CN111504315A - Isolation switch attitude sensor integral measurement method based on abrupt change starting - Google Patents
Isolation switch attitude sensor integral measurement method based on abrupt change starting Download PDFInfo
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Abstract
The disclosure relates to an isolation switch attitude sensor integral measurement method based on abrupt change starting, which comprises the following steps: determining motion parameters of the isolating switch at each acquisition moment according to the angular speed of the isolating switch periodically acquired by the gyroscope; determining the abrupt change of the motion parameter of the isolating switch at the current moment according to the motion parameter and the first preset time length; determining the current moment as the starting moment of the isolating switch corresponding to the motion parameter under the condition that the mutation amount is greater than or equal to a preset first mutation amount threshold value; determining a first integration starting time according to a first preset time length and a starting time; determining a first integral ending time according to a first preset time length, a starting time and a second preset time length; and carrying out integral operation on the angular speed in the integral time period to obtain a first angular displacement of the isolating switch in the integral time period. Embodiments of the present disclosure integrate angular velocity over an integration period, avoiding the disadvantages of continuous integration.
Description
Technical Field
The disclosure relates to the technical field of electrical equipment online monitoring, in particular to an isolating switch attitude sensor integral measurement method based on abrupt change starting.
Background
The isolating switch is an important primary device of the power system, plays a role in isolating high potential in a primary loop, and is an important guarantee for the safe operation of the power system. When the transformer substation is operated in a switching-off mode, the operation sequence specified by the operation regulations of the transformer substation needs to be strictly followed, and when the isolating switch is not reliably switched off, the breaker is operated, so that serious accidents such as the burning of the isolating switch, the flashover short circuit and the like can be caused.
Because the auxiliary contact of the isolating switch often can not reliably reflect the on-off state of the isolating switch, the on-off state of the isolating switch needs to be checked manually on site when the isolating switch is involved in the conventional substation switching operation, the operation process has more human factors, time and labor are wasted, the possibility of manual misoperation is brought, and the manual short circuit grounding of a certain 220kV substation bus is a typical major operation accident.
The attitude sensor can be used for measuring the rotation angle of the isolating switch so as to solve the problem that the on-off state of the isolating switch cannot be effectively fed back in the switching operation. However, the conventional motion algorithm in the attitude sensor adopts a mode of continuously integrating angular velocity, and has the defects of zero drift and temperature drift. Moreover, since the angular velocity inevitably has zero drift, the error of the angular displacement obtained by continuously integrating the angular velocity also has an accumulative effect as time goes up, and particularly, when the temperature change is large, the zero drift of the angular velocity also becomes large, and the angular displacement obtained by continuously integrating the angular velocity also has a large error.
Disclosure of Invention
In view of this, the present disclosure provides an isolation switch attitude sensor integral measurement method based on abrupt change starting, which can integrate angular velocity in an integration time period, avoid the disadvantages of zero drift, temperature drift and the like caused by continuous integration, and improve the accuracy of angular displacement obtained by integration.
According to one aspect of the disclosure, a method for measuring an integral of an isolator attitude sensor based on abrupt change starting is provided, and the method comprises the following steps:
determining motion parameters of the isolating switch at each acquisition moment according to the angular speed of the isolating switch periodically acquired by a gyroscope in the attitude sensor;
determining a break variable of the motion parameter of the isolating switch at the current time according to the motion parameter of the isolating switch at each acquisition time and a first preset time length, wherein the first preset time length represents a time interval between two motion parameters for calculating the break variable, and the current time is the latest acquisition time;
determining the current moment as the starting moment of the isolating switch corresponding to the motion parameter under the condition that the mutation quantity is greater than or equal to a preset first mutation quantity threshold value;
determining a first integral starting time according to the first preset time and the starting time;
determining a first integral ending time according to the first preset time, the starting time and a second preset time, wherein the second preset time represents the on-off time of the isolating switch;
and carrying out integral operation on the angular speed in an integral time period to obtain a first angular displacement of the isolating switch in the integral time period, wherein the integral time period is a time period between the first integral starting time and the first integral ending time.
In one possible implementation, the motion parameters include at least one of an angular velocity, a moment and a second angular displacement representing an angular displacement of the disconnector between two adjacent acquisition instants,
determining a first integration starting time according to the first preset time and the starting time, wherein the determining comprises:
for any motion parameter, determining the starting time of the isolating switch corresponding to the motion parameter, and determining the time before the starting time and separated from the starting time by a first preset duration as a second integration starting time corresponding to the motion parameter;
the earliest of the second integration start timings is determined as the first integration start timing.
In one possible implementation, the motion parameters include at least one of an angular velocity, a moment, and a second angular displacement representing an angular displacement of the disconnector between two adjacent acquisition instants,
determining a first integral ending time according to the first preset time, the starting time and a second preset time comprises the following steps:
respectively determining second integral ending time corresponding to each motion parameter according to the first preset time length, the starting time and the second preset time length;
and determining the latest time in the second integration ending time as the first integration ending time.
