CN107421731A - Breaker mechanic property sensor based on six-axle acceleration and gyroscope - Google Patents
Breaker mechanic property sensor based on six-axle acceleration and gyroscope Download PDFInfo
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- CN107421731A CN107421731A CN201710786617.4A CN201710786617A CN107421731A CN 107421731 A CN107421731 A CN 107421731A CN 201710786617 A CN201710786617 A CN 201710786617A CN 107421731 A CN107421731 A CN 107421731A
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01M—TESTING STATIC OR DYNAMIC BALANCE OF MACHINES OR STRUCTURES; TESTING OF STRUCTURES OR APPARATUS, NOT OTHERWISE PROVIDED FOR
- G01M13/00—Testing of machine parts
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Abstract
The invention discloses the breaker mechanic property sensor based on six-axle acceleration and gyroscope, it discloses the mounting arrangement of sensor and data processing algorithm, the sensor that the present invention uses is using popular at present six-axle acceleration and gyro sensor, three axle acceleration of gravity and three axis angular rates can be measured, both data, which mutually merge, can obtain more accurately angle-data, simultaneously, in order to reduce error, installed using four sensors, mounting arrangement is to reduce the interference of four direction up and down, simultaneously, in terms of processing data, using Kalman filtering algorithm, the algorithm can filter out useful signal and the close signal of interference signal frequency band, extract useful signal.
Description
Technical field
The present invention relates to electrical primary equipment protection, is mainly used to monitor the mechanical property of medium voltage breaker, main to show
To measure a kind of method and a module of stroke-time graph of moving contact.
Background technology
With the development of China's economic society, electricity has increasingly becomed life and the production necessity of people, it may be said that
Supply electricity to people to bring great convenience, and drastically increase the adventure in daily life of people.Just because of this, people are to electric power
Demand is increasing, while it is also proposed requirements at the higher level to the quality and safety of electric power, is based on such market demand, promotees
The continuous development of Shi Liao China power industry, the scale of national grid are increasing.At the same time, it is continuous with power network scale
Expand, the complexity of power network also constantly strengthens, it is therefore necessary to ensure the safety and reliability of power network.
In power system, breaker is most important control and protection equipment, can arc extinguishing, be power plant and transformer station
An indispensable part in configuration.When circuit normal operation, breaker allows hand over the method for operation, can be equipment or line
Road is switched in or out, and plays control action.When equipment or line failure, the equipment or circuit to break down can be cut
Except going out, fault-free equipment or circuit normal operation are ensured, is played a protective role.Its effect in power network is extremely important, its
The loss that failure is brought is very big.Directly influence be switched off device protection circuit and equipment be damaged, electric quantity loss.Between
Connecing influences to be the power failure for causing user's large area, and life and production to people cause very big influence, or even influence society surely
It is fixed.
The reliability of breaker is heavily dependent on the reliability of its mechanical operating mechanism.According to international conference on large HV electric systems
The world wide twice that the reliability of centering primary cut-out is done is investigated and China is to high-voltage switch gear accident statistical analysis table
Bright, in the failure of mesohigh breaker, mechanical breakdown accounts for the 80% of whole failures, other arc extinguishings, insulation fault proportion compared with
Small, heating accident ratio is lower.Accident of the breaker caused by mechanical reason is made either in number, or in accident
Into power off time on all occupy more than the 60% of total amount.
Therefore, the monitoring to breaker mechanic property just seems very necessary.Traditional monitors on-line for mechanical property
Sensor main to have rotary photoelectric encoder, resistance-type angular displacement sensor etc., although these sensors can measure open circuit
Stroke-time graph of device, but it is inconvenient installation to be present, it is desirable to have certain axiality, the deficiencies of cost is high.
The content of the invention
The present invention is directed to existing technical problem, there is provided is passed based on the breaker mechanic property of six-axle acceleration and gyroscope
Sensor, it is therefore an objective to which the sensor makes a small circuit board, is then fitted into the live spindle of breaker, because rotation is led
The anglec of rotation of axle has certain relation with moving contact, and the anglec of rotation by measuring main shaft measures the straight line of moving contact indirectly
Stroke, there is the advantage such as easy for installation, strong adaptability, cost performance height, intend to solve the problem of prior art is present.
