CN109343381B - Control method and system of wire nonlinear vibration controller - Google Patents
Control method and system of wire nonlinear vibration controller Download PDFInfo
- Publication number
- CN109343381B CN109343381B CN201811030227.5A CN201811030227A CN109343381B CN 109343381 B CN109343381 B CN 109343381B CN 201811030227 A CN201811030227 A CN 201811030227A CN 109343381 B CN109343381 B CN 109343381B
- Authority
- CN
- China
- Prior art keywords
- control
- wire
- power flow
- conductor
- force
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Active
Links
- 238000000034 method Methods 0.000 title claims abstract description 46
- 239000004020 conductor Substances 0.000 claims abstract description 117
- 230000005540 biological transmission Effects 0.000 claims abstract description 94
- 230000005284 excitation Effects 0.000 claims abstract description 74
- 238000006073 displacement reaction Methods 0.000 claims abstract description 60
- 230000002265 prevention Effects 0.000 claims abstract description 20
- 238000004364 calculation method Methods 0.000 claims description 29
- 230000009471 action Effects 0.000 claims description 16
- 238000006243 chemical reaction Methods 0.000 claims description 10
- 238000009795 derivation Methods 0.000 claims description 5
- 230000007123 defense Effects 0.000 abstract description 5
- 238000010586 diagram Methods 0.000 description 10
- 238000004590 computer program Methods 0.000 description 7
- 230000008569 process Effects 0.000 description 7
- 230000000694 effects Effects 0.000 description 6
- 230000006870 function Effects 0.000 description 6
- 238000012545 processing Methods 0.000 description 6
- 238000013461 design Methods 0.000 description 4
- 238000002955 isolation Methods 0.000 description 4
- 230000033001 locomotion Effects 0.000 description 4
- 230000004044 response Effects 0.000 description 4
- 230000007547 defect Effects 0.000 description 3
- 238000005457 optimization Methods 0.000 description 3
- 238000011160 research Methods 0.000 description 3
- 238000003860 storage Methods 0.000 description 3
- 238000012546 transfer Methods 0.000 description 3
- 230000009286 beneficial effect Effects 0.000 description 2
- 230000008859 change Effects 0.000 description 2
- 238000005516 engineering process Methods 0.000 description 2
- 210000004556 brain Anatomy 0.000 description 1
- 238000010276 construction Methods 0.000 description 1
- 238000005336 cracking Methods 0.000 description 1
- 238000011156 evaluation Methods 0.000 description 1
- 230000006872 improvement Effects 0.000 description 1
- 238000009434 installation Methods 0.000 description 1
- 239000012212 insulator Substances 0.000 description 1
- 238000004519 manufacturing process Methods 0.000 description 1
- 239000000463 material Substances 0.000 description 1
- 238000013178 mathematical model Methods 0.000 description 1
- 230000007246 mechanism Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 230000003287 optical effect Effects 0.000 description 1
- 230000000149 penetrating effect Effects 0.000 description 1
- 230000008447 perception Effects 0.000 description 1
- 230000000737 periodic effect Effects 0.000 description 1
- 238000011897 real-time detection Methods 0.000 description 1
- 239000000126 substance Substances 0.000 description 1
- 230000002123 temporal effect Effects 0.000 description 1
Images
Classifications
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B19/00—Programme-control systems
- G05B19/02—Programme-control systems electric
- G05B19/04—Programme control other than numerical control, i.e. in sequence controllers or logic controllers
- G05B19/042—Programme control other than numerical control, i.e. in sequence controllers or logic controllers using digital processors
- G05B19/0423—Input/output
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B2219/00—Program-control systems
- G05B2219/20—Pc systems
- G05B2219/25—Pc structure of the system
- G05B2219/25257—Microcontroller
Landscapes
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Engineering & Computer Science (AREA)
- Automation & Control Theory (AREA)
- Buildings Adapted To Withstand Abnormal External Influences (AREA)
Abstract
The invention relates to a control method and a system of a conductor nonlinear vibration controller, which determine output displacement based on external excitation of a transmission conductor; inputting the external excitation and the output displacement into a pre-established wire nonlinear vibration controller to obtain a control force amplitude required by wire vibration prevention; outputting feedback external excitation to the lead according to the control force amplitude, the preset frequency and a preset actuator; and realizing the control of the wire nonlinear vibration controller through power flow propagation based on the feedback external excitation force. The wire nonlinear vibration controller based on the power flow theory realizes active defense against wind vibration disasters of the power transmission line, improves the capability of the power transmission line in resisting natural disasters, ensures the operation safety of the power transmission line and improves the power supply reliability of a power grid.
Description
Technical Field
The invention relates to an anti-vibration and anti-galloping technology for a lead of an overhead transmission line, in particular to a control method and a system for a nonlinear vibration controller of the lead.