In a possible implementation manner, the determining, according to the first preset time, the start time, and the second preset time, a second integration end time corresponding to each motion parameter respectively includes:
under the condition that the motion parameter comprises angular speed or moment, judging whether the mutation quantity of the motion parameter of the isolating switch is larger than or equal to a preset second mutation quantity threshold value or not from a first moment, wherein the first moment is a moment which is after the starting moment and has a second preset duration with the starting moment;
determining the moment when the abrupt change of the motion parameter of the isolating switch is greater than or equal to the second abrupt change threshold value as the stop moment of the isolating switch;
and determining the time which is after the stopping time and is separated from the stopping time by the first preset time length as a second integration ending time corresponding to the motion parameter.
In a possible implementation manner, the determining, according to the first preset time, the start time, and the second preset time, a second integration end time corresponding to each motion parameter respectively includes:
under the condition that the motion parameter comprises a second angular displacement, judging whether the mutation amount of the motion parameter of the isolating switch is smaller than a preset second mutation amount threshold value from a first moment, wherein the first moment is a moment after the starting moment and separated from the starting moment by a second preset duration;
determining the moment when the abrupt change of the motion parameter of the isolating switch is smaller than the second abrupt change threshold value as the stop moment of the isolating switch;
and determining the time which is after the stopping time and is separated from the stopping time by the first preset time length as a second integration ending time corresponding to the motion parameter.
In a possible implementation manner, the determining, according to the motion parameter of the isolating switch at each acquisition time and a first preset time, a sudden change amount of the motion parameter of the isolating switch at the current time includes:
determining the motion parameters of the isolating switch at a second moment from the motion parameters of the isolating switch at each acquisition moment, wherein the second moment is a moment which is before the current moment and has a first preset time interval with the current moment;
and carrying out differential operation on the motion parameter of the isolating switch at the current moment and the motion parameter of the isolating switch at the second moment, and determining the abrupt change of the motion parameter of the isolating switch at the current moment.
In one possible implementation, the method further includes: in a case where the mutation amount is smaller than the first mutation amount threshold value, no integration operation is performed.
In one possible implementation, the method further includes:
periodically acquiring the acceleration of the isolating switch through a gyroscope in the attitude sensor;
and adjusting the first angular displacement according to the acceleration in the integral time period to obtain the adjusted first angular displacement.
In one possible implementation, the method further includes:
and storing the angular speed and the acceleration of the isolating switch acquired periodically by using the first circulating cache region, and storing the motion parameters of the isolating switch by using the second circulating cache region.
In one possible implementation, the method further includes:
and the attitude sensor determines the position of the isolating switch according to the first angular displacement.
According to the embodiment of the disclosure, the angular velocity of the isolating switch can be periodically acquired through a gyroscope in the attitude sensor, and the motion parameters of the isolating switch at each acquisition moment are determined according to the acquired angular velocity; determining the abrupt change amount of the motion parameter of the isolating switch at the current time according to the motion parameter of the isolating switch at each acquisition time and a first preset time length, determining the current time as the starting time of the isolating switch corresponding to the motion parameter under the condition that the abrupt change amount is greater than or equal to a first abrupt change amount threshold value, determining a first integration starting time and a first integration ending time, further determining an integration time period, then performing integration operation on the angular speed in the integration time period to obtain a first angular displacement of the isolating switch in an integration time period, further determining the starting time of the isolating switch through the abrupt change amount of the motion parameter, further determining the integration starting time and the integration ending time, obtaining the integration time period, integrating the angular speed in the integration time period to obtain the angular displacement of the isolating switch in the integration time period, and not only avoiding zero drift, zero drift and the angular displacement of the isolating switch caused by continuous integration, Temperature drift and the like, and can reduce the error of angular displacement obtained by integration and improve the accuracy of the integral measurement of the attitude sensor.
Other features and aspects of the present disclosure will become apparent from the following detailed description of exemplary embodiments, which proceeds with reference to the accompanying drawings.
Drawings
The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate exemplary embodiments, features, and aspects of the disclosure and, together with the description, serve to explain the principles of the disclosure.
Fig. 1 shows a flow diagram of a method of isolating switch attitude sensor integral measurement based on abrupt variable actuation, in accordance with an embodiment of the present disclosure.
Fig. 2 shows a schematic diagram of a variation of a motion parameter according to an embodiment of the present disclosure.
Fig. 3 shows a schematic diagram of a variation of a motion parameter according to an embodiment of the present disclosure.
Fig. 4 shows a schematic diagram of a variation of a motion parameter according to an embodiment of the present disclosure.
Fig. 5 shows a schematic diagram of a process of an isolator attitude sensor integral measurement method based on abrupt variable actuation according to an embodiment of the present disclosure.
Detailed Description
Various exemplary embodiments, features and aspects of the present disclosure will be described in detail below with reference to the accompanying drawings. In the drawings, like reference numbers can indicate functionally identical or similar elements. While the various aspects of the embodiments are presented in drawings, the drawings are not necessarily drawn to scale unless specifically indicated.
The word "exemplary" is used exclusively herein to mean "serving as an example, embodiment, or illustration. Any embodiment described herein as "exemplary" is not necessarily to be construed as preferred or advantageous over other embodiments.
Furthermore, in the following detailed description, numerous specific details are set forth in order to provide a better understanding of the present disclosure. It will be understood by those skilled in the art that the present disclosure may be practiced without some of these specific details. In some instances, methods, means, elements and circuits that are well known to those skilled in the art have not been described in detail so as not to obscure the present disclosure.
