move *h, where h is the distance to the target position, E2 is the real-time energy of the node before moving;

Judging whether the node has the energy to move: the mobile node is required to work for at least x time period after the new location, if the node energy satisfies: Then this node has the energy to move to the target position, otherwise, it does not have this ability, where x is a preset threshold;

Step seven, decide to move the node:

Select the best node among all movable nodes according to the following rules:

If there are absolutely redundant nodes in the movable nodes, according to the judgment of the target distance, move the absolute redundant node with the smallest target distance; Judging the size of _est2 , select the node with the largest remaining energy;

If there are only relatively redundant nodes among the movable nodes, the selection is made according to the moving distance of the relatively redundant nodes. The moving distance of the relatively redundant nodes is the maximum movable distance of the relatively redundant nodes. The maximum movable distance refers to The maximum distance that a node can move under the conditions that affect the coverage area, and determine the target position of the relative redundant node movement according to the maximum movable distance; compare the maximum movable distance of the relative redundant node, and move the relative redundant node with the smallest maximum movable distance , if there are multiple relatively redundant nodes with the same maximum movable distance and the smallest, then according to the size of the remaining energy E _est2 , select the node with the largest remaining energy,

Step 8: adopt a sleep scheduling mechanism for the remaining absolute redundant nodes: after the nodes move to the target position, change the state of the absolute redundant nodes to sleep.

The computer-based automatic governor control system for water turbines provided by the present invention realizes remote control of the automatic governors for water turbines through computers, and is easy to operate. The computer only needs to establish a connection with the single-chip controller through a data line or a GPRS network. The single-chip controller can receive monitoring signals from various monitoring devices in real time, judge the operation of the automatic governor of the water turbine according to the database module, and feed back to the computer, and the external grid frequency monitoring module can obtain real-time dynamics of the external grid power consumption, and Feedback to the single-chip controller, the filter module can filter the electromagnetic waves generated during the current transmission process in the control system, and the signal grounding module can filter and export the electromagnetic waves from the outside, which plays the role of electromagnetic shielding and provides a guarantee for the automatic governor of the water turbine. Precise operating environment.

Description of drawings

Fig. 1 is a schematic structural diagram of a computer-based automatic governor control system for water turbines provided by an embodiment of the present invention.

In the figure: 1. Computer; 2. Data line; 3. Single-chip controller; 4. GPRS network; 5. Radio frequency transceiver module; 6. Power transmitter module; 7. External grid frequency monitoring module; 8. Filter module 9. Power supply module; 10. Signal grounding module; 11. Signal amplification module; 12. Position monitoring module; 13. Liquid level monitoring module; 14. Data storage module; 15. Database module; 16. Dynamic simulation module; 17. Electro-hydraulic servo valve; 18. First position sensor; 19. Second position sensor; 20. Third position sensor; 21. First liquid level sensor; 22. Second liquid level sensor; 23. Third liquid level sensor.

detailed description

In order to make the object, technical solution and advantages of the present invention more clear, the present invention will be further described in detail below in conjunction with the examples. It should be understood that the specific embodiments described here are only used to explain the present invention, not to limit the present invention.

The structure of the present invention will be described in detail below in conjunction with FIG. 1 .

The computer-controlled water turbine automatic governor control system provided by the embodiment of the present invention includes a computer 1, which is connected with a single-chip controller 3 through a data line 2; the computer 1 is connected with a radio frequency transceiver module 5 through a GPRS network 4 Connect; the input end of the single-chip controller 3 is electrically connected with the output end of the power transmitter module 6, the external grid frequency monitoring module 7, the filter module 8 and the power supply module 9; the output end of the single-chip controller 3 Respectively with signal grounding module 10, signal amplifying module 11, position monitoring module 12 and the input terminal electrical connection of liquid level monitoring module 13; 15 is electrically connected to the dynamic analog module 16; the output end of the signal amplification module 11 is electrically connected to the input end of the electro-hydraulic servo valve 17; the output end of the position monitoring module 12 is respectively connected to the first position sensor 18, the second The input terminals of the second position sensor 19 and the third position sensor 20 are electrically connected; the output terminals of the liquid level monitoring module 13 are connected with the first liquid level sensor 21, the second liquid level sensor 22 and the third liquid level sensor 23 The input terminal is electrically connected.