Background
The wind-induced vibration of the wire becomes a main disaster mode which endangers the safe and stable operation of the power transmission line, particularly, the wind-induced vibration phenomenon of the wire is more serious with the rapid expansion of the construction scale of a power grid and the continuous change of the climate environment since the beginning of the new century, and the wind-induced vibration phenomenon of the wire poses great threats to the safe and stable operation of the line almost every year. Typical wire wind-induced vibration phenomena include breeze vibration, waving and subspan vibration. Only for the conductor galloping phenomenon, statistics shows that from 1957 to the present, in China, 1000 lines of a total number of power grids are galloped 1200 times, wherein 700 lines are galloped to trip, and in addition, a large number of mechanical faults such as ground wire damage, strand breakage and wire breakage, insulator string falling, hardware damage, tower bolt loosening and falling, tower material damage, foundation cracking damage, tower falling and the like cause serious economic loss and social influence. Although a great deal of research work is carried out on the aspect of wire wind-induced vibration research at present and a great research result is obtained, the existing wire wind-induced vibration excitation mechanism has certain limitations due to complex wire wind-induced vibration excitation factors and strong nonlinear degree, and is particularly not enough to be applied to the practice of wind-induced vibration prevention and treatment technology.
On the other hand, the transmission line is an important component of a power grid system, and is inevitably required to have stronger safety stability, self-perception and self-adaption capability. The capability of improving the natural disaster resistance of the power transmission line is a main link for improving the safety and stability of the power transmission line, the wind-induced vibration prevention of the wire is an important component of the power transmission line, but the current wire wind vibration prevention and control means mainly stay in a passive defense level after disaster, the prevention and control method is limited, the perception and active defense capability of the disaster cannot be realized, and the disaster prevention and control effect is limited in recent years although the disaster prevention cost is high.
Disclosure of Invention
In order to solve the defects in the prior art, the invention aims to provide a control method and a control system of a wire nonlinear vibration controller, wherein the wire nonlinear vibration controller based on a power flow theory realizes active defense against wind vibration disasters of a power transmission line, improves the capability of the power transmission line in resisting natural disasters, ensures the operation safety of the power transmission line and improves the power supply reliability of a power grid.
The purpose of the invention is realized by adopting the following technical scheme:
the invention provides a control method of a wire nonlinear vibration controller, which is improved in that:
determining an output displacement based on an external excitation of the power conductor;
inputting the external excitation and the output displacement into a pre-established wire nonlinear vibration controller to obtain a control force amplitude required by wire vibration prevention;
outputting feedback external excitation to the lead according to the control force amplitude, the preset frequency and a preset actuator;
and realizing the control of the wire nonlinear vibration controller through power flow propagation based on the feedback external excitation force.
Further: determining an output displacement based on external excitation of the power conductor, comprising:
the method comprises the steps of obtaining external exciting force and displacement time-course data of a power transmission conductor control force action position through a sensor, and obtaining output displacement of a power transmission conductor designated position after performing modal conversion on the displacement time-course data.
Further: before inputting the external excitation and the output displacement into a pre-established wire nonlinear vibration controller and obtaining a control force amplitude required by wire vibration prevention, the method further comprises the following steps: calculating the total vibration power flow input into the power transmission conductor based on the wind load of the power transmission conductor and a preset control force, wherein the expression is as follows:
in the formula: i (x, t) is the total vibration power flow, Fd(t) is the wind load of the transmission conductor, x is the horizontal direction of the transmission conductor, the direction y is the vertical direction perpendicular to the conductor, L is the length of the transmission conductor, xcControlling the position of force application for a wire nonlinear vibration controller, Fc(t) is the transmission conductor is in xcAnd c represents the nonlinear vibration controller of the lead.
Further: the control force amplitude expression required by the wire anti-vibration is as follows:
in the formula: f. ofcTo control the magnitude of the force, fdFor external exciting force, xcFor controlling the force action position of the power transmission conductor, I (omega) is the power flow, omega is the frequency,
for structural frequency, phijIs the mode, j is the counting symbol, N is the mode number, t is the time, c characterizes the control force.
Further: before outputting feedback external excitation to the wire according to the control force amplitude, the control force frequency and the pre-established actuator, the method further comprises the following steps:
optimizing the power flow expression;
performing partial derivative calculation on the optimized power flow expression;
and obtaining the optimized relational expression of the external excitation and the control force through partial derivative calculation.
Further: the expression after optimizing the power flow expression is as follows:
in the formula: f. ofcTo control the force, fdWind load of wire, xcFor controlling the position of the force action, I (omega) is the power flow and omega isThe frequency of the excitation is such that,
for structural frequency, phijIs a mode, i represents an imaginary part, j represents a counting symbol, N represents a mode number, and Re represents a real part of the power flow; im (f)d) And Im (f)c) Respectively, the imaginary part representation forms of the wind load and the control force of the lead.
Further: the performing partial derivative calculation on the optimized power flow expression includes:
the expression of the real part of the partial derivative of the power flow to the real part of the control force is as follows:
the imaginary part expression of the imaginary part derivation of the power flow to the control force is as follows:
further: the relational expression for obtaining the optimized external excitation and control force through partial derivative calculation is as follows:
further: the pre-established actuators include: servo motor and eccentric weight.