Fig. 1 shows a flow diagram of a method of isolating switch attitude sensor integral measurement based on abrupt variable actuation, in accordance with an embodiment of the present disclosure. As shown in fig. 1, the method includes:
step S11, determining motion parameters of the isolating switch at each acquisition moment according to the angular velocity of the isolating switch periodically acquired by a gyroscope in the attitude sensor;
step S12, determining a break variable of the motion parameter of the isolating switch at the current time according to the motion parameter of the isolating switch at each acquisition time and a first preset time length, wherein the first preset time length represents a time interval between two motion parameters for calculating the break variable, and the current time is the latest acquisition time;
step S13, determining the current time as the starting time of the isolating switch corresponding to the motion parameter under the condition that the mutation quantity is greater than or equal to a preset first mutation quantity threshold value;
step S14, determining a first integration starting time according to the first preset duration and the starting time;
step S15, determining a first integration ending time according to the first preset time, the starting time and a second preset time, wherein the second preset time represents the on-off time of the isolating switch;
step S16, performing an integration operation on the angular velocity in an integration time period to obtain a first angular displacement of the isolator in the integration time period, where the integration time period is a time period between the first integration start time and the first integration end time.
According to the embodiment of the disclosure, the angular velocity of the isolating switch can be periodically acquired through a gyroscope in the attitude sensor, and the motion parameters of the isolating switch at each acquisition moment are determined according to the acquired angular velocity; determining the abrupt change amount of the motion parameter of the isolating switch at the current time according to the motion parameter of the isolating switch at each acquisition time and a first preset time length, determining the current time as the starting time of the isolating switch corresponding to the motion parameter under the condition that the abrupt change amount is greater than or equal to a first abrupt change amount threshold value, determining a first integration starting time and a first integration ending time, further determining an integration time period, then performing integration operation on the angular speed in the integration time period to obtain a first angular displacement of the isolating switch in an integration time period, further determining the starting time of the isolating switch through the abrupt change amount of the motion parameter, further determining the integration starting time and the integration ending time, obtaining the integration time period, integrating the angular speed in the integration time period to obtain the angular displacement of the isolating switch in the integration time period, and not only avoiding zero drift, zero drift and the angular displacement of the isolating switch caused by continuous integration, Temperature drift and the like, and can reduce the error of angular displacement obtained by integration and improve the accuracy of the integral measurement of the attitude sensor.
In one possible implementation, the method is applied to an attitude sensor for measuring the position or rotation angle of a disconnector in an electrical power system. The isolation switch may be a motor driven isolation switch, a spring driven isolation switch, or other powered isolation switch, and the specific type of isolation switch is not limited by this disclosure. The attitude sensor may be mounted on a transmission member of the disconnector.
In one possible implementation, a gyroscope (e.g., a 6-axis gyroscope chip) may be included in the attitude sensor for periodically acquiring the angular velocity and acceleration of the isolator. The acquisition period can be set according to actual conditions, and the disclosure does not limit this.
In one possible implementation manner, in step S11, the motion parameter of the isolator at each acquisition time may be determined according to the angular velocity of the isolator periodically acquired by the gyroscope in the attitude sensor.
The motion parameter may be used to indicate a motion state of the disconnector, and the motion parameter may be, for example, a moment, an angular velocity, an angular displacement, a vibration amplitude, a bouncing speed, or the like. The motion parameters of the disconnector may differ from one type of disconnector to another. Those skilled in the art can determine the appropriate motion parameter according to the specific type of the isolation switch, and the disclosure is not limited thereto.
In a possible implementation manner, a gyroscope in the attitude sensor can periodically acquire the angular velocity of the isolating switch, and according to the acquired angular velocity, the motion parameters of the isolating switch at each acquisition moment can be determined. That is, for any angular velocity, the motion parameter at the same time corresponds to it.
In one possible implementation, the motion parameters are different and their determination is different. For example, when the motion parameter is an angular velocity, the angular velocity acquired by the gyroscope can be directly determined as the motion parameter at the same moment; when the motion parameter is a moment, the moment at the same time can be calculated by the second derivative of the angular velocity. It should be understood that, those skilled in the art may select the determination manner of the motion parameter of the isolating switch at each acquisition time according to the actual situation, and the disclosure does not limit this.
In a possible implementation manner, after the motion parameters of the isolator at each acquisition time are determined, in step S12, the abrupt change of the motion parameters of the isolator at the current time is determined according to the motion parameters of the isolator at each acquisition time and the first preset time duration, where the current time is the latest acquisition time.
Wherein the first preset duration represents a time interval between two motion quantities used for calculating the amount of the sudden change. The first preset time period can be set according to actual conditions, for example, the first preset time period of the isolating switch driven by the motor can be set as the starting time of the isolating switch, namely the time from the energization of the motor to the stable motion, namely the time from the static state to the uniform motion state of the isolating switch; the first preset duration of the spring-driven disconnector may be set to the on-off time of the disconnector, i.e. the movement time of the disconnector from on to off or from on to off. The setting basis and the specific value of the first preset duration are not limited in the present disclosure.
