CN107976251A - A kind of transmission pressure structure destroys on-line monitoring system and monitoring method - Google Patents
A kind of transmission pressure structure destroys on-line monitoring system and monitoring method Download PDFInfo
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Abstract
本发明公开的一种输电导线结构破坏在线监测系统,包括依次连接的光纤加速度传感器、光信号解调器、A/D转换器和微处理器,微处理器还与风速风向传感器连接,微处理器还与3G模块及监控中心依次连接。系统通过微处理器中计算得到的导线固有频率,与监控中心对结构完好导线进行模态分析得到的固有频率对比,实现输电导线结构破坏的判断。本发明还公开了导线结构破坏的监测方法,具体步骤包括结构完整导线建模及模态分析、加速度信号的处理、基于加速度信号的模态分析、及导线结构破坏的诊断四个步骤。
An on-line monitoring system for structure damage of transmission wires disclosed in the present invention includes an optical fiber acceleration sensor, an optical signal demodulator, an A/D converter and a microprocessor connected in sequence, the microprocessor is also connected with the wind speed and direction sensor, and the microprocessor The device is also connected with the 3G module and the monitoring center in turn. The system compares the natural frequency of the conductor calculated in the microprocessor with the natural frequency obtained by the modal analysis of the structurally intact conductor by the monitoring center to realize the judgment of the structural damage of the transmission conductor. The invention also discloses a monitoring method for wire structure damage. The specific steps include four steps: modeling and modal analysis of structurally complete wires, processing of acceleration signals, modal analysis based on acceleration signals, and diagnosis of wire structure damage.
Description
技术领域technical field
本发明属于输电线路状态监测与诊断技术领域,具体涉及一种输电导线结构破坏在线监测系统,本发明还涉及利用该在线监测系统进行的监测方法。The invention belongs to the technical field of state monitoring and diagnosis of power transmission lines, and in particular relates to an on-line monitoring system for structure damage of power transmission wires, and also relates to a monitoring method using the on-line monitoring system.
背景技术Background technique
在电力系统中,输电线路作为电力传输的重要环节,其安全运行是保证电能输送能力的重要因素。近年来随着超高压线路、特高压线路的不断推广,大跨越输电线路越来越多,而微风振动引起的输电导线断股断线、防振锤脱落等事故,也越来越不容忽视。In the power system, the transmission line is an important part of power transmission, and its safe operation is an important factor to ensure the ability of power transmission. In recent years, with the continuous promotion of ultra-high voltage lines and ultra-high voltage lines, there are more and more long-span transmission lines, and accidents such as broken strands of transmission wires and anti-vibration hammers falling off caused by breeze vibrations cannot be ignored.
微风振动是所有架空输电线路都存在的一种现象,目前为了减小微风振动对输电导线的破坏,国内外已经就振动监测、振动预防、导线修复技术等多方面做了研究,起到了一定的效果。但目前的输电导线振动监测方面,仅限于导线振动频率、振幅、动弯应变等振动特征参数的测量,而由导线动弯应变作为主要参量的导线寿命评估模型,也由于受其结构的变化、振动频率、循环次数等参数的影响,总体效果并不理想。Breeze vibration is a phenomenon that exists in all overhead transmission lines. At present, in order to reduce the damage to the transmission wire caused by breeze vibration, research has been done on vibration monitoring, vibration prevention, and wire repair technology at home and abroad, which has played a certain role. Effect. However, the current vibration monitoring of transmission wires is limited to the measurement of vibration characteristic parameters such as the vibration frequency, amplitude, and dynamic bending strain of the wires. Influenced by parameters such as vibration frequency and number of cycles, the overall effect is not ideal.
发明内容Contents of the invention
本发明的目的在于提供一种输电导线结构破坏在线监测系统,能够实现输电导线断股、防振锤脱落等情况在线监测。The purpose of the present invention is to provide an on-line monitoring system for structure damage of power transmission wires, which can realize on-line monitoring of broken strands of power transmission wires, falling off of anti-vibration hammers and the like.