Further: said controlling power flow propagation in the power conductor based on said external excitation force comprising:
starting from the middle point L/2 of the single-gear power transmission conductor, and transmitting the control force amplitude, the control force frequency and the command of the conductor nonlinear vibration controller to an actuator;
according to the instructions of the nonlinear vibration controller of the conductor, the servo motor of the actuator rotates to a corresponding rotating speed, the rotating speed is determined according to the input frequency, and the feedback external exciting force f is output to the transmission conductor based on the eccentric heavy hammerc(t) influencing the power flow of the power transmission conductor system, reducing the displacement state output yout(s) and converting the displacement state output yout(s) to a set value, wherein the set value refers to the safe vibration displacement of the conductor.
The invention also provides a control system of the wire nonlinear vibration controller, and the improvement is that:
a determination module for determining an output displacement based on an external excitation of the power conductor;
the input module is used for inputting the external excitation and the output displacement into a pre-established wire nonlinear vibration controller to obtain a control force amplitude required by wire vibration prevention;
the output module is used for outputting feedback external excitation to the lead according to the control force amplitude, the preset frequency and the preset actuator;
and the control module is used for realizing the control of the wire nonlinear vibration controller through power flow propagation based on the feedback external excitation force.
Further: the obtaining module is further configured to: the method comprises the steps of obtaining external exciting force and displacement time-course data of a power transmission conductor control force action position through a sensor, and obtaining output displacement of a power transmission conductor designated position after performing modal conversion on the displacement time-course data.
Further: before inputting the external excitation and the output displacement into a pre-established wire nonlinear vibration controller and obtaining a control force amplitude required by wire vibration prevention, the method further comprises the following steps: the first calculation module is used for calculating the total vibration power flow input into the power transmission conductor based on the wind load of the power transmission conductor and a preset control force, and the expression is as follows:
in the formula: i (x, t) is the total vibration power flow, Fd(t) is a power transmission conductorX is the horizontal direction of the transmission conductor, the direction y is the vertical direction perpendicular to the conductor, L is the length of the transmission conductor, xcControlling the position of force application for a wire nonlinear vibration controller, Fc(t) is the transmission conductor is in xcAnd c represents the nonlinear vibration controller of the lead.
Further: before outputting feedback external excitation to the wire according to the control force amplitude, the control force frequency and the pre-established actuator, the method further comprises the following steps:
the conversion module is used for optimizing the power flow expression;
the second calculation module is used for performing partial derivative calculation on the optimized power flow expression;
and the obtaining module is used for obtaining the optimized relational expression of the external excitation and the control force through partial derivative calculation.
Further: the expression after optimizing the power flow expression is as follows:
in the formula: f. ofcTo control the force, fdWind load of wire, xcTo control the force action position, I (Ω) is the power flow, Ω is the excitation frequency,
for structural frequency, phijIs a mode, i represents an imaginary part, j represents a counting symbol, N represents a mode number, and Re represents a real part of the power flow; im (f)d) And Im (f)c) Respectively, the imaginary part representation forms of the wind load and the control force of the lead.
Further: the output module is further configured to obtain an optimized relational expression of the external excitation and the control force through the partial derivative calculation as follows:
further: the pre-established actuators include: servo motor and eccentric weight.
Further: the control module includes:
the selection unit is used for selecting starting from the middle point L/2 of the single-gear power transmission conductor and transmitting the control force amplitude, the control force frequency and the command of the conductor nonlinear vibration controller to the actuator;
the execution unit is used for enabling the actuator servo motor to rotate to a corresponding rotating speed according to the instruction of the conductor nonlinear vibration controller, the rotating speed is determined according to the input frequency, and the feedback external exciting force f is output to the transmission conductor based on the eccentric heavy hammerc(t) influencing the power flow of the power transmission conductor system, reducing the displacement state output yout(s) and converting the displacement state output yout(s) to a set value, wherein the set value refers to the safe vibration displacement of the conductor.
Compared with the closest prior art, the technical scheme provided by the invention has the beneficial effects that:
according to the invention, external excitation and output displacement at the appointed position of a transmission conductor are obtained; inputting the external excitation and the output displacement into a pre-established wire nonlinear vibration controller to obtain the control force amplitude and frequency required by wire vibration prevention; according to the control force amplitude and the control force frequency, the actuator outputs an excitation force to the lead; the power flow transmission in the power transmission wire is controlled based on the external excitation force, active defense on wind vibration disasters of the power transmission line is achieved, the capability of the power transmission line for resisting natural disasters is improved, the operation safety of the power transmission line is ensured, and the power supply reliability of a power grid is improved.
Power flow is an important control optimization feature in vibration control design. The proposal of the anti-vibration scheme based on the power flow method needs to clearly understand the flow process of energy generated and developed by the wind-induced vibration of the lead. The active optimization control of the power flow parameters overcomes the defects and the defects that the traditional modal control method is closely related to a mathematical model and the control frequency is limited, the main function is to isolate the transfer of energy in the structure, and the whole structure jitter can be reduced only by minimizing the power flow. The power flow model can describe the vibration propagation in the structure and optimize characteristic quantities for important control in the design of vibration control.