In a possible implementation manner, when the abrupt change of the motion parameter of the isolating switch at the current moment is determined, two motion parameters participating in operation can be determined according to the motion parameter of the isolating switch at each acquisition moment and the first preset time length, and the difference value between the two motion parameters is determined as the abrupt change of the motion parameter of the isolating switch at the current moment.
For example, assuming that the motion parameter is a moment, the moment of the disconnector at time t1 (i.e. the current time) is Mt1The moment of the disconnector at time t2 (i.e. before time t1 and at a first preset time interval from time t 1) is Mt2Then, the torque of the disconnector at time t1 has a sudden change Δ M ═ Mt1-Mt2Where, the first preset time period t is t1-t 2. It should be understood that the abrupt change of other motion parameters is calculated in a similar manner to the abrupt change of the moment, and thus will not be described herein again.
In one possible implementation, the two motion quantities of the calculated argument may be determined by sliding windows. The time difference between the two ends of the sliding window is a first preset time length. The moment at the right end of the sliding window can be determined as the current moment, and the abrupt change of the motion parameters of the isolating switch at the current moment can be obtained by calculating the difference between the motion parameters corresponding to the moments at the two ends of the sliding window. The sliding window will gradually move to the right as the current time moves forward.
In a possible implementation manner, after calculating the abrupt change amount of the motion parameter at the current time, it may be determined whether the abrupt change amount is greater than or equal to a preset first abrupt change amount threshold, and when the abrupt change amount is greater than or equal to the preset first abrupt change amount threshold, it is determined that the isolator starts to move, and in step S13, the current time may be determined as the starting time of the isolator corresponding to the motion parameter.
Wherein, the motion parameters are different, and the corresponding first mutation amount threshold value may be different. The first abrupt change amount threshold value is determined, and the interference of external factors (such as wind), the shaking of the isolating switch and the like are considered. The first mutation amount threshold value can be set by a person skilled in the art according to practical situations, and the disclosure does not limit this.
In a possible implementation manner, after the activation time of the isolator corresponding to the motion parameter is determined, in step S14, a first integration start time may be determined according to the first preset time duration and the activation time, and in step S15, a first integration end time may be determined according to the first preset time duration, the activation time, and a second preset time duration.
And the second preset time length represents the on-off time of the isolating switch, namely the movement time of the isolating switch from on to off or from on to off. The type or model of the isolating switch is different, and the opening and closing time of the isolating switch can be different. The specific value of the second preset time period may be determined according to the type and/or model of the isolating switch, which is not limited in this disclosure.
In one possible implementation manner, in step S16, an integration time period may be determined according to the first integration start time and the first integration end time, and an integration operation may be performed on the angular velocity in the integration time period to obtain a first angular displacement of the isolator in the integration time period.
In a possible implementation mode, the attitude sensor can determine the position of the isolating switch according to the first angular displacement, and the sensing and monitoring of the on-off state of the isolating switch are realized.
In one possible implementation, in a case where the abrupt change amount is smaller than the first abrupt change amount threshold, the integration operation is not performed. Under the condition, the attitude sensor repeats the processing processes of collecting angular speed, calculating motion parameters and calculating mutation quantity of the motion parameters, but does not execute integral operation, and angular displacement output of the attitude sensor is not changed all the time, so that zero drift and temperature drift can be fundamentally overcome, and the accuracy of angular displacement measured by the attitude sensor can be improved.
In one possible implementation, step S12 may include: determining the motion parameters of the isolating switch at a second moment from the motion parameters of the isolating switch at each acquisition moment, wherein the second moment is a moment which is before the current moment and has a first preset time interval with the current moment; and carrying out differential operation on the motion parameter of the isolating switch at the current moment and the motion parameter of the isolating switch at the second moment, and determining the abrupt change of the motion parameter of the isolating switch at the current moment.
That is to say, when calculating the abrupt change, two motion parameters participating in the calculation may be determined from the motion parameters of the isolating switch at each acquisition time: the motion parameter of the isolating switch at the current moment and the motion parameter of the isolating switch at a second moment, wherein the second moment is a moment which is before the current moment and is separated from the current moment by a first preset time length; and then carrying out differential operation on the motion parameter of the isolating switch at the current moment and the motion parameter of the isolating switch at the second moment to obtain the abrupt change of the motion parameter of the isolating switch at the current moment.
In this embodiment, the abrupt change amount of the motion parameter of the isolator at the current moment is determined through differential operation, so that the accuracy of the abrupt change amount can be improved.
In one possible implementation, the motion parameter may include at least one of an angular velocity, a moment, and a second angular displacement representing an angular displacement of the disconnector between two adjacent acquisition instants. That is, the motion parameter may be one or more, and may be set according to actual conditions.
In one possible implementation, step S14 may include: for any motion parameter, determining the starting time of the isolating switch corresponding to the motion parameter, and determining the time before the starting time and separated from the starting time by a first preset duration as a second integration starting time corresponding to the motion parameter; the earliest of the second integration start timings is determined as the first integration start timing.
In a possible implementation manner, for any motion parameter, when determining the second integration starting time, the starting time of the isolating switch corresponding to the motion parameter may be determined first, and the motion parameters are different, and may be different from the corresponding starting time; and then determining the moment which is before the starting moment and is separated from the starting moment by a first preset duration as a second integration starting moment corresponding to the motion parameter.