To achieve the above object, the present invention provides following technical scheme：Breaker based on six-axle acceleration and gyroscope
Mechanical property sensor, it is characterised in that it is formed disconnected to measure by 3-axis acceleration sensor and three-axis gyroscope fusion
The anglec of rotation of road device live spindle, wherein, three-axis gyroscope sensor is responsible for measuring the angular velocity of rotation on three direction of principal axis, institute
State 3-axis acceleration sensor and be responsible for the angle value of measurement in the quiescent state for correcting the integral error of three-axis gyroscope, to lead to
Cross the angular velocity data of synchronous acquisition 3-axis acceleration sensor data and three-axis gyroscope, using certain algorithm fusion this two
Kind data, the curve of a true reflection live spindle rotary course is obtained, and according to Spindle rotation angle degree with the straight of moving contact
The relation of lineal travel, the anglec of rotation that six-axle acceleration and gyroscope measure indirectly is converted to the rectilinear path of moving contact.
Further, preferably, the 3-axis acceleration sensor is gravity accelerometer.
Further, preferably, handling 3-axis acceleration sensor data and three axle tops using Kalman filtering algorithm
The angular velocity data of spiral shell instrument is to merge both data.
Further, preferably, using four six axle sensors arrangement on circuit boards, so that gathered data simultaneously is to subtract
Few error.
Further, preferably, four six axle sensors are respectively laid out into two four axle sensors on the two sides of circuit board, and
And two sensor mounting locations of the same face differ 90 degree, two sensor mounting locations difference 180 degree of different faces.
Further, preferably, also including microcontroller, and the sensor is communicated with outside using CAN.
Further, preferably, also including power-supply management system, the power-supply management system is microcontroller, Ge Gechuan
Sensor supplies power supply
Compared with prior art, the beneficial effects of the invention are as follows：
Six axle sensors that the present invention uses use 3-axis acceleration sensor+three-axis gyroscope sensor, and it combines gyro
The advantage and disadvantage of instrument and acceleration, by the fusion of two sensors, the Spindle rotation angle for obtaining breaker is write music line, wherein three axles
Gyro sensor can measure the angular velocity of rotation on three direction of principal axis, and dynamic response is good, and the vibration effect by main shaft is smaller,
Obtained angular velocity of rotation can obtain the rotational angle of main shaft by integration, and this can further smooth signal, believe angle
It is number more stable.But see in turn, because the build-in attribute of gyroscope, the data of collection are over time, it may occur that
Drift, after integral operation, easily forms cumulative errors.Therefore, individually accumulative mistake is easily caused with gyroscope gathered data
Difference.Therefore, it is necessary to eliminate the integral error of gyroscope, the static characteristic of 3-axis acceleration sensor is good, can be obtained under static
More accurately angle, but dynamic characteristic is bad, interference of the extraneous vibrations to it is very big, therefore, the angle under static state
More credible, the noise under dynamic is too big, and gyroscope contrast, dynamic characteristic are good, and static characteristic is poor, and both are just mutual
Mend, gyroscope can reflect the whole process of motion, and the static lower angle value of acceleration transducer can be for correcting gyroscope
Integral error.Therefore both gyro sensor and acceleration transducer, which cooperate, can obtain more accurately angle song
Line, by synchronous acquisition acceleration of gravity data and the angular velocity data of gyroscope, then by certain algorithm fusion this two
Kind of data, it becomes possible to the curve of a true reflection live spindle rotary course is obtained, further according to moving contact and live spindle
Relation, the rotating curve of live spindle is converted to the rectilinear path curve of moving contact.
Brief description of the drawings
Fig. 1 is the module composition frame of the breaker mechanic property sensor based on six-axle acceleration and gyroscope of the present invention
Figure.
Fig. 2 positions sensor of the invention installation instructions figure.
Embodiment
Below in conjunction with the accompanying drawing in the embodiment of the present invention, the technical scheme in the embodiment of the present invention is carried out clear, complete
Site preparation describes, it is clear that described embodiment is only part of the embodiment of the present invention, rather than whole embodiments.It is based on
Embodiment in the present invention, those of ordinary skill in the art are obtained every other under the premise of creative work is not made
Embodiment, belong to the scope of protection of the invention.
Fig. 1-2 is referred to, the present invention provides a kind of technical scheme：Breaker mechanical based on six-axle acceleration and gyroscope
Property sensor, it is formed to measure the rotation of breaker live spindle by 3-axis acceleration sensor and three-axis gyroscope fusion
Gyration, wherein, three-axis gyroscope sensor is responsible for measuring the angular velocity of rotation on three direction of principal axis, the 3-axis acceleration sensing
Device is responsible for the angle value of measurement in the quiescent state for correcting the integral error of three-axis gyroscope, to add by the axle of synchronous acquisition three
The angular velocity data of velocity sensor data and three-axis gyroscope, using both data of certain algorithm fusion, obtain one
The curve of true reflection live spindle rotary course, and the relation according to Spindle rotation angle degree with the rectilinear path of moving contact, will
The anglec of rotation that six-axle acceleration and gyroscope measure indirectly is converted to the rectilinear path of moving contact.Wherein, three axle accelerates
Degree sensor is gravity accelerometer.