Since the process of generating and developing the structure vibration is essentially the process of transferring energy from the energy source to the primary vibrating body, the magnitude of the structure vibration depends mainly on the magnitude of the input energy and the form of the boundary conditions. The power flow theory reveals the problem of structural vibration from an energy point of view, and also reveals the dynamic forces between the energy source and the structure and the dynamic response of the main vibrator, including the phase relationship of the two. Therefore, compared with the transmission relation of the traditional motion and force theory, the theory is more suitable for the evaluation work of the vibration isolation performance of the vibration isolation system. The power flow method based on the energy transfer process description is an effective method for researching vibration energy transfer, and provides a direct reference basis for reducing and evaluating the nose penetrating efficiency of vibration energy through analyzing the dynamic characteristics of an excitation source, a path and a main vibrator.
Drawings
FIG. 1 is a block diagram of the active control of a non-linear vibration system based on power flow provided by the present invention;
FIG. 2 is a schematic diagram of an active controller based on power flow theory provided by the present invention;
fig. 3 is a flowchart of a control method of the wire nonlinear vibration controller provided by the invention.
Detailed Description
The following describes embodiments of the present invention in further detail with reference to the accompanying drawings.
The following description and the drawings sufficiently illustrate specific embodiments of the invention to enable those skilled in the art to practice them. Other embodiments may incorporate structural, logical, electrical, process, and other changes. The examples merely typify possible variations. Individual components and functions are optional unless explicitly required, and the sequence of operations may vary. Portions and features of some embodiments may be included in or substituted for those of others. The scope of embodiments of the invention encompasses the full ambit of the claims, as well as all available equivalents of the claims. Embodiments of the invention may be referred to herein, individually or collectively, by the term "invention" merely for convenience and without intending to voluntarily limit the scope of this application to any single invention or inventive concept if more than one is in fact disclosed.
The first embodiment,
The invention provides a control method of a wire nonlinear vibration controller, a flow chart of which is shown in figure 3, and the method comprises the following steps:
determining an output displacement based on an external excitation of the power conductor;
inputting the external excitation and the output displacement into a pre-established wire nonlinear vibration controller to obtain a control force amplitude required by wire vibration prevention;
outputting feedback external excitation to the lead according to the control force amplitude, the preset frequency and a preset actuator;
and realizing the control of the wire nonlinear vibration controller through power flow propagation based on the feedback external excitation force.
Further: determining an output displacement based on external excitation of the power conductor, comprising:
the method comprises the steps of obtaining external exciting force and displacement time-course data of a power transmission conductor control force action position through a sensor, and obtaining output displacement of a power transmission conductor designated position after performing modal conversion on the displacement time-course data.
Further: before inputting the external excitation and the output displacement into a pre-established wire nonlinear vibration controller and obtaining a control force amplitude required by wire vibration prevention, the method further comprises the following steps: calculating the total vibration power flow input into the power transmission conductor based on the wind load of the power transmission conductor and a preset control force, wherein the expression is as follows:
in the formula: i (x, t) is total vibrationDynamic power flow, Fd(t) is the wind load of the transmission conductor, x is the horizontal direction of the transmission conductor, the direction y is the vertical direction perpendicular to the conductor, L is the length of the transmission conductor, xcControlling the position of force application for a wire nonlinear vibration controller, Fc(t) is the transmission conductor is in xcAnd c represents the nonlinear vibration controller of the lead.
Further: the control force amplitude expression required by the wire anti-vibration is as follows:
in the formula: f. ofcTo control the magnitude of the force, fdFor external exciting force, xcFor controlling the force action position of the power transmission conductor, I (omega) is the power flow, omega is the frequency,
for structural frequency, phijIs the mode, j is the counting symbol, N is the mode number, t is the time, c characterizes the control force.
1) The principle of active nonlinear vibration control of a power flow-based transmission line conductor is as follows:
the external exciting force at the appointed position of the transmission conductor is obtained, and the technical scheme for solving the active control problem of the transmission conductor vibration by adopting a power flow method is provided. Inputting the control force into a pre-established conductor nonlinear vibration controller, and calculating the power flow of the conductor nonlinear vibration controller to the transmission conductor; considering wind load F of transmission conductord(t) is effected and is in xcActs on the control force Fc(t), the kinetic equation for the power conductor is,
from (1) the response at any point of the power conductor can be determined, and the power of the vibration at any point of the power conductor is
By non-dimensionalizing equation (1) and processing the external excitation and control forces into complex form, then,
the response of the power conductor is that,
the total vibration power flow of the disturbing and control forces into the power conductor structure is,
wherein the content of the first and second substances,
power flow is an important control optimization feature in vibration control design. To the control force fcThe partial derivatives of the real part and the imaginary part are zero, and the minimum power flow in the power transmission conductor can be obtained, namely the magnitude of the control force is obtained by optimizing the power flow, so that the active control of the power flow propagation of the power transmission conductor is realized.
Before outputting feedback external excitation to the wire according to the control force amplitude, the control force frequency and the pre-established actuator, the method further comprises the following steps:
optimizing the power flow expression;
performing partial derivative calculation on the optimized power flow expression;
and obtaining the optimized relational expression of the external excitation and the control force through partial derivative calculation.