本发明的技术方案是,一种输电导线结构破坏在线监测系统,包括依次连接的光纤加速度传感器、光信号解调器、A/D转换器和微处理器,微处理器还与风速风向传感器连接,微处理器还与3G模块及监控中心依次连接。The technical solution of the present invention is an on-line monitoring system for the damage of the transmission wire structure, including an optical fiber acceleration sensor, an optical signal demodulator, an A/D converter and a microprocessor connected in sequence, and the microprocessor is also connected with the wind speed and direction sensor , the microprocessor is also connected with the 3G module and the monitoring center in turn.
本发明的特点还在于,The present invention is also characterized in that,
光纤光栅加速度传感器安装在输电导线上,光信号解调器安装在输电铁塔上。The fiber grating acceleration sensor is installed on the transmission wire, and the optical signal demodulator is installed on the transmission tower.
光纤光栅加速度传感器通过光纤和光信号解调器连接,光信号解调器通过屏蔽双绞线连接到A/D转换模块。The fiber grating acceleration sensor is connected to the optical signal demodulator through the optical fiber, and the optical signal demodulator is connected to the A/D conversion module through the shielded twisted pair.
A/D转换模块通过同步串行通信接口连接到微处理器;风速风向传感器通过RS485连接到微处理器。The A/D conversion module is connected to the microprocessor through a synchronous serial communication interface; the wind speed and direction sensor is connected to the microprocessor through RS485.
本发明的另一目的在于提供一种利用该在线监测系统进行的监测方法,能够通过采集到的振动信号提取出输电导线的模态参数,作为判断导线结构变化情况的重要依据。Another object of the present invention is to provide a monitoring method using the on-line monitoring system, which can extract the modal parameters of the transmission wire through the collected vibration signals, as an important basis for judging the change of the wire structure.
本发明的另一技术方案是,一种利用输电导线结构破坏在线监测系统进行监测的方法,具体按照以下步骤实施:Another technical solution of the present invention is a method for monitoring by using the structure of the transmission wire to destroy the online monitoring system, which is specifically implemented according to the following steps:
步骤1,建立模型,求取待检测导线结构正常时的固有频率ω0;Step 1, establish a model, and obtain the natural frequency ω 0 when the wire structure to be detected is normal;
步骤2,通过风速风向传感器、光纤加速度传感器对实际风速、加速度进行采集,并计算出垂直导线的风速;Step 2, collect the actual wind speed and acceleration through the wind speed and direction sensor and the optical fiber acceleration sensor, and calculate the wind speed of the vertical wire;
步骤3,根据光纤加速度传感器采集的信号,利用光信号调解器、A/D转换模块进行处理后,通过微处理器对时域信号进行处理,并采用随机子空间分析法求取导线固有频率ω1;Step 3, according to the signal collected by the optical fiber acceleration sensor, after processing by the optical signal modulator and A/D conversion module, the time domain signal is processed by the microprocessor, and the natural frequency ω of the wire is obtained by the random subspace analysis method 1 ;
步骤4,将步骤3中测量得到的固有频率ω1与步骤1中计算得到的正常状态下的固有频率ω0比较,判断导线结构的状态。Step 4, compare the natural frequency ω 1 measured in step 3 with the natural frequency ω 0 in the normal state calculated in step 1, and judge the state of the wire structure.
本发明的特点还在于,The present invention is also characterized in that,
步骤1具体为:Step 1 is specifically:
步骤1.1,建立待诊断导线的有限元模型,模型中包括导线和防振锤等金具,其中,导线设定为多股钢芯和铝股绞制的模型,且不能简化;Step 1.1, establish the finite element model of the wire to be diagnosed, which includes hardware such as wire and anti-vibration hammer, wherein the wire is set as a model made of multi-strand steel core and aluminum strands, and cannot be simplified;
步骤1.2,考虑导线、防振锤自重,在模型中对导线施加导线预张力,并在导线两端施加全方向约束,对这种状态下的导线进行模态分析,求得导线结构在正常状态下的固有频率ω0。Step 1.2, considering the weight of the wire and the anti-vibration hammer, apply wire pretension to the wire in the model, and impose omni-directional constraints on both ends of the wire, conduct modal analysis on the wire in this state, and obtain the wire structure in the normal state The natural frequency ω 0 under .