In one possible implementation, after the second integration start time corresponding to each motion parameter is determined, the earliest time among the second integration start times may be determined as the first integration start time.
That is, when the motion parameter is one, the second integration start time corresponding to the motion reference may be directly determined as the first integration start time; when the motion reference is two or more, the earliest time can be selected from two or more second integration starting times by means of sorting, comparison and the like, and the time is determined as the first integration starting time.
In this embodiment, after the second integration start time corresponding to each motion parameter is determined, the earliest time among the second integration start times is determined as the first integration start time, so that the first integration start time satisfies the integration start times corresponding to all the motion parameters, thereby improving the accuracy of the first integration start time.
In a possible implementation manner, the motion parameter includes at least one of an angular velocity, a moment, and a second angular displacement, where the second angular displacement represents an angular displacement of the isolating switch between two adjacent acquisition moments, and the step S15 may include: respectively determining second integral ending time corresponding to each motion parameter according to the first preset time length, the starting time and the second preset time length; and determining the latest time in the second integration ending time as the first integration ending time.
In a possible implementation manner, when the motion parameter includes at least one of an angular velocity, a moment and a second angular displacement, second integration ending moments corresponding to the motion parameters may be respectively determined according to a first preset time length, a starting time corresponding to each motion parameter, and a second preset time length, and a latest moment among the second integration ending moments is determined as a first integration ending moment.
When the motion parameter is one, the second integration ending time corresponding to the motion reference can be directly determined as the first integration ending time; when the motion reference is two or more, the latest time can be selected from the two or more second integration end times by means of sorting, comparison and the like, and the time is determined as the first integration end time.
In this embodiment, after the second integration end time corresponding to each motion parameter is determined, the latest integration end time is determined as the first integration end time, so that the first integration end time meets the integration end times corresponding to all the motion parameters, and the accuracy of the first integration end time is improved.
In a possible implementation manner, the determining, according to the first preset time, the start time, and the second preset time, a second integration end time corresponding to each motion parameter may include:
under the condition that the motion parameter comprises angular speed or moment, judging whether the mutation quantity of the motion parameter of the isolating switch is larger than or equal to a preset second mutation quantity threshold value or not from a first moment, wherein the first moment is a moment which is after the starting moment and has a second preset duration with the starting moment;
determining the moment when the abrupt change of the motion parameter of the isolating switch is greater than or equal to the second abrupt change threshold value as the stop moment of the isolating switch;
and determining the time which is after the stopping time and is separated from the stopping time by the first preset time length as a second integration ending time corresponding to the motion parameter.
When the second abrupt change amount threshold is determined, the interference of external factors (such as wind), the jitter of the isolating switch and the like are considered. The second mutation amount threshold may be the same as or different from the first mutation amount threshold. The second mutation amount threshold may be set according to practical situations, and the disclosure does not limit this.
In a possible implementation manner, in the case that the motion parameter includes an angular velocity or a moment, after determining a start time corresponding to the motion parameter, the attitude sensor may stop determining whether the amount of the sudden change is greater than or equal to a first sudden change threshold.
Judging whether the mutation amount of the motion parameter of the isolating switch is larger than or equal to a preset second mutation amount threshold value or not from a first moment, wherein the first moment is a moment after the starting moment and separated from the starting moment by a second preset duration; then, determining the moment when the abrupt change of the motion parameter of the isolating switch is greater than or equal to the second abrupt change threshold value as the stopping moment of the isolating switch, namely, the stopping moment is the moment when the abrupt change of the motion parameter of the isolating switch is greater than or equal to the second abrupt change threshold value from the first moment; after the stop time of the disconnecting switch is determined, the time after the stop time and separated from the stop time by the first preset time length may be determined as a second integration end time corresponding to the motion parameter.
Fig. 2 shows a schematic diagram of a variation of a motion parameter according to an embodiment of the present disclosure. As shown in fig. 2, the motion parameter in the graph is a moment, the first sudden change threshold value and the second sudden change threshold value corresponding to the moment are different, and the disconnecting switch is a motor-driven disconnecting switch. When the isolating switch is switched on, the motor is electrified and started, the output torque of the motor is transmitted to the conducting rod of the isolating switch through the mechanical part and drives the conducting rod to move, when the conducting rod starts from a standstill, the attitude sensor can feel forward acceleration torque, when the sudden change of the torque is larger than or equal to a first sudden change threshold value, the starting moment of the isolating switch corresponding to the torque can be determined, the moment before the starting moment and separated from the starting moment by a first preset duration is determined as a second integral starting moment corresponding to the torque, and the attitude sensor can stop judging whether the sudden change of the torque is larger than or equal to the first sudden change threshold value or not;
after the acceleration torque lasts for a period of time, the conducting rod enters a uniform-speed running state, and the torque sensed by the attitude sensor is close to zero. After a second preset duration from the starting time, the attitude sensor can start to judge whether the moment mutation is larger than or equal to a second mutation threshold value. When the isolating switch is switched on in place, the conducting rod can be changed into a static state from a moving state due to the collision buffering effect of the limiting component, the attitude sensor can sense negative deceleration moment, when the sudden change of the moment is greater than or equal to a second sudden change threshold value, the stopping moment of the isolating switch corresponding to the moment can be determined, and the moment after the stopping moment and separated from the stopping moment by a first preset time length is determined as a second integral ending moment corresponding to the moment. In this way, the time period between the second integration start time and the second integration end time corresponding to the moment includes the entire movement process of the isolating switch from open to close.
