CN110261730B - Single wire parameter measuring method based on current magnetic field - Google Patents
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Abstract
A single wire parameter measuring method based on current magnetic field is disclosed. The method includes arranging a plurality of magnetic field sensors in a first direction in a plane perpendicular to the wire, wherein positions of the plurality of magnetic field sensors in the first direction are known, acquiring magnetic field strengths of the plurality of magnetic field sensors in the first direction and a second direction, wherein the second direction is in the plane and perpendicular to the first direction; obtaining a ratio of magnetic field strength of each of the plurality of magnetic field sensors in a first direction and a second direction; and calculating the position and the current of the wire based on the positions of the plurality of magnetic field sensors in the first direction and the ratio using a least squares method.
Description
Technical Field
The invention belongs to the field of intelligent algorithms, and particularly relates to a single wire parameter (current and position) measuring method based on a current magnetic field.
Background
Since the 90 s in the 20 th century, the continuous exhaustion of fossil energy and the gradual deterioration of the environment, the continuous increase of the number of power generation units of renewable energy sources connected to a power grid, the marketization of a power system and the gradually improved requirement on the quality of electric energy enable the goal of building a reliable, safe, economic, efficient and environment-friendly smart power grid to become the consensus of scholars at home and abroad. The continuous development of advanced sensing and measuring techniques, advanced equipment techniques and advanced control methods also makes the concept of smart grids possible. The current measuring device for the power system is an important component of a power grid panoramic data acquisition system. In order to take normal operation and fault conditions of a power system into consideration, the current measuring device is required to measure normal alternating current and direct current, and also to measure medium-high frequency transient signals, and the amplitude range of the measured current is required to be as large as possible.
The traditional current measuring method in the current power system comprises a current transformer, a shunt resistor and the like. However, the traditional current measuring method has obvious defects, such as easy saturation of the current transformer, large volume and weight due to the existence of the iron core, and difficulty in measuring direct current; the shunt resistor not only consumes more energy, but also is difficult to satisfy the requirement of electrical isolation. Therefore, a new current measuring device for a power system has become one of the key issues in smart grid research. With the continuous development of the sensing technology, the indirect measurement of the current is paid more and more attention by using the magnetic field sensor, and the method for calculating the current by using the magnetic field measurement value has the characteristic of electrical insulation and has good properties.
Disclosure of Invention
Aiming at the problems of the existing method for measuring the current of the wire of the power system based on the shunt resistor or the current sensor, such as difficulty in realizing electrical insulation, large volume of a measuring device and narrow measuring range and frequency band, a novel method for measuring the parameter of the wire based on the magnetic field is provided. The magnetic field sensors are arranged around the lead, the magnetic field intensity measured by the magnetic field sensors is collected, and the current and position parameters of the lead are inverted, so that the high-precision and broadband measurement of the current of the lead of the power system is realized.
According to one aspect of the invention, a single wire parameter measurement method based on a current magnetic field is provided, and the method comprises the following steps: arranging a plurality of magnetic field sensors in a first direction in a plane perpendicular to the conductive line, wherein positions of the plurality of magnetic field sensors in the first direction are known, acquiring magnetic field strengths of the plurality of magnetic field sensors in the first direction and a second direction, wherein the second direction is in the plane and perpendicular to the first direction; obtaining a ratio of magnetic field strength of each of the plurality of magnetic field sensors in a first direction and a second direction; and calculating the position and the current of the wire based on the positions of the plurality of magnetic field sensors in the first direction and the ratio using a least squares method.
Preferably, the plurality of magnetic field sensors are TMR tunneling magnetoresistive sensors.
Preferably, the positions of the wires are:
[y0z0]＝(RTR)-1RY，
wherein,
Y＝[y1… yn]T
y0and z0Are respectively provided withIs the coordinate value of the wire in the first direction and the second direction, and
wherein, yiIs the coordinate of the i-th magnetic field sensor in the first direction, riI is the ratio of the magnetic field strength of the i-th magnetic field sensor in the first direction and the second direction, i is 1, 2.