步骤2具体为根据风向与导线的夹角θ,计算出垂直导线的风速vx,Step 2 is specifically to calculate the wind speed v x of the vertical wire according to the angle θ between the wind direction and the wire,
vx=v×sinθ (1)v x =v×sinθ (1)
其中vx为垂直导线的风速,v为实际风速。Where v x is the wind speed of the vertical wire, and v is the actual wind speed.
步骤3具体为,Step 3 is specifically,
步骤3.1、将加速度信号进行数字滤波,滤出1kHz以上的高频干扰信号;Step 3.1, digitally filter the acceleration signal to filter out high-frequency interference signals above 1kHz;
步骤3.2、将处理后的导线加速度信号构造成一个Hankel矩阵,Step 3.2, constructing the processed wire acceleration signal into a Hankel matrix,
其中,Hn1,n2为Hankel矩阵,是由导线振动加速度信号的协方差构成的矩阵,Ri表示协方差,Ri=E[ai+1ai],ai为i时刻的导线振动加速度,E表示期望,i的取值范围为:1≤i≤(n1+n2-1);Among them, H n1, n2 is the Hankel matrix, which is a matrix composed of the covariance of the conductor vibration acceleration signal, R i represents the covariance, R i =E[a i+1 a i ], and a i is the conductor vibration at time i Acceleration, E means expectation, the value range of i is: 1≤i≤(n1+n2-1);
将矩阵进行奇异值分解,可将矩阵分解成以下形式,The singular value decomposition of the matrix can be decomposed into the following form,
其中,U1,V1是酉矩阵,∑1为奇异值矩阵Among them, U 1 , V 1 are unitary matrix, ∑ 1 is singular value matrix
另外,根据随机激励的N自由度系统的状态空间方程,i时刻导线振动响应的协方差又可写成In addition, according to the state space equation of the randomly excited N-degree-of-freedom system, the covariance of the vibration response of the wire at time i can be written as
Ri=Ai-1G (4)R i =A i-1 G (4)
其中,G=E[vxai],A是系统矩阵Among them, G=E[v x a i ], A is the system matrix
将(4)带入(2),可得Substituting (4) into (2), we can get
由式(5)可得,From formula (5), we can get,
其中,根据式(3)和式(5),可以得到Among them, according to formula (3) and formula (5), we can get
将(7)和(8)代入(6)中,即可计算得出系统矩阵A;Substituting (7) and (8) into (6), the system matrix A can be calculated;
步骤3.3,确定步骤3.2中计算得到的系统矩阵A的稳定模式,并根据公式(9)和(10)求得系统矩阵特征值μk,然后通过特征值求得导线的固有频率ωi;Step 3.3, determine the stable mode of the system matrix A calculated in step 3.2, and obtain the eigenvalue μ k of the system matrix according to formulas (9) and (10), and then obtain the natural frequency ω i of the wire through the eigenvalues;
其中,μk为系统矩阵的特征值,Im表示虚部,ξi表示计算导线的阻尼比,ωi为计算导线固有频率,表示第i时刻测量得到的加速度信号计算得到的导线固有频率;λ为公式推导时引入的中间量;Among them, μ k is the eigenvalue of the system matrix, Im represents the imaginary part, ξ i represents the damping ratio of the calculated wire, ω i is the natural frequency of the calculated wire, and represents the natural frequency of the wire calculated from the acceleration signal measured at the i-th moment; λ It is an intermediate quantity introduced during formula derivation;
步骤3.4、将不同时刻i采集到的加速度信号进行步骤3.1至步骤3.3的计算,将其结果求平均值,作为测量得到的固有频率ω1。Step 3.4: Carry out calculations from steps 3.1 to 3.3 on the acceleration signals collected at different times i, and average the results as the measured natural frequency ω 1 .
步骤4具体为,将步骤3中测量得到的固有频率ω1与步骤1中计算得到的正常状态下的固有频率ω0比较,当时,判定导线结构为异常状态,否则,当时,判定导线结构为正常状态。Step 4 specifically is to compare the natural frequency ω 1 measured in step 3 with the natural frequency ω 0 in the normal state calculated in step 1, when When , it is determined that the wire structure is in an abnormal state, otherwise, when , it is judged that the wire structure is in a normal state.