On the design of hardware, for the ease of being used alone, six axle sensors are integrated on one piece of circuit board, the present invention
Make a single module.For convenient installation as far as possible, this module can not be too big, and volume should be as far as possible small.For this
Module can individually control sensor, and a microcontroller is needed in this module.In order to this module can facilitate with outside
Portion carries out data interaction, and can quickly transmit data, to ensure that the data exchange with outside has real-time and synchronization
Property, select traffic rate to be communicated than faster CAN.Module composition such as Fig. 1.Due to the gyro of single six axle sensor collection
Instrument data have larger error, by repeatedly advantageously reducing error it was verified that gathered using four sensors simultaneously, and
The layout of four sensors is also what is be worthy of careful study, is not arbitrarily to be laid out.Because breaker is during switch closing and switch opening, have
Strong shake, in order to reduce the jitter error of four direction up and down, according to differential principle, four six axle sensors are existed
The two sides of circuit board respectively two four axle sensors of layout, and two sensor mounting locations of the same face differ 90 degree, difference
Two sensor mounting locations difference 180 degree in face, such mounting arrangement as best one can be reduced jitter error, four biographies
Sensor mounting arrangement such as Fig. 2.
Startup Trigger Problems for sensor of the invention, it is assorted although this is a sensor acquisition module
When start collection just need with it is extraneous coordinate together, it is necessary to point, closing coil current signal coordinate collection together, also
Be say when point, closing coil electric current reach certain threshold value when, by CAN communication issue startup acquisition instructions, pass through biography
The MCU of sensor module come receive outside startup acquisition instructions, and control four sensor synchronous acquisitions.As for when adopting
Sample terminates, it is necessary to be determined according to the time needed for circuit-breaker switching on-off, and in general, 40ms substantially just finishes whole point
The process of lock or combined floodgate.
In addition, it is exactly the processing on data.Although a sensor, collection is two kinds of data, including weight
Two kinds of data of power acceleration and angular velocity of rotation, two kinds of data are separated and handled first, then again by both data fusions
Together.For the angular velocity of rotation of gyroscope collection, the data by four sensor collections first carry out average filter, obtained
Compare stable data, then integrate angular velocity of rotation, it is possible to the angle curve of main shaft rotation is obtained, but due to gyro
Instrument can be over time drift and produce static error, it is therefore desirable to acceleration of gravity amendment.Gravity accelerometer for
Extraneous vibrations are very sensitive, and in a static condition, then very accurately and reliably, therefore, it can be obtained by acceleration transducer
It is static under more stable angle.Acceleration of gravity point can be produced in three axial directions under gravity accelerometer is static
Amount, then can calculate the angle of each axle and acceleration of gravity direction by the relation of trigonometric function, pass through this angle
Change can obtain the angle change curve of rotation.Due in breaker open operation or making process, having rushing for mechanical part
To hit, cause whole switch cubicle to produce vibration in a short time, this data acquisition to gravity accelerometer is very unfavorable, because
This needs to filter, because the frequency band of interference signal caused by the useful signal and extraneous vibration of acceleration of gravity is superimposed,
Traditional bandpass filtering is very limited for the signal transacting of acceleration of gravity, and Kalman filtering is then to be based on " minimal error "
A kind of optimal estimation of principle, moreover, Kalman filtering only need previous moment estimate and the measured value at current time just
The optimal value at current time can be estimated, required data volume is few, and this Kalman filtering algorithm can be realized on single-chip microcomputer.
Kalman filtering is a wave filter based on autoregression data processing, and it can solve many asking with white noise
Topic.The principle of Kalman filtering can substantially be summarized with following formula：
（1-1）
Assuming that be the k moment now, then laststate is exactly X (k | k-1), it is according to the result of system postulation prediction, X (k-
1 | k-1) it is the optimal result of laststate, U（k）For controlled quentity controlled variable, it is assumed that do not control, it is 0.A and B is systematic parameter.It is existing
As a result renewal is good, but covariance corresponding to X (k | k-1) also has, and covariance is represented with P
（1-2）
Formula（1-2）In, P（k|k-1）It is covariance corresponding to X (k | k-1), P（k-1|k-1）It is to be assisted corresponding to X (k-1 | k-1)
Variance, A ' represent A transposed matrix, and Q represents the covariance of systematic procedure.
We have predicted present state, the actual measured value measured further according to present moment.Then according to both
Predict the optimal estimation value of system.