Further: the expression after optimizing the power flow expression is as follows:
in the formula: f. ofcTo control the force, fdWind load of wire, xcTo control the force action position, I (Ω) is the power flow, Ω is the excitation frequency,
for structural frequency, phijIs a mode, i represents an imaginary part, j represents a counting symbol, N represents a mode number, and Re represents a real part of the power flow; im (f)d) And Im (f)c) Respectively, the imaginary part representation forms of the wind load and the control force of the lead.
Further: the performing partial derivative calculation on the optimized power flow expression includes:
the expression of the real part of the partial derivative of the power flow to the real part of the control force is as follows:
the imaginary part expression of the imaginary part derivation of the power flow to the control force is as follows:
further: the relational expression for obtaining the optimized external excitation and control force through partial derivative calculation is as follows:
the specific derivation process is as follows:
from equation (6), and
then there is a change in the number of,
calculating an external force required for power flow from the power flow, comprising:
the power flow is derived by partial derivation of the real and imaginary parts of the control force,
outputting external excitation to the lead according to the control force amplitude and frequency and a pre-established actuator, comprising: outputting the external excitation required for power flow when the partial derivative of the following equation is zero, including:
then, the partial derivative is zero, so that:
therefore, the strategy for controlling the nonlinear vibration of the wire by using the optimized power flow is as follows: the external force required by optimizing the power flow is calculated by substituting the relation between the external force and the control force shown in the formula (9) into the actual parameters, and the force is realized by using the actuator, so that a better anti-vibration effect is obtained.
2) Wire nonlinear controller design based on power flow theory
Controlling power flow propagation in a power conductor based on the external excitation force and a pre-established actuator, comprising:
in the control chart of the wire wind-induced nonlinear vibration based on power flow, a controller serving as a brain inputs an external excitation force fd(t) (including parameters such as frequency and amplitude of the external force) andand outputting the displacement motion state yout(s) for real-time detection, and making a prediction judgment and adjustment instruction according to the actual state of the lead. The unit consisting of the controller and the actuator, which is enclosed by the dashed box in fig. 1, can be used as an active control anti-galloping device.
In the selection and arrangement of the actuator, the power flow theory mainly reflects the control force effect, and an execution unit (see the dotted line frame in fig. 2) is formed by a private motor and an eccentric heavy hammer, on one hand, the heavy hammer can generate a controllable periodic force effect by rotating around the motor, and on the other hand, because the implementation of the power flow theory needs to generate a vibration isolation effect on a main vibration body, and the overhead form of a lead is not beneficial to the implementation of the vibration isolation scheme, the centrifugal force of the eccentric weight is adopted to offset the movement effect of the installation part. The latter implementation requires an accurate response to the temporal parameters of the wire movement, which requires the controller to unify the signal form in the processing of the wind speed, amplitude and actuator commands, i.e. to use an analogue model at the same time to increase the reaction rate.
Starting from the middle point of a single-gear wire, namely L/2, a novel anti-vibration device shown in figure 2 is installed to prevent wind vibration of the wire. When the exciting force is in the middle of the lead, the controller respectively carries out sorting calculation on the wind speed signal collected by the anemometer and the vibration signal collected by the sensor, and corresponding calculation is carried out according to the formula (9) to obtain the required control force amplitude and frequency, and then the command is transmitted to the actuator.
According to the instruction of the controller, the actuator motor for personal clothing shows the corresponding rotating speed, and can output exciting force f to the lead under the action of the eccentric heavy hammerc(t) thereby influencing the power flow of the conductor system, reducing the displacement state output yout(s) and shifting it towards the set value.
Example II,
Based on the same inventive concept, the invention also provides a control system of the wire nonlinear vibration controller, which comprises:
a first obtaining module for determining an output displacement based on an external excitation of the power conductor;
the input module is used for inputting the external excitation and the output displacement into a pre-established wire nonlinear vibration controller to obtain a control force amplitude required by wire vibration prevention;
the output module is used for outputting feedback external excitation to the lead according to the control force amplitude, the preset frequency and the preset actuator;
and the control module is used for realizing the control of the wire nonlinear vibration controller through power flow propagation based on the feedback external excitation force.
Further: the obtaining module is further configured to: the method comprises the steps of obtaining external exciting force and displacement time-course data of a power transmission conductor control force action position through a sensor, and obtaining output displacement of a power transmission conductor designated position after performing modal conversion on the displacement time-course data.
Further: before inputting the external excitation and the output displacement into a pre-established wire nonlinear vibration controller and obtaining a control force amplitude required by wire vibration prevention, the method further comprises the following steps: the first calculation module is used for calculating the total vibration power flow input into the power transmission conductor based on the wind load of the power transmission conductor and a preset control force, and the expression is as follows:
in the formula: i (x, t) is the total vibration power flow, Fd(t) is the wind load of the transmission conductor, x is the horizontal direction of the transmission conductor, the direction y is the vertical direction perpendicular to the conductor, L is the length of the transmission conductor, xcControlling the position of force application for a wire nonlinear vibration controller, Fc(t) is the transmission conductor is in xcAnd c represents the nonlinear vibration controller of the lead.