Preferably, the current of the wire is:
wherein Hy，kAnd Hz，kThe magnetic field strength of the kth magnetic field sensor in the first direction and the second direction, respectively.
Preferably, the maximum distance between the wire and the magnetic field sensor of the plurality of sensors is d, with a measurement accuracy of the sensor SmaxThe minimum distance is dminThe maximum value and the minimum value of the magnetic field intensity sensed by the magnetic field sensor are respectively Hd-minAnd Hd-maxThen the following expression is satisfied:
|Hdmax-Hd-min|≥S
preferably, the following expression is satisfied:
|Hd-max-Hd-min|≥S
wherein I is the current, d is the distance from the wire to the midpoint of the plurality of magnetic field sensors, and the maximum distance from the wire to a magnetic field sensor of the plurality of sensors is dmaxThe minimum distance is dminMagnetic fieldThe maximum value and the minimum value of the magnetic field intensity sensed by the sensor are respectively Hd-minAnd Hd-max，dsThe measurement accuracy of the sensor is S for the total length of the plurality of magnetic field sensors.
According to the wire parameter measuring method based on the magnetic field, the current and position parameters of the wire are inverted by using the magnetic field strength generated around the wire and measured by the tunneling magneto-resistance (TMR) sensor, the broadband measurement is possible due to the good frequency response characteristic of the sensor, and the wire parameter measuring method based on the magnetic field has great significance for the current measurement in a power system.
Further features of the invention will become apparent from the following description of exemplary embodiments with reference to the attached drawings.
Drawings
FIG. 1 is a linear magnetic field sensor array and single wire magnetic field distribution;
FIG. 2 is a graph of the results of the fit at 5%, 10%, 25% and 50% superimposed noise; and is
FIG. 3 is a graphical representation of measurement position and current error as a function of superimposed noise amplitude.
Detailed Description
Hereinafter, embodiments according to the present invention are described with reference to the accompanying drawings, but it should be understood that the following embodiments are only exemplary and are not intended to limit the present invention to the following embodiments.
The invention provides a single wire parameter measuring method based on a magnetic field, which comprises two parts: a magnetic field measuring part and a wire parameter inverse operation part. The magnetic field sensor of the magnetic field measurement part uses a two-dimensional TMR tunneling magneto-resistive magnetic field sensor which is arranged below the conducting wire in a linear array mode and collects the magnetic field intensity generated by the current of the conducting wire. The wire parameter inversion and measurement method based on linear regression is innovatively provided by the wire parameter inverse calculus part. Under the condition that the position and direction parameters of the magnetic field sensor array and the measured value of the input magnetic field are known, the linear regression mode is used for eliminating the problem that the relative position between a lead and the magnetic field sensor array is difficult to determine in the measurement of a power system, and the influence of measurement noise can be eliminated to a certain extent.
The invention utilizes the characteristics of the magnetic field intensity around the lead, the current magnitude of the lead and the relative position between the lead and the magnetic field sensor, and utilizes the magnetic field intensity obtained by the measurement of the magnetic field sensor array to reversely deduce the current magnitude and the position of the lead used as a magnetic field source. The linear regression algorithm-based wire parameter inversion method not only can eliminate the influence of measurement noise to a certain extent, but also more importantly solves the problem that the relative position between the magnetic field sensor array and the wire is difficult to determine in actual measurement.
The method of the invention is different from the traditional shunt resistance or current transformer method for measuring the conducting wire in the power system, and the magnetic field value measured by the magnetic field sensor array is used for reflecting the magnitude of the current of the magnetic field source. And the wire current measurement and inversion based on the magnetic field measurement are realized by utilizing the relationship between the magnetic field strength value measured by the magnetic field sensor array and the current.