本发明的有益效果是:The beneficial effects of the present invention are:
1.本发明建立输电导线有限元模型,并通过有限元分析方法得到导线无故障状态下的固有频率,并作为导线结构完好的状态参数。1. The present invention establishes the finite element model of the transmission wire, and obtains the natural frequency of the wire under the fault-free state through the finite element analysis method, and uses it as a state parameter of the wire structure being intact.
2.本发明建立的输电导线有限元模型在监控中心中,可根据不同线路改变导线结构参数、档距、金具型号等,从而实现不同线路正常状态下的模态参数的计算。2. In the monitoring center, the finite element model of the transmission wire established by the present invention can change the wire structure parameters, span, fitting type, etc. according to different lines, thereby realizing the calculation of the modal parameters under the normal state of different lines.
3.本发明采用经验模态分解法进行输电导线的工作模态分析,可根据传感器采集的加速度信号分析出导线的固有频率,再跟无故障状态时导线的模态参数对比,实现导线结构破坏状态的诊断。3. The present invention adopts the empirical mode decomposition method to analyze the working mode of the transmission wire. The natural frequency of the wire can be analyzed according to the acceleration signal collected by the sensor, and then compared with the modal parameters of the wire in the non-fault state to realize the destruction of the wire structure status diagnostics.
4.本发明基于加速度信号的模态分析模型嵌入在微处理器STM32中,通过3G模块发出数据是计算后的固有频率,减小监控中心的计算工作量。4. The modal analysis model based on the acceleration signal of the present invention is embedded in the microprocessor STM32, and the data sent by the 3G module is the calculated natural frequency, which reduces the calculation workload of the monitoring center.
附图说明Description of drawings
图1是本发明中输电导线结构破坏在线监测系统整体框图;Fig. 1 is the overall block diagram of the on-line monitoring system for the damage of the transmission wire structure in the present invention;
图2是本发明中导线结构破坏诊断方法的流程图。Fig. 2 is a flow chart of the wire structure damage diagnosis method in the present invention.
图中,1.光纤加速度传感器,2.光信号解调器,3.A/D转换器,4.风速风向传感器,5.微处理器,6.3G通讯单元,7.监控中心。In the figure, 1. Optical fiber acceleration sensor, 2. Optical signal demodulator, 3. A/D converter, 4. Wind speed and direction sensor, 5. Microprocessor, 6.3G communication unit, 7. Monitoring center.
具体实施方式Detailed ways
下面结合附图和具体实施方式对本发明进行详细说明。The present invention will be described in detail below in conjunction with the accompanying drawings and specific embodiments.
本发明输电导线结构破坏在线监测系统,如图1所示,包括依次连接的光纤加速度传感器1、光信号解调器2、A/D转换器3和微处理器5,微处理器5还与风速风向传感器4连接,The on-line monitoring system for the damage of the power transmission wire structure of the present invention, as shown in Figure 1, includes an optical fiber acceleration sensor 1, an optical signal demodulator 2, an A/D converter 3 and a microprocessor 5 connected in sequence, and the microprocessor 5 is also connected with the microprocessor 5. Wind speed and direction sensor 4 connection,
微处理器5还与3G模块6及监控中心7依次连接;The microprocessor 5 is also connected with the 3G module 6 and the monitoring center 7 in turn;
光纤光栅加速度传感器1安装在输电导线上,用于测量导线竖直方向的加速度,The fiber grating acceleration sensor 1 is installed on the power transmission wire, and is used for measuring the acceleration of the vertical direction of the wire,
光纤光栅加速度传感器1通过光纤和光信号解调器2连接,The fiber grating acceleration sensor 1 is connected with the optical signal demodulator 2 through an optical fiber,
光信号解调器2安装在输电铁塔上;The optical signal demodulator 2 is installed on the transmission tower;
光信号解调器2通过屏蔽双绞线连接到A/D转换模块3;The optical signal demodulator 2 is connected to the A/D conversion module 3 through a shielded twisted pair;