(1-3)
Wherein H is the parameter of measuring system, and the actual measured value at Z (k) formula k moment, Kg is kalman gain
(1-4)
Wherein R is the covariance of measurement noise.
Till now, the optimal estimation value X under k-state（k|k）Out.But Kalman filter is an autoregression
Data processing algorithm, it runs down until systematic procedure terminates always, so also to calculate X under k-state (k | k) association side
Difference.
（1-5）
Wherein I is complete 1 matrix, is measured for single model list, I=1.So, filtering can is always under such recurrence
Go, until systematic procedure terminates.
Gravity accelerometer can filters out noise using Kalman filter.
Finally gravity accelerometer and gyroscope angular velocity data are merged again.Because acceleration of gravity obtains
To initial angle and the differential seat angle of end angle be basically unchanged, and the final static error of gyroscope can drift about, therefore,
Certain relation between them be present, the differential seat angle obtained with gravity accelerometer corrects gyro data, can obtain
One combined floodgate or separating brake conditional curve with repeatability.
Although an embodiment of the present invention has been shown and described, for the ordinary skill in the art, can be with
A variety of changes, modification can be carried out to these embodiments, replace without departing from the principles and spirit of the present invention by understanding
And modification, the scope of the present invention is defined by the appended.
Claims (7)
1. the breaker mechanic property sensor based on six-axle acceleration and gyroscope, it is characterised in that it is by 3-axis acceleration
Sensor and three-axis gyroscope fusion are formed to measure the anglec of rotation of breaker live spindle, wherein, three-axis gyroscope passes
Sensor is responsible for measuring the angular velocity of rotation on three direction of principal axis, and the 3-axis acceleration sensor is responsible for measuring angle in the quiescent state
Value is for correcting the integral error of three-axis gyroscope, to pass through synchronous acquisition 3-axis acceleration sensor data and three axis accelerometer
The angular velocity data of instrument, using both data of certain algorithm fusion, obtain a true reflection live spindle rotary course
Curve, and the relation according to Spindle rotation angle degree with the rectilinear path of moving contact surveys six-axle acceleration and gyroscope indirectly
The anglec of rotation of amount is converted to the rectilinear path of moving contact.
2. the breaker mechanic property sensor according to claim 1 based on six-axle acceleration and gyroscope, its feature
It is：The 3-axis acceleration sensor is gravity accelerometer.
3. the breaker mechanic property sensor according to claim 2 based on six-axle acceleration and gyroscope, its feature
It is：Using Kalman filtering algorithm come handle the angular velocity data of 3-axis acceleration sensor data and three-axis gyroscope so as to
Merge both data.
4. the breaker mechanic property sensor according to claim 1 based on six-axle acceleration and gyroscope, its feature
It is：Using four six axle sensors arrangement on circuit boards, so that gathered data simultaneously is to reduce error.
5. the breaker mechanic property sensor according to claim 4 based on six-axle acceleration and gyroscope, its feature
It is：By four six axle sensors in the two sides of circuit board respectively two four axle sensors of layout, and two sensings of the same face
Device installation site differs 90 degree, two sensor mounting locations difference 180 degree of different faces.
6. the breaker mechanic property sensor according to claim 5 based on six-axle acceleration and gyroscope, its feature
It is：Also include microcontroller, and the sensor is communicated with outside using CAN.
7. the breaker mechanic property sensor according to claim 5 based on six-axle acceleration and gyroscope, its feature
It is：Also include power-supply management system, the power-supply management system is microcontroller, each sensor supply power supply.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201710786617.4A CN107421731A (en) | 2017-09-04 | 2017-09-04 | Breaker mechanic property sensor based on six-axle acceleration and gyroscope |
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| CN201710786617.4A CN107421731A (en) | 2017-09-04 | 2017-09-04 | Breaker mechanic property sensor based on six-axle acceleration and gyroscope |
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Cited By (3)
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| CN108362493A (en) * | 2018-01-23 | 2018-08-03 | 大连理工大学 | A kind of numerically-controlled machine tool linear axis angular errors rapid detection method |
| CN108594798A (en) * | 2018-01-09 | 2018-09-28 | 南京理工大学 | A kind of the robot car system and its control method of the control that can be achieved to swarm |
| CN110133490A (en) * | 2019-05-16 | 2019-08-16 | 国家电网有限公司 | A kind of breaker mechanic property measuring device with electricity |
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| CN110133490A (en) * | 2019-05-16 | 2019-08-16 | 国家电网有限公司 | A kind of breaker mechanic property measuring device with electricity |
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Application publication date: 20171201 |