In addition, by using the TMR tunneling magnetoresistive sensor with a high frequency band, the flexibility of measuring the frequency band is realized, and the flexibility is enough to meet the multiple measurement requirements of direct current, alternating current and transient state in a power system. Has good time-frequency domain measurement characteristics.
In addition, a linear regression-based wire current inversion method is used, so that the influence on the measurement accuracy under the condition that the relative position between the wire current and the magnetic field sensor array is often unknown in actual measurement is eliminated, and the measurement error can be eliminated to a certain extent. Finally, a wire current inversion method based on magnetic field sensor measurement is realized, and high-range broadband non-contact wire current measurement applicable to a power system is realized.
Hereinafter, a magnetic field-based wire parameter measuring method according to the present invention will be described in detail with reference to the accompanying drawings.
In the present invention, the magnetic field sensor array is arranged in a simple linear structure, and the magnetic field distribution of the sensor structure and the single wire is as shown in fig. 1.
In the present exemplary embodiment, the magnetic field sensor may be selected from, for example, a thin film magnetoresistive sensor, a magnetoresistive sensor, an eddy current sensor, or other types of magnetic field sensors. Preferably, in the present exemplary embodiment, the magnetic field sensor employs a TMR tunneling magnetoresistive sensor, which has a flexible measurement band and can cope with multiple measurement requirements of direct current, alternating current and transient state in the power system.
For the case of a single straight wire, in the present invention, the case where the positional relationship between the sensor and the wire is unknown is mainly studied. Because the position relation between the magnetic field sensor and the lead is unknown, the solved parameters are increased, and the number of the sensors needs to be increased. Considering that the magnetic field sensor arrays are arranged in a straight line, the current value and the position are calculated by using data preprocessing and a linear regression algorithm based on a least square method. The optimal arrangement, measurement range and noise suppression effect of the magnetic field sensor array are researched.
First, a rectangular coordinate system as shown in fig. 1 (a) is established, in which the x-direction coincides with the direction of the conductive line, and the y-axis and the z-axis are coordinate axes perpendicular to each other in the yz-plane, which is a plane perpendicular to the conductive line.
In the present exemplary embodiment, an array of n magnetic field sensors is located at a position where z is 0. Alternatively, the array of magnetic field sensors may be located at a position where y-0. According to ampere loop law, obtaining the magnetic field intensity H of the kth magnetic field sensor in the directions of the y axis and the z axisyAnd HzAs follows.
Wherein, ykIs the coordinate value of the k-th magnetic field sensor in the y-axis direction, z0And y0The coordinate values of the wire in the z-axis and y-axis directions, respectively. To remove HyAnd HzThe two equations in (1) are divided to obtain:
from (2), the coordinate y of each magnetic field sensor in the y-axis directionkMagnetic field intensity in z-axis and y-axis directions with the sensorRatio of degrees rkLinear relationship, in which the slope is the coordinate value z of the unknown conductor in the z-axis direction0Intercept is the coordinate value y of the unknown conductor in the y-axis direction0. The linear regression problem in (2) is expressed in the form of a matrix as shown in the following equation (3) for n magnetic field sensors.
To solve the linear regression problem in (3), a least squares method can be used to obtain:
[y0z0]＝(RTR)-1RY (4)
after the position parameters of the unknown wire are solved, the current value I can be further solved as follows:
due to the fact that a least square fitting mode is used, the measuring method has a good suppression effect on random noise.
Hereinafter, a case will be described in which 11 magnetic field sensors are used, the y-axis coordinate of each magnetic field sensor is distributed in the range of-0.5 m to 0.5m, and the pitch is 0.1 m. The fitting results obtained by using MATLAB simulation with 5%, 10%, 25% and 50% random white noise superimposed respectively are shown in fig. 2. The measured wire position and current error changes with the amplitude of the superimposed noise as shown in fig. 3.
As can be seen from fig. 2 and 3, an algorithm based on the least squares method can be used in the current measurement based on the linear array of magnetic field sensors. And due to the property of the least square method, the measurement has a good inhibition effect on the superposition noise.
In addition to taking into account the precision, the measurement range of the method also needs to be taken into account. Assuming that the measurement accuracy of the magnetic field sensor is S, the maximum distance between the wire and the magnetic field sensor in the array of magnetic field sensors is dmaxThe minimum distance is dmin. Maximum and minimum values of magnetic field strength sensed by magnetic field sensorAre respectively Hd-minAnd Hd-maxThen (6) is satisfied if the condition that the magnetic field sensor array obtains sufficient magnetic field strength information available for measurement is satisfied.
If the unknown conductor is far enough from the magnetic field sensor array, then there is dmax＝dmin≈d，dmax-dmin≈ds. Where d is the distance of the unknown conductor from the midpoint of the array, dsIs the total length of the array in the y-axis direction. Then (7) needs to be satisfied if a more accurate measurement is to be achieved.
For a magnetic field sensor used in a laboratory, S is considered to be 0.005 Oe. Then I is 10A, dsWhen the measurement range is 1m, the measurement range d is 2m, and the requirement of measurement in the industry can be met.
The wire parameter measuring method based on the magnetic field provided by the invention is characterized in that the magnetic field intensity measured by a magnetic field sensor around the collected wire is used, and the current magnitude of the wire of the magnetic field source is inverted through a designed current inversion algorithm based on linear regression. The method can realize flexible high-frequency current measurement, the influence of noise is eliminated to a certain extent by using a linear regression method, the method can be applied to the condition that the relative position between the wire and the magnetic field sensor array is unknown, and a novel wire parameter measurement method applicable to a power system is realized.
Claims (3)
1. A single wire parameter measuring method based on a current magnetic field is characterized by comprising the following steps:
arranging a plurality of magnetic field sensors in a first direction in a plane perpendicular to the wires, wherein the positions of the plurality of magnetic field sensors in the first direction are known,
acquiring magnetic field strengths of the plurality of magnetic field sensors in the first direction and a second direction, wherein the second direction lies within the plane and is perpendicular to the first direction;
obtaining a ratio of magnetic field strength of each of the plurality of magnetic field sensors in a first direction and a second direction; and
calculating a position and a current of the wire based on the positions of the plurality of magnetic field sensors in the first direction and the ratio using a least squares method,
wherein, the position of the wire is:
[y0z0]＝(RTR)-1RY，
wherein,
Y＝[y1…yn]T
y0and z0Coordinate values of the wire in a first direction and a second direction, respectively, and
wherein, yiIs the coordinate of the i-th magnetic field sensor in the first direction, riI is 1,2 … n, n is the number of magnetic field sensors,
the current of the wire is as follows:
wherein Hy,kAnd Hz,kThe magnetic field strength of the kth magnetic field sensor in the first direction and the second direction respectively,
and, the following expression is satisfied:
|Hd-max-Hd-min|≥S
wherein I is the current, d is the distance from the wire to the midpoint of the plurality of magnetic field sensors, and the maximum distance from the wire to a magnetic field sensor of the plurality of sensors is dmaxThe minimum distance is dminThe minimum value and the maximum value of the magnetic field intensity sensed by the magnetic field sensor are respectively Hd-minAnd Hd-max，dsThe measurement accuracy of the sensor is S for the total length of the plurality of magnetic field sensors.
2. The method of claim 1, wherein the plurality of magnetic field sensors are TMR tunneling magnetoresistive sensors.
3. The method of claim 1, wherein the maximum distance between the wire and the magnetic field sensor of the plurality of sensors is d when the measurement accuracy of the sensor is S, and the measurement accuracy of the wire is SmaxThe minimum distance is dminThe minimum value and the maximum value of the magnetic field intensity sensed by the magnetic field sensor are respectively Hd-minAnd Hd-maxThen the following expression is satisfied:
|Hd-max-Hd-min|≥S。
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