Further: before outputting feedback external excitation to the wire according to the control force amplitude, the control force frequency and the pre-established actuator, the method further comprises the following steps:
the conversion module is used for optimizing the power flow expression;
the second calculation module is used for performing partial derivative calculation on the optimized power flow expression;
and the second acquisition module is used for acquiring the optimized relational expression of the external excitation and the control force through partial derivative calculation.
Further: the expression after optimizing the power flow expression is as follows:
in the formula: f. ofcTo control the force, fdWind load of wire, xcTo control the force action position, I (Ω) is the power flow, Ω is the excitation frequency,
for structural frequency, phijIs a mode, i represents an imaginary part, j represents a counting symbol, N represents a mode number, and Re represents a real part of the power flow; im (f)d) And Im (f)c) Respectively, the imaginary part representation forms of the wind load and the control force of the lead.
Further: the output module is further configured to obtain an optimized relational expression of the external excitation and the control force through the partial derivative calculation as follows:
further: the pre-established actuators include: servo motor and eccentric weight.
Further: the control module includes:
the selection unit is used for selecting starting from the middle point L/2 of the single-gear power transmission conductor and transmitting the control force amplitude, the control force frequency and the command of the conductor nonlinear vibration controller to the actuator;
an execution unit for rotating the servo motor of the actuator to a corresponding rotation speed according to the instruction of the wire nonlinear vibration controllerThe rotating speed is determined according to the input frequency, and the feedback external excitation force f is output to the transmission conductor based on the eccentric heavy hammerc(t) influencing the power flow of the power transmission conductor system, reducing the displacement state output yout(s) and converting the displacement state output yout(s) to a set value, wherein the set value refers to the safe vibration displacement of the conductor.
As will be appreciated by one skilled in the art, embodiments of the present application may be provided as a method, system, or computer program product. Accordingly, the present application may take the form of an entirely hardware embodiment, an entirely software embodiment or an embodiment combining software and hardware aspects. Furthermore, the present application may take the form of a computer program product embodied on one or more computer-usable storage media (including, but not limited to, disk storage, CD-ROM, optical storage, and the like) having computer-usable program code embodied therein.
The present application is described with reference to flowchart illustrations and/or block diagrams of methods, apparatus (systems), and computer program products according to embodiments of the application. It will be understood that each flow and/or block of the flow diagrams and/or block diagrams, and combinations of flows and/or blocks in the flow diagrams and/or block diagrams, can be implemented by computer program instructions. These computer program instructions may be provided to a processor of a general purpose computer, special purpose computer, embedded processor, or other programmable data processing apparatus to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing apparatus, create means for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.
These computer program instructions may also be stored in a computer-readable memory that can direct a computer or other programmable data processing apparatus to function in a particular manner, such that the instructions stored in the computer-readable memory produce an article of manufacture including instruction means which implement the function specified in the flowchart flow or flows and/or block diagram block or blocks.
These computer program instructions may also be loaded onto a computer or other programmable data processing apparatus to cause a series of operational steps to be performed on the computer or other programmable apparatus to produce a computer implemented process such that the instructions which execute on the computer or other programmable apparatus provide steps for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.
Although the present invention has been described in detail with reference to the above embodiments, those skilled in the art can make modifications and equivalents to the embodiments of the present invention without departing from the spirit and scope of the present invention, which is set forth in the claims of the present application.
Claims (8)
1. A control method of a wire nonlinear vibration controller is characterized in that:
determining an output displacement based on an external excitation of the power conductor;
inputting the external excitation and the output displacement into a pre-established wire nonlinear vibration controller to obtain a control force amplitude required by wire vibration prevention;
outputting feedback external excitation to the lead according to the control force amplitude, the preset frequency and a preset actuator;
controlling the wire nonlinear vibration controller through power flow propagation based on the feedback external excitation;
before inputting the external excitation and the output displacement into a pre-established wire nonlinear vibration controller and obtaining a control force amplitude required by wire vibration prevention, the method further comprises the following steps: calculating the total vibration power flow input into the power transmission conductor based on the wind load of the power transmission conductor and a preset control force, wherein the expression is as follows:
in the formula: i (x, t) is the total vibration power flow, Fd(t) is the wind load of the transmission conductor,x is the horizontal direction of the transmission conductor, the direction y is the vertical direction perpendicular to the conductor, L is the length of the transmission conductor, xcControlling the position of force application for a wire nonlinear vibration controller, Fc(t) is the transmission conductor is in xcC, acting a control force, wherein t is time, and representing a wire nonlinear vibration controller;
the power flow required for the wire anti-vibration is expressed as follows:
in the formula: f. ofcTo control the magnitude of the force, fdFor external exciting force, xcFor controlling the force action position of the power transmission conductor, I (omega) is the power flow, omega is the frequency,
for structural frequency, phijIs a mode, j is a counting symbol, and N is a mode number;
before outputting feedback external excitation to the wire according to the control force amplitude, the control force frequency and the pre-established actuator, the method further comprises the following steps:
optimizing the power flow expression;
performing partial derivative calculation on the optimized power flow expression;
obtaining an optimized relational expression of external excitation and control force through partial derivative calculation;
the expression after optimizing the power flow expression is as follows:
in the formula: f. ofcTo control the force, fdWind load of wire, xcFor controlling the force action position of the power transmission conductor, I (omega) is the power flow, omega is the frequency,
for structural frequency, phijIs a mode, i represents an imaginary part, j represents a counting symbol, N represents a mode number, and Re represents a real part of the power flow; im (f)d) And Im (f)c) Respectively representing the imaginary parts of the wind load and the control force of the lead;
the performing partial derivative calculation on the optimized power flow expression includes:
the expression of the real part of the partial derivative of the power flow to the real part of the control force is as follows:
the imaginary part expression of the imaginary part derivation of the power flow to the control force is as follows:
the relational expression for obtaining the optimized external excitation and control force through partial derivative calculation is as follows:
2. the control method according to claim 1, characterized in that: determining an output displacement based on external excitation of the power conductor, comprising:
the method comprises the steps of obtaining external exciting force and displacement time-course data of a power transmission conductor control force action position through a sensor, and obtaining output displacement of a power transmission conductor designated position after performing modal conversion on the displacement time-course data.