After the motor is powered off and stopped, the isolating switch is always in a static state, and the torque sensed by the attitude sensor is zero.
The first mutation threshold and the second mutation threshold corresponding to the moment need to be larger than moment interference caused by external factors such as wind power and the like.
Fig. 3 shows a schematic diagram of a variation of a motion parameter according to an embodiment of the present disclosure. As shown in fig. 3, the motion parameter in the graph is an angular velocity, the first abrupt change threshold corresponding to the angular velocity is the same as the second abrupt change threshold, and the disconnecting switch is a motor-driven disconnecting switch. When the isolating switch is switched on (namely the isolating switch is switched off to be switched on), the motor is electrified and started, the motor can drive the conducting rod to accelerate from a standstill, the angular velocity starts to increase, when the sudden change of the angular velocity is larger than or equal to a first sudden change threshold value, the starting moment of the isolating switch corresponding to the angular velocity can be determined, the moment which is before the starting moment and is separated from the starting moment by a first preset time length is determined as a second integral starting moment corresponding to the angular velocity, and the attitude sensor can stop judging whether the sudden change of the angular velocity is larger than or equal to the first sudden change threshold value;
after the angular velocity gradually rises to a steady state, the device enters a uniform motion state. After a second preset duration from the starting time, the attitude sensor can start to judge whether the abrupt change of the angular velocity is greater than or equal to a second abrupt change threshold value. After the conducting rod moving at the uniform speed collides with the limiting device, the motor stops driving, the conducting rod enters a static state from a moving state, the angular speed is reduced, when the sudden change of the angular speed is greater than or equal to a second sudden change threshold value, the stopping time of the isolating switch corresponding to the angular speed can be determined, and the time after the stopping time and separated from the stopping time by a first preset time length is determined as a second integration ending time corresponding to the angular speed. In this way, the time period between the second integration start time and the second integration end time corresponding to the angular velocity includes the entire movement of the disconnector from on to off.
After the motor is powered off and stopped, the isolating switch is always in a static state, and the angular speed is also zero.
The first abrupt change threshold and the second abrupt change threshold corresponding to the angular velocity may be set to 1/2 of the maximum angular velocity of the isolating switch, so as to avoid false start caused by shaking of the isolating switch.
In a possible implementation manner, the determining, according to the first preset time, the start time, and the second preset time, a second integration end time corresponding to each motion parameter respectively includes:
under the condition that the motion parameter comprises a second angular displacement, judging whether the mutation amount of the motion parameter of the isolating switch is smaller than the mutation amount threshold value from a first moment, wherein the first moment is a moment which is after the starting moment and has a second preset time length with the starting moment;
determining the moment when the abrupt change of the motion parameter of the isolating switch is smaller than the abrupt change threshold value as the stop moment of the isolating switch;
and determining the time which is after the stopping time and is separated from the stopping time by the first preset time length as a second integration ending time corresponding to the motion parameter.
In a possible implementation manner, after determining the starting time corresponding to the motion parameter when the motion parameter includes the second angular displacement, the attitude sensor may stop determining whether the abrupt change is greater than or equal to the first abrupt change threshold.
Judging whether the abrupt change of the motion parameter of the isolating switch is smaller than a preset second abrupt change threshold value or not from a first moment, wherein the first moment is a moment after the starting moment and separated from the starting moment by a second preset duration; then, determining the moment when the abrupt change of the motion parameter of the isolating switch is smaller than a second abrupt change threshold value as the stopping moment of the isolating switch, namely, the stopping moment is the moment when the abrupt change of the motion parameter of the isolating switch is smaller than the second abrupt change threshold value from the first moment; after the stop time of the disconnecting switch is determined, the time after the stop time and separated from the stop time by the first preset time length may be determined as a second integration end time corresponding to the motion parameter.
Fig. 4 shows a schematic diagram of a variation of a motion parameter according to an embodiment of the present disclosure. As shown in fig. 4, it is assumed that, without considering jitter in the motion process, the angular displacement of the disconnector is a monotonic function of time, and when the disconnector is closed, the angular displacement monotonically increases, and after the disconnector is closed in place, the angular displacement stops increasing. Correspondingly, when the isolating switch is opened (namely the isolating switch is opened from closed to time), the angular displacement monotonously reduces, and after the isolating switch is in place, the angular displacement stops reducing. The motion parameter in the figure is a second angular displacement (namely, the angular displacement of the isolating switch between two adjacent acquisition moments), a first mutation threshold corresponding to the second angular displacement is the same as a second mutation threshold, and the isolating switch is a motor-driven isolating switch.