A/D转换模块3通过同步串行通信接口连接到微处理器5;The A/D conversion module 3 is connected to the microprocessor 5 through a synchronous serial communication interface;
风速风向传感器4通过RS485连接到微处理器5;Wind speed and direction sensor 4 is connected to microprocessor 5 by RS485;
本发明的输电导线结构破坏在线监测系统的安装和工作过程是,首先在输电导线安装光纤光栅加速度传感器1,测量导线竖直方向的加速度,然后通过光纤将光纤光栅加速度传感器1的光信号传输到光信号解调器2中,光信号解调器2安装在输电铁塔上,光信号解调器2将加速度光信号转换为加速度电信号模拟量,通过屏蔽双绞线连接到A/D转换模块3进行模数转换,A/D转换模块3将转换后的加速度电信号数字量通过同步串行通信接口连接到微处理器5,风速风向传感器4通过RS485将风速风向的电信号数字量传输到微处理器5,微处理器5利用接收到的加速度数据和风速风向数据进行输电导线模态分析,最终将分析后的固有频率通过3G模块6发送到监控中心7,监控中心7最终诊断输电导线结构是否出现异常。The installation and working process of the on-line monitoring system for the structure damage of the power transmission wire of the present invention are as follows: at first the fiber grating acceleration sensor 1 is installed on the power transmission wire, the acceleration in the vertical direction of the wire is measured, and then the optical signal of the fiber grating acceleration sensor 1 is transmitted to the In the optical signal demodulator 2, the optical signal demodulator 2 is installed on the transmission tower, and the optical signal demodulator 2 converts the acceleration optical signal into an acceleration electrical signal analog quantity, and connects to the A/D conversion module through a shielded twisted pair 3 carries out analog-to-digital conversion, and the A/D conversion module 3 connects the digital quantity of the acceleration electric signal after conversion to the microprocessor 5 through a synchronous serial communication interface, and the wind speed and direction sensor 4 transmits the electric signal digital quantity of the wind speed and direction to the Microprocessor 5. Microprocessor 5 uses the received acceleration data and wind speed and direction data to conduct modal analysis of the power transmission line, and finally sends the analyzed natural frequency to the monitoring center 7 through the 3G module 6, and the monitoring center 7 finally diagnoses the transmission line Whether the structure is abnormal.
利用输电导线结构破坏在线监测系统进行监测的方法,如图2所示,具体按以下步骤实施:The method of using the transmission wire structure to destroy the online monitoring system for monitoring, as shown in Figure 2, is specifically implemented according to the following steps:
步骤1:建立模型,求取待检测导线结构正常时的固有频率ω0。Step 1: Build a model to obtain the natural frequency ω 0 when the wire structure to be tested is normal.
步骤1.1,建立待诊断导线的有限元模型,模型中包括导线和防振锤等金具,其中,导线设定为多股钢芯和铝股绞制的模型,且不能简化。Step 1.1, establish the finite element model of the wire to be diagnosed, which includes hardware such as wire and anti-vibration hammer, wherein the wire is set as a model made of multi-strand steel core and aluminum strands, and cannot be simplified.
步骤1.2,考虑导线、防振锤自重,在模型中对导线施加导线预张力,并在导线两端施加全方向约束,对这种状态下的导线进行模态分析,求得导线结构在正常状态下的固有频率ω0。Step 1.2, considering the weight of the wire and the anti-vibration hammer, apply wire pretension to the wire in the model, and impose omni-directional constraints on both ends of the wire, conduct modal analysis on the wire in this state, and obtain the wire structure in the normal state The natural frequency ω 0 under .
步骤2:通过风速风向传感器、光纤加速度传感器对实际风速、加速度进行采集,并计算出垂直导线的风速。Step 2: Collect the actual wind speed and acceleration through the wind speed and direction sensor and the optical fiber acceleration sensor, and calculate the wind speed of the vertical wire.
根据风向与导线的夹角θ,计算出垂直导线的风速vx,According to the angle θ between the wind direction and the wire, calculate the wind speed v x of the vertical wire,
vx=v×sinθ (1)v x =v×sinθ (1)
其中vx为垂直导线的风速,v为实际风速。Where v x is the wind speed of the vertical wire, and v is the actual wind speed.
步骤3:根据光纤加速度传感器采集的信号,利用光信号调解器、A/D转换模块进行处理后,通过微处理器对时域信号进行处理,并采用随机子空间分析(SSI)法求取导线固有频率ω1。Step 3: According to the signal collected by the optical fiber acceleration sensor, after processing with the optical signal modulator and A/D conversion module, the time domain signal is processed by the microprocessor, and the random subspace analysis (SSI) method is used to obtain the wire The natural frequency ω 1 .
步骤3.1、将加速度信号进行数字滤波,滤出1kHz以上的高频干扰信号;Step 3.1, digitally filter the acceleration signal to filter out high-frequency interference signals above 1kHz;
步骤3.2、将处理后的导线加速度信号构造成一个Hankel矩阵,Step 3.2, constructing the processed wire acceleration signal into a Hankel matrix,
其中,Hn1,n2为Hankel矩阵,是由导线振动加速度信号的协方差构成的矩阵,Ri表示协方差,Ri=E[ai+1ai],ai为i时刻的导线振动加速度,E表示期望,i的取值范围为:1≤i≤(n1+n2-1)。Among them, H n1, n2 is the Hankel matrix, which is a matrix composed of the covariance of the conductor vibration acceleration signal, R i represents the covariance, R i =E[a i+1 a i ], and a i is the conductor vibration at time i Acceleration, E means expectation, the value range of i is: 1≤i≤(n1+n2-1).
将矩阵进行奇异值分解,可将矩阵分解成以下形式,The singular value decomposition of the matrix can be decomposed into the following form,
其中,U1,V1是酉矩阵,∑1为奇异值矩阵Among them, U 1 , V 1 are unitary matrix, ∑ 1 is singular value matrix
另外,根据随机激励的N自由度系统的状态空间方程,i时刻导线振动响应的协方差又可写成In addition, according to the state space equation of the randomly excited N-degree-of-freedom system, the covariance of the vibration response of the wire at time i can be written as
Ri=Ai-1G(4)R i =A i-1 G(4)
其中,G=E[vxai],A是系统矩阵Among them, G=E[v x a i ], A is the system matrix
将(4)带入(2),可得Substituting (4) into (2), we can get
由式(5)可得,From formula (5), we can get,
其中,根据式(3)和式(5),可以得到Among them, according to formula (3) and formula (5), we can get
将(7)和(8)代入(6)中,即可计算得出系统矩阵A;Substituting (7) and (8) into (6), the system matrix A can be calculated;
步骤3.3,确定步骤3.2中计算得到的系统矩阵A的稳定模式,并根据公式(9)和(10)求得系统矩阵特征值μk,然后通过特征值求得导线的固有频率ωi;Step 3.3, determine the stable mode of the system matrix A calculated in step 3.2, and obtain the eigenvalue μ k of the system matrix according to formulas (9) and (10), and then obtain the natural frequency ω i of the wire through the eigenvalues;
其中,μk为系统矩阵的特征值,Im表示虚部,ξi表示计算导线的阻尼比,ωi为计算导线固有频率,表示第i时刻测量得到的加速度信号计算得到的导线固有频率。λ为公式推导时引入的中间量。Among them, μ k is the eigenvalue of the system matrix, Im represents the imaginary part, ξ i represents the damping ratio of the calculated wire, and ω i is the natural frequency of the calculated wire, which represents the natural frequency of the wire calculated from the acceleration signal measured at the i-th moment. λ is an intermediate quantity introduced during the derivation of the formula.
步骤3.4、将不同时刻i采集到的加速度信号进行步骤3.1至步骤3.3的计算,将其结果求平均值,作为测量得到的固有频率ω1。Step 3.4: Carry out calculations from steps 3.1 to 3.3 on the acceleration signals collected at different times i, and average the results as the measured natural frequency ω 1 .
步骤4:将步骤3中测量得到的固有频率ω1与步骤1中计算得到的正常状态下的固有频率ω0比较,当时,判定导线结构为异常状态,Step 4: Compare the natural frequency ω 1 measured in step 3 with the natural frequency ω 0 in the normal state calculated in step 1, when , it is determined that the wire structure is in an abnormal state,
否则,当时,判定导线结构为正常状态。Otherwise, when , it is judged that the wire structure is in a normal state.
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