Further, the first position sensor 18 is arranged on the main pressure distribution valve of the automatic governor of the water turbine.

Further, the second position sensor 19 is arranged on the servomotor of the automatic governor of the water turbine.

Further, the third position sensor 20 is arranged on the water guiding mechanism of the water turbine.

Further, the first liquid level sensor 21 is arranged in the oil pressure device of the water turbine automatic governor.

Further, the second liquid level sensor 22 is arranged in the oil return tank of the automatic governor of the water turbine.

Further, the third liquid level sensor 23 is arranged in the pressure tank of the water turbine automatic governor.

Further, the single-chip controller is provided with a signal nonlinear transformation module, and the signal nonlinear transformation module performs nonlinear transformation on the received signal s(t), according to the following formula:

in A represents the amplitude of the signal, a(m) represents the symbol of the signal, p(t) represents the shaping function, f _c represents the carrier frequency of the signal, Represents the phase of the signal, which is obtained after the nonlinear transformation:

Further, the signal amplification module is provided with

The first step is to perform the FFT operation of N _FFT points on the RF or IF sampling signal in Reived_V1 or Reived_V2, and then perform a modulo operation, and store the first N _FFT /2 points in VectorF, which stores the signal x2 amplitude spectrum;

In the second step, the analysis bandwidth Bs is divided into N equal blocks, N=3, 4, ..., the bandwidth to be calculated by each Block is Bs/N, and the lowest frequency of the analysis bandwidth Bs is set to FL, where FL=0, then block nBlock, n=1...N, the corresponding frequency ranges are respectively [FL+(n-1)Bs/N, FL+(n)Bs/N], the VectorF The frequency point of the corresponding frequency band is assigned to each block, where the VectorF point range of nBlock is [S _n , S _n +k _n ], where Indicates the number of frequency points assigned to each segment, and Indicates the starting point, fs is the signal sampling frequency, and round(*) indicates rounding operation;

The third step is to calculate the energy ∑|·| ² of its spectrum for each Block to obtain E(n), n=1...N;

The fourth step is to average the vector E

The fifth step is to find the variance sum of the vector E

The sixth step is to update the flag bit, flag = 0, indicating that the previous detection result is no signal, under this condition, only when σ _sum > K2 is judged as the current detected signal, flag becomes 1; when flag = 1 , indicating that the previous detection result is a signal. Under this condition, only when σ _sum <K1 is judged as no signal is currently detected, the flag becomes 0, and K1 and K2 are threshold values, which are given by theoretical simulation and empirical values. Out, K2>K1;

The seventh step is to control whether the follow-up demodulation thread is enabled according to the flag bit: flag=1, enable the follow-up demodulation thread, etc., otherwise close the follow-up demodulation thread.

Further, the computer is provided with a sleep scheduling and coverage compensation coverage maintenance module, the sleep scheduling of the sleep scheduling and coverage compensation coverage maintenance module and the coverage maintenance method of coverage compensation include:

Step 1, determine the number of neighbor nodes: the node broadcasts the HELLO message to the surrounding nodes, and the node records the number of different HELLO messages received to obtain the number N of its own neighbor nodes;

Step 2, estimate node redundancy: use the number of neighbor nodes N to get the expected value of node redundancy:

When E(η _N )≥α, it is considered as an absolute redundant node, when 1-α<E(η _N )<α, it is a relative redundant node, and when 0≤E(η _N )≤1-α, it is non-redundant Remaining nodes, where α is a preset threshold;

Step 3: Estimate the remaining energy of the node after the information exchange stage: the transmitter consumes energy per 1 bit of information: E _elec-te , the receiver consumes energy per 1 bit of information received: E _elec-re , and E _elec-te = E _elec-re ; the energy consumed by transmitting 1 bit information per unit distance through the transmitter amplifier: E _amp , the energy consumed by the transmitter sending kbits information to the receiver at a distance d is E _elec-te *k+E _amp *k* d ² , the energy consumed by the receiving end to receive k bits information is: E _elec-re *k; the energy consumed by a node with m neighbor nodes in the process of information exchange is:

(E _elec-te *k+E _amp *k*d ² )*m+(E _elec-re *k)*m;

The remaining energy of a node with m neighbors after the information exchange process is:

E _est1 ＝E1-(E _elec-te *k+E _amp *k*d ² )*m-(E _elec-re *k)*m, where E1 is the real-time energy of the node before information exchange;

Step 4, find potential dead nodes: if the node energy satisfies: is a potential death node, where, is the average energy consumed in a period of time;

Step 5, node information exchange: each node broadcasts information including its own redundancy information and whether it is a potential dead node to all neighboring nodes;

Step 6, estimate whether the non-potential dead node can move to the position of the potential dead node;

Estimate the energy consumed by information exchange: All movable nodes need to exchange information before moving, and the energy consumed in this process is:

(E _elec-te *k+E _amp *k*d ² )*L+(E _elec-re *k)*L, L is the number of nodes for information exchange, k is the bit of information, d is the bit of information transmission distance;

If the node moves, estimate the remaining energy of the node after the move:

E _est2 ＝E2-(E _elec-te *k+E _amp *k*d ² )*L-(E _elec-re *k)*LE _move *h, where h is the distance to the target position, E2 is the real-time energy of the node before moving;

Judging whether the node has the energy to move: the mobile node is required to work for at least x time period after the new location, if the node energy satisfies: Then this node has the energy to move to the target position, otherwise, it does not have this ability, where x is a preset threshold;

Step seven, decide to move the node:

Select the best node among all movable nodes according to the following rules:

If there are absolutely redundant nodes among the movable nodes, according to the judgment of the target distance, move the absolute redundant node with the smallest target distance; Judging the size of _est2 , select the node with the largest remaining energy;

If there are only relatively redundant nodes among the movable nodes, the selection is made according to the moving distance of the relatively redundant nodes. The moving distance of the relatively redundant nodes is the maximum movable distance of the relatively redundant nodes. The maximum movable distance refers to The maximum distance that a node can move under the conditions that affect the coverage area, and determine the target position of the relative redundant node movement according to the maximum movable distance; compare the maximum movable distance of the relative redundant node, and move the relative redundant node with the smallest maximum movable distance , if there are multiple relatively redundant nodes with the same maximum movable distance and the smallest, then according to the size of the remaining energy E _est2 , select the node with the largest remaining energy,

Step 8: adopt a sleep scheduling mechanism for the remaining absolute redundant nodes: after the nodes move to the target position, change the state of the absolute redundant nodes to sleep.

Working principle: The computer-based automatic governor control system for water turbines. The computer directly controls the single-chip controller through the data line or GPRS network. The single-chip controller can receive the monitoring data from each monitoring device in real time and feed them back to the computer. The simulation module can dynamically simulate the operation of the automatic governor of the water turbine according to the monitoring data, and feed it back to the computer. The filter module and the signal grounding module can filter and export electromagnetic waves to the entire control system, providing a good control environment. The power grid frequency monitoring module can monitor the change of the power consumption of the external power grid, and feed back to the single-chip controller. The single-chip controller combines the database module to issue corresponding instructions to the signal amplification module, and the automatic governor of the water turbine can be adjusted in time through the electro-hydraulic servo valve. The whole system has a high degree of intelligence, and the automatic governor of the water turbine can be directly controlled and monitored in real time only through the computer.

The above descriptions are only preferred embodiments of the present invention, and are not intended to limit the present invention. Any modifications, equivalent replacements and improvements made within the spirit and principles of the present invention shall be included in the protection of the present invention. within range.

Claims (4)

1. a kind of hydraulic turbine automatic governor control system based on computer controls, including computer, it is characterised in that：It is described Computer is connected by data wire with singlechip controller；The computer is connected by GPRS network with radio frequency transceiving module Connect；The input of the singlechip controller respectively with power transducer module, external electrical network frequency monitoring module, filtration module It is electrically connected with the output end of power module；The output end of the singlechip controller is put respectively with signal ground module, signal The input of big module, position monitoring module and level monitoring module is electrically connected with；The singlechip controller respectively with wirelessly RF receiving and transmission module, data memory module, DBM and dynamic analog module are electrically connected with；The signal amplification module Output end is electrically connected with the input of electrohydraulic servo valve；The output end of the position monitoring module is sensed respectively with first position The input of device, second place sensor and the 3rd position sensor is electrically connected with；The output end of the level monitoring module point It is not electrically connected with the input of the first liquid level sensor, the second liquid level sensor and the 3rd liquid level sensor；

The first position sensor is arranged on the main control valve of hydraulic turbine automatic governor；

The second place sensor is arranged on the servomotor of hydraulic turbine automatic governor；

3rd position sensor is arranged on the water distributor of the hydraulic turbine；

First liquid level sensor is arranged in the oil gear of hydraulic turbine automatic governor；

Second liquid level sensor is arranged in the oil return box of hydraulic turbine automatic governor；

3rd liquid level sensor is arranged in the pressurized tank of hydraulic turbine automatic governor.

2. the hydraulic turbine automatic governor control system of computer controls is based on as claimed in claim 1, it is characterised in that institute State singlechip controller and be provided with Nonlinear Transformation of Signals module, Nonlinear Transformation of Signals module docking collection of letters s (t) is entered Row nonlinear transformation, is carried out as follows：

$f\&lsqb;s\left(t\right)\&rsqb;=\frac{s\left(t\right)*\ln \left|s\left(t\right)\right|}{\left|s\left(t\right)\right|}=s\left(t\right)c\left(t\right)$

WhereinA represents the amplitude of signal, and a (m) represents signal Symbol, p (t) represents shaping function, f_cThe carrier frequency of signal is represented,The phase place of signal is represented, by the non-thread Property conversion after obtain：

$f\&lsqb;s\left(t\right)\&rsqb;=s\left(t\right)\frac{ln\left|Aa\left(m\right)\right|}{\left|Aa\left(m\right)\right|}.$

3. the hydraulic turbine automatic governor control system of computer controls is based on as claimed in claim 1, it is characterised in that institute State signal amplification module to be provided with

The first step, by the radio frequency in Reived_V1 or Reived_V2 or if sampling signal N is carried out_FFTThe FFT computings of points, Then modulus computing, by front N therein_FFT/ 2 points are stored in VectorF, and the amplitude spectrum of signal x2 is saved in VectorF；

Second step, is the equal Block, N=3,4 of N blocks by analysis bandwidth Bs point ... .., each Block will carry out computing The a width of Bs/N of band, if the low-limit frequency that analyze bandwidth Bs is FL, here FL=0, then block nBlock, n=1...N, institute is right The frequency separation scope answered is respectively [FL+ (n-1) Bs/N, FL+ (n) Bs/N], by the Frequency point of corresponding frequency range in VectorF Each block is distributed to, the VectorF point ranges that wherein nBlock divides are [S_n, S_n+k_n], whereinThe number of per section of Frequency point got is represented, and What is represented is starting point, and fs is signal sampling frequencies, and round (*) represents the computing that rounds up；

3rd step, seeks each Block the energy ∑ of its frequency spectrum | |², obtain E (n), n=1...N；

4th step, averages to vectorial E

5th step, try to achieve vectorial E variance and

6th step, updates flag bit flag, flag=0, represents that a front testing result is no signal, it is this kind of under the conditions of, only Work as σ_sum>It is judged to currently detected signal during K2, flag is changed into 1；Work as flag=1, represent a front testing result to there is letter Number, it is this kind of under the conditions of, only work as σ_sum<It is judged to currently be not detected by signal during K1, it is threshold value that flag is changed into 0, K1 and K2, Empirical value is given with theoretical simulation, K2>K1；

7th step, controls whether subsequent demodulation thread etc. is opened according to flag bit：Flag=1, opens subsequent demodulation thread etc., no Then close subsequent demodulation thread.

4. the hydraulic turbine automatic governor control system of computer controls is based on as claimed in claim 1, it is characterised in that institute Stating computer installation has sleep scheduling and covering compensation to cover holding module, and the sleep scheduling and covering compensation cover holding mould The sleep scheduling of block and the covering keeping method of covering compensation include：

Step one, determines neighbor node number：Node broadcasts HELLO message is to surroundings nodes, and it is different that nodes records are received The number of HELLO message is so as to obtaining neighbor node number N of itself；

Step 2, estimates node redundancy degree：The desired value for obtaining node redundancy degree using neighbor node number N is：

As E (η_NAbsolute redundant node is considered during) >=α, as 1- α ＜ E (η_N) ＜ α when be relative redundancy Node, 0≤E (η_NIt is non-redundant node during)≤1- α, wherein, α is threshold value set in advance；

Step 3, estimates dump energy of the node after information switching phase：Transmitter often passes 1bit consumption of information energy： E_elec-te, receiver often receives 1bit consumption of information energy：E_elec-re, and have E_elec-te=E_elec-re；Often transmit 1bit information to lead to Cross the energy that unit distance transmitting terminal amplifier need to be consumed:E_amp, transmitting terminal sends k bits information need to the receiving terminal apart from d The energy of consumption is E_elec-te*k+E_amp*k*d², receiving terminal receive k bits consumption of information energy be：E_elec-re*k；With m The node of neighbor node needs the energy consumed in information exchanging process to be：

(E_elec-te*k+E_amp*k*d²)*m+(E_elec-re*k)*m；

The dump energy with m neighbor node is after information exchanging process：

E_est1=E1- (E_elec-te*k+E_amp*k*d²)*m-(E_elec-re* k) * m, wherein, E1 is the real-time of the node before information exchange Energy；

Step 4, finds potential death nodes：If node energy meets：It is then potential death nodes, its In,For the average energy consumed in a time period；

Step 5, nodal information is exchanged：Whether each node will include the redundancy information of itself and is potential death nodes Information be broadcast to all of neighbor node；

Step 6, non-potential death nodes estimate the position that whether can move to potential death nodes；

Estimated information exchanges the energy for consuming：To enter row information exchange, this process consumed energy before all removable node motions For：

(E_elec-te*k+E_amp*k*d²)*L+(E_elec-re* k) * L, L is the number of the node exchanged into row information, and k is information Bit, d are the distance of information transmission；

If node motion, node dump energy after movement is estimated：

E_est2=E2- (E_elec-te*k+E_amp*k*d²)*L-(E_elec-re*k)*L-E_move* h, wherein, h is to move to target location Distance, E2 is the real-time power of the node before movement；

Whether decision node has mobile energy：It is required that mobile node at least works x time period after new position on earth, if saving Point energy meets：Then this node has the energy for moving to target location, otherwise, not with this energy Power, wherein, x is threshold value set in advance；

Step 7, determines mobile node：

Optimal node is selected in all moveable nodes according to following rule：

If there is absolute redundant node in removable node, judged according to target range, move the absolute of target range minimum Redundant node；If the target range that there are multiple absolute redundant nodes is equal and is minimum, further according to dump energy E_est2 Size judge, the node for selecting dump energy maximum；

If there was only relative redundancy node in removable node, selected according to the displacement of relative redundancy node, phase To the maximum movable distance that the distance that redundant node is moved is relative redundancy node, maximum movable distance is referred to not to be affected The moveable ultimate range of node under conditions of overlay area, according to maximum movable distance relative redundancy node motion is determined Target location；Compare the maximum movable distance of relative redundancy node, the minimum relative redundancy section of mobile maximum movable distance Point, if the maximum movable distance that there are multiple relative redundancy nodes is equal and is minimum, further according to dump energy E_est2 Size judge, the node for selecting dump energy maximum,

Step 8, to remaining absolute redundant node sleep scheduling mechanism is adopted：After node motion to target location, will be definitely superfluous Remaining node state changes into sleep.