When the isolating switch is switched on, the motor is electrified and started, the motor can drive the conducting rod to accelerate from a standstill, the rotating angular displacement of the isolating switch starts to increase, the second angular displacement also starts to increase, when the sudden change of the second angular displacement is larger than or equal to the first sudden change threshold value, the starting moment of the isolating switch corresponding to the second angular displacement can be determined, the moment before the starting moment and separated from the starting moment by a first preset time length is determined as the second integral starting moment corresponding to the second angular displacement, and the attitude sensor can stop judging whether the sudden change of the second angular displacement is larger than or equal to the first sudden change threshold value or not;
from the start time, the attitude sensor may start to determine whether the amount of discontinuity of the second angular displacement is less than a second discontinuity threshold. After the conducting rod moving at the uniform speed collides with the limiting device, the motor stops driving, the conducting rod enters a static state from a moving state, the angular displacement rotated by the isolating switch stops increasing, the second angular displacement is reduced, when the sudden change of the second angular displacement is smaller than a second sudden change threshold value, the stopping time of the isolating switch corresponding to the second angular displacement can be determined, and the time after the stopping time and at the interval of a first preset time length with the stopping time is determined as a second integral ending time corresponding to the second angular displacement. Thus, the time period between the second integration start time and the second integration end time corresponding to the second angular displacement includes the entire movement of the disconnector from on to off.
The first abrupt change amount threshold value and the second abrupt change amount threshold value corresponding to the second angular displacement may be set to 1/4 of the opening and closing angle of the disconnecting switch.
In a possible implementation manner, when the motion parameter includes the second angular displacement, after the starting time corresponding to the motion parameter is determined, the attitude sensor may also directly start to judge whether the abrupt change of the motion parameter is smaller than a second abrupt change threshold value, without stopping and waiting for the first time to restart the judgment.
In a possible implementation manner, when the motion parameters are two or more, after all the motion parameters are started, that is, after the starting time of the disconnecting switch corresponding to each motion parameter is determined, the disconnecting switch is considered to start moving, the earliest time in the second integration starting time corresponding to each motion parameter can be determined as the first integration starting time, and the latest time in the second integration ending time corresponding to each motion parameter can be determined as the first integration ending time, so that the integration time period can be determined.
In one possible implementation, the method may further include: periodically acquiring the acceleration of the isolating switch through a gyroscope in the attitude sensor; and adjusting the first angular displacement according to the acceleration in the integral time period to obtain the adjusted first angular displacement.
In a possible implementation manner, a gyroscope in the attitude sensor can periodically acquire the acceleration of the isolating switch. After the angular velocity in the integration time period is integrated to obtain the first angular displacement, the first angular displacement may be adjusted (for example, corrected or compensated) according to the acceleration of the isolator in the integration time period acquired by the gyroscope to obtain the adjusted first angular displacement.
And the attitude sensor determines the position of the isolating switch according to the adjusted first angular displacement, so that the error can be reduced, and the accuracy is improved.
In one possible implementation, the method may further include: and storing the angular speed and the acceleration of the isolating switch acquired periodically by using the first circulating cache region, and storing the motion parameters of the isolating switch by using the second circulating cache region.
The collected angular velocity and acceleration of the isolating switch are stored, so that the isolating switch is convenient to use in integral operation, or angular displacement obtained by integral is adjusted; the motion parameters of the isolating switch are stored, so that the abrupt change of the motion parameters can be conveniently determined. The first circular buffer area and the second circular buffer area are used for storing the data respectively, so that the storage space can be saved.
Fig. 5 shows a schematic diagram of a process of an isolator attitude sensor integral measurement method based on abrupt variable actuation according to an embodiment of the present disclosure. As shown in fig. 5, in step S501, the angular velocity of the isolator periodically acquired by the gyroscope in the attitude sensor is used, and the motion parameter of the isolator at each acquisition time is determined according to the acquired angular velocity of the isolator, in step S502, the abrupt change of the motion parameter of the isolator at the current time is determined according to the motion parameter of the isolator at each acquisition time and the first preset time length, and in step S503, whether the abrupt change is greater than or equal to the first abrupt change threshold is determined;
if the mutation amount is smaller than the first mutation amount threshold, re-executing step S501, step S502 and step S503;
if the abrupt change amount is greater than or equal to the first abrupt change amount threshold value, executing step S504, determining the current time as the starting time of the isolating switch corresponding to the motion parameter, and determining a first integration starting time and a first integration ending time corresponding to the motion parameter in step S505; then, in step S506, a time period between the first integration start time and the first integration end time is determined as an integration time period, and an integral motion is performed on the angular velocity in the integration time period, so as to obtain a first angular displacement of the isolator in the integration time period. The attitude sensor may determine the position of the isolator switch according to the first angular displacement integrated in step S506.
It should be noted that, although the above embodiment is taken as an example to describe the method for integrating and measuring the isolator attitude sensor based on abrupt change starting, the person skilled in the art can understand that the disclosure should not be limited to this. In fact, the user can flexibly set each step according to personal preference and/or actual application scene, as long as the technical scheme of the disclosure is met.
According to the embodiment of the disclosure, the starting time of the isolating switch can be determined through the abrupt change of the motion parameter, the integration starting time and the integration ending time are further determined, the integration time period is obtained, the angular velocity in the integration time period is integrated, and the angular displacement of the isolating switch in the integration time period is obtained.
The attitude sensor of the embodiment of the disclosure can be used for measuring the angular displacement (namely the rotation angle) of the isolating switch, the current position of the isolating switch can be judged through the rotation angle, the problem that the opening and closing position of the isolating switch is difficult to reliably monitor is solved, and the automatic functions of 'one-key sequential control' and the like of a transformer substation are realized through configuration.
Having described embodiments of the present disclosure, the foregoing description is intended to be exemplary, not exhaustive, and not limited to the disclosed embodiments. Many modifications and variations will be apparent to those of ordinary skill in the art without departing from the scope and spirit of the described embodiments. The terminology used herein is chosen in order to best explain the principles of the embodiments, the practical application, or improvements made to the technology in the marketplace, or to enable others of ordinary skill in the art to understand the embodiments disclosed herein.
Claims (10)
1. An isolation switch attitude sensor integral measurement method based on abrupt change starting is characterized by comprising the following steps:
determining motion parameters of the isolating switch at each acquisition moment according to the angular speed of the isolating switch periodically acquired by a gyroscope in the attitude sensor;
determining a break variable of the motion parameter of the isolating switch at the current time according to the motion parameter of the isolating switch at each acquisition time and a first preset time length, wherein the first preset time length represents a time interval between two motion parameters for calculating the break variable, and the current time is the latest acquisition time;
determining the current moment as the starting moment of the isolating switch corresponding to the motion parameter under the condition that the mutation quantity is greater than or equal to a preset first mutation quantity threshold value;
determining a first integral starting time according to the first preset time and the starting time;
determining a first integral ending time according to the first preset time, the starting time and a second preset time, wherein the second preset time represents the on-off time of the isolating switch;
and carrying out integral operation on the angular speed in an integral time period to obtain a first angular displacement of the isolating switch in the integral time period, wherein the integral time period is a time period between the first integral starting time and the first integral ending time.
2. The method of claim 1, wherein the motion quantities include at least one of angular velocity, moment, and a second angular displacement representing an angular displacement of the disconnector between two adjacent acquisition moments,
determining a first integration starting time according to the first preset time and the starting time, wherein the determining comprises:
for any motion parameter, determining the starting time of the isolating switch corresponding to the motion parameter, and determining the time before the starting time and separated from the starting time by a first preset duration as a second integration starting time corresponding to the motion parameter;
the earliest of the second integration start timings is determined as the first integration start timing.
3. The method of claim 1, wherein the motion quantities include at least one of angular velocity, moment, and a second angular displacement representing an angular displacement of the disconnector between two adjacent acquisition moments,
determining a first integral ending time according to the first preset time, the starting time and a second preset time comprises the following steps:
respectively determining second integral ending time corresponding to each motion parameter according to the first preset time length, the starting time and the second preset time length;
and determining the latest time in the second integration ending time as the first integration ending time.
4. The method of claim 3, wherein the determining a second integration end time corresponding to each motion parameter according to the first preset time period, the start time and a second preset time period comprises:
under the condition that the motion parameter comprises angular speed or moment, judging whether the mutation quantity of the motion parameter of the isolating switch is larger than or equal to a preset second mutation quantity threshold value or not from a first moment, wherein the first moment is a moment which is after the starting moment and has a second preset duration with the starting moment;
determining the moment when the abrupt change of the motion parameter of the isolating switch is greater than or equal to the second abrupt change threshold value as the stop moment of the isolating switch;
and determining the time which is after the stopping time and is separated from the stopping time by the first preset time length as a second integration ending time corresponding to the motion parameter.
5. The method of claim 3, wherein the determining a second integration end time corresponding to each motion parameter according to the first preset time period, the start time and a second preset time period comprises:
under the condition that the motion parameter comprises a second angular displacement, judging whether the mutation amount of the motion parameter of the isolating switch is smaller than a preset second mutation amount threshold value from a first moment, wherein the first moment is a moment after the starting moment and separated from the starting moment by a second preset duration;
determining the moment when the abrupt change of the motion parameter of the isolating switch is smaller than the second abrupt change threshold value as the stop moment of the isolating switch;
and determining the time which is after the stopping time and is separated from the stopping time by the first preset time length as a second integration ending time corresponding to the motion parameter.
6. The method of claim 1, wherein the determining the abrupt change of the motion parameter of the isolating switch at the current time according to the motion parameter of the isolating switch at each acquisition time and the first preset time duration comprises:
determining the motion parameters of the isolating switch at a second moment from the motion parameters of the isolating switch at each acquisition moment, wherein the second moment is a moment which is before the current moment and has a first preset time interval with the current moment;
and carrying out differential operation on the motion parameter of the isolating switch at the current moment and the motion parameter of the isolating switch at the second moment, and determining the abrupt change of the motion parameter of the isolating switch at the current moment.
7. The method of claim 1, further comprising: in a case where the mutation amount is smaller than the first mutation amount threshold value, no integration operation is performed.
8. The method of claim 1, further comprising:
periodically acquiring the acceleration of the isolating switch through a gyroscope in the attitude sensor;
and adjusting the first angular displacement according to the acceleration in the integral time period to obtain the adjusted first angular displacement.
9. The method of claim 8, further comprising:
and storing the angular speed and the acceleration of the isolating switch acquired periodically by using the first circulating cache region, and storing the motion parameters of the isolating switch by using the second circulating cache region.
10. The method of claim 1, further comprising:
and determining the position of the isolating switch according to the first angular displacement.
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