3. The control method according to claim 1, characterized in that: the pre-established actuators include: servo motor and eccentric weight.
4. A control method according to claim 3, characterized in that: controlling power flow propagation in a power conductor based on the external stimulus, comprising:
starting from the middle point L/2 of the single-gear power transmission conductor, and transmitting the control force amplitude, the control force frequency and the command of the conductor nonlinear vibration controller to an actuator;
according to the instructions of the nonlinear vibration controller of the conductor, the servo motor of the actuator rotates to a corresponding rotating speed, the rotating speed is determined according to the input frequency, and the feedback external exciting force f is output to the transmission conductor based on the eccentric heavy hammerc(t) influencing the power flow of the power transmission conductor system, reducing the displacement state output yout(s) and converting the displacement state output yout(s) to a set value, wherein the set value refers to the safe vibration displacement of the conductor.
5. A control system of a wire nonlinear vibration controller is characterized in that:
a determination module for determining an output displacement based on an external excitation of the power conductor;
the input module is used for inputting the external excitation and the output displacement into a pre-established wire nonlinear vibration controller to obtain a control force amplitude required by wire vibration prevention;
the output module is used for outputting feedback external excitation to the lead according to the control force amplitude, the preset frequency and the preset actuator;
the control module is used for realizing the control of the wire nonlinear vibration controller through power flow propagation based on the feedback external excitation;
before outputting feedback external excitation to the wire according to the control force amplitude, the control force frequency and the pre-established actuator, the method further comprises the following steps:
the conversion module is used for optimizing the power flow expression;
the second calculation module is used for performing partial derivative calculation on the optimized power flow expression;
the obtaining module is used for obtaining an optimized external excitation and control force relational expression through partial derivative calculation;
the expression after optimizing the power flow expression is as follows:
in the formula: f. ofcTo control the force, fdWind load of wire, xcTo control the force action position, I (Ω) is the power flow, Ω is the frequency,
for structural frequency, phijIs a mode, i represents an imaginary part, j represents a counting symbol, N represents a mode number, and Re represents a real part of the power flow; im (f)d) And Im (f)c) Respectively representing the imaginary parts of the wind load and the control force of the lead;
before inputting the external excitation and the output displacement into a pre-established wire nonlinear vibration controller and obtaining a control force amplitude required by wire vibration prevention, the method further comprises the following steps: the first calculation module is used for calculating the total vibration power flow input into the power transmission conductor based on the wind load of the power transmission conductor and a preset control force, and the expression is as follows:
in the formula: i (x, t) is the total vibration power flow, Fd(t) is the wind load of the transmission conductor, x is the horizontal direction of the transmission conductor, the direction y is the vertical direction perpendicular to the conductor, L is the length of the transmission conductor, xcControlling the position of force application for a wire nonlinear vibration controller, Fc(t) is the transmission conductor is in xcC, acting a control force, wherein t is time, and representing a wire nonlinear vibration controller;
the output module is further configured to obtain an optimized relational expression of the external excitation and the control force through the partial derivative calculation as follows:
6. the control system of claim 5, wherein: the obtaining module is further configured to: the method comprises the steps of obtaining external exciting force and displacement time-course data of a power transmission conductor control force action position through a sensor, and obtaining output displacement of a power transmission conductor designated position after performing modal conversion on the displacement time-course data.
7. The control system of claim 5, wherein: the pre-established actuators include: servo motor and eccentric weight.
8. The control system of claim 5, wherein: the control module includes:
the selection unit is used for selecting starting from the middle point L/2 of the single-gear power transmission conductor and transmitting the control force amplitude, the control force frequency and the command of the conductor nonlinear vibration controller to the actuator;
the execution unit is used for enabling the actuator servo motor to rotate to a corresponding rotating speed according to the instruction of the conductor nonlinear vibration controller, the rotating speed is determined according to the input frequency, and the external excitation f is output and fed back to the transmission conductor based on the eccentric heavy hammerc(t) influencing the power flow of the power transmission conductor system, reducing the displacement state output yout(s) and converting the displacement state output yout(s) to a set value, wherein the set value refers to the safe vibration displacement of the conductor.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811030227.5A CN109343381B (en) | 2018-09-05 | 2018-09-05 | Control method and system of wire nonlinear vibration controller |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811030227.5A CN109343381B (en) | 2018-09-05 | 2018-09-05 | Control method and system of wire nonlinear vibration controller |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN109343381A CN109343381A (en) | 2019-02-15 |
| CN109343381B true CN109343381B (en) | 2022-03-18 |
Family
ID=65292222
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201811030227.5A Active CN109343381B (en) | 2018-09-05 | 2018-09-05 | Control method and system of wire nonlinear vibration controller |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN109343381B (en) |
Family Cites Families (12)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| GB8429309D0 (en) * | 1984-11-20 | 1984-12-27 | Secr Defence | Measurement of wave propagation power flow |
| JPH11108098A (en) * | 1997-10-07 | 1999-04-20 | Mitsubishi Heavy Ind Ltd | Vibrational energy absorbing device |
| US7633175B1 (en) * | 2008-05-13 | 2009-12-15 | Florida Turbine Technologies, Inc. | Resonating blade for electric power generation |
| CN101487763B (en) * | 2009-02-23 | 2010-12-08 | 西北工业大学 | Method for measuring frequency response function of vibrating structure in large noise environment |
| CN102095449B (en) * | 2010-10-28 | 2012-10-31 | 华南理工大学 | Method for alarming dancing of overhead transmission circuit |
| CN102141434A (en) * | 2011-01-21 | 2011-08-03 | 华北电力大学 | Online monitoring system for power transmission line oscillation |
| CN202021606U (en) * | 2011-02-11 | 2011-11-02 | 中国电力科学研究院 | Mobile input type robot for testing dancing property of electric transmission line |
| CN103762536B (en) * | 2013-12-31 | 2016-05-25 | 北京理工大学 | Initiatively anti-dancing device of a kind of overhead transmission line |
| CN103942382A (en) * | 2014-04-16 | 2014-07-23 | 沈阳化工大学 | Double-layer vibration isolation system based on power flow |
| CN104574390B (en) * | 2014-12-29 | 2018-10-12 | 华北电力大学（保定） | Based on the Galloping of Overhead Transmission Line amplitude of video surveillance technology and the computational methods of frequency |
| CN105740548B (en) * | 2016-02-01 | 2019-05-24 | 西安交通大学 | Transmission line of electricity wind shake calculation method under a kind of RANDOM WIND load |
| CN107818222A (en) * | 2017-11-01 | 2018-03-20 | 东北大学 | Heat is shaken fiber composite plate nonlinear kinetics parameter test method and system under environment |
-
2018
- 2018-09-05 CN CN201811030227.5A patent/CN109343381B/en active Active
Also Published As
| Publication number | Publication date |
|---|---|
| CN109343381A (en) | 2019-02-15 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| Fitzgerald et al. | Improved reliability of wind turbine towers with active tuned mass dampers (ATMDs) | |
| Fitzgerald et al. | Cable connected active tuned mass dampers for control of in-plane vibrations of wind turbine blades | |
| CN107532568B (en) | Control of a multi-rotor wind turbine using a central controller to calculate local control targets | |
| CN101409439B (en) | Method for determining transmission line pole tower grounding wire arrangement | |
| CN105545595A (en) | Wind turbine feedback linearization power control method based on radial basis function neural network | |
| Hu et al. | Active structural control for load mitigation of wind turbines via adaptive sliding-mode approach | |
| CN103746630A (en) | Active control method for low-frequency vibration of electric drive system | |
| JP2023038192A (en) | Learning device, learning method, control device, building structure, method of generating trained model, and program | |
| CN105549607B (en) | A kind of actuator configuration designing method that satellite attitude control system failure is restructural | |
| Naik et al. | Impact of reduced inertia on transient stability of networks with asynchronous generation | |
| US20190195093A1 (en) | Generating Steam Turbine Performance Maps | |
| Bao et al. | Feedforward control for wind turbine load reduction with pseudo-LIDAR measurement | |
| CN109343381B (en) | Control method and system of wire nonlinear vibration controller | |
| CN103511553B (en) | A kind of bat is shaken the control apparatus of noise, method, system and engineering machinery | |
| CN106786675A (en) | A kind of power system stabilizer, PSS and its implementation | |
| Usman et al. | Design of AVR and PSS for power system stability based on iteration particle swarm optimization | |
| Bindner | Active control: Wind turbine model | |
| US20230026286A1 (en) | Method for computer-implemented monitoring of a wind turbine | |
| CN104331541B (en) | A kind of half active particles damping system and its hybrid modeling analysis method | |
| CN113110023A (en) | Structure correction control method based on diesel engine Hamilton model | |
| Musyafa et al. | Tuning of Proportional Derivative Control Parameters Base Particle Swarm Optimization for Automatic Brake System on Small Scale Wind Turbine Prototype | |
| JP6057691B2 (en) | Calculation method of feedforward control force | |
| Fei et al. | Fractional-order PID control of hydraulic thrust system for tunneling boring machine | |
| Puleva et al. | Adaptive power control modeling and simulation of a hydraulic turbine | |
| Mohebbi et al. | Effect of response related weighting matrices on performance of active control systems for nonlinear frames |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |