CN113758696B - Three-dimensional stereo signal acquisition device - Google Patents
Three-dimensional stereo signal acquisition device Download PDFInfo
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- CN113758696B CN113758696B CN202111051193.XA CN202111051193A CN113758696B CN 113758696 B CN113758696 B CN 113758696B CN 202111051193 A CN202111051193 A CN 202111051193A CN 113758696 B CN113758696 B CN 113758696B
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01M—TESTING STATIC OR DYNAMIC BALANCE OF MACHINES OR STRUCTURES; TESTING OF STRUCTURES OR APPARATUS, NOT OTHERWISE PROVIDED FOR
- G01M13/00—Testing of machine parts
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01H—MEASUREMENT OF MECHANICAL VIBRATIONS OR ULTRASONIC, SONIC OR INFRASONIC WAVES
- G01H17/00—Measuring mechanical vibrations or ultrasonic, sonic or infrasonic waves, not provided for in the preceding groups
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- G—PHYSICS
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- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S5/00—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations
- G01S5/18—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations using ultrasonic, sonic, or infrasonic waves
- G01S5/22—Position of source determined by co-ordinating a plurality of position lines defined by path-difference measurements
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- Y04S10/00—Systems supporting electrical power generation, transmission or distribution
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Abstract
The invention discloses a three-dimensional stereo sound signal acquisition device, which belongs to the field of mechanical fault detection and comprises three sound sensors and four cross beams, wherein the up-down, left-right and front-back positions of the sensors in the device can be adjusted according to requirements, so that multi-dimensional, multi-angle and stereo fault information acquisition is realized, and meanwhile, the movement of the sensors is more regular and standard due to quantification of coordinates of the three sensors. The sound collection device is arranged right in front of the high-voltage breaker operating mechanism, and when mechanical failure occurs to generate sound, the sound collection device can realize one-time quick positioning of two-dimensional sound source coordinates according to the positioning technology principle of sound time difference without moving and adjusting the position of a sensor; the accurate positioning of the three-dimensional sound source coordinates can also be realized through one or more sensor positions. The method solves the optimization problem containing inequality constraint, is simple in calculation, can rapidly and accurately locate the fault sound source coordinates, and has important application value for on-line monitoring and research of mechanical faults of the high-voltage circuit breaker.
Description
Technical Field
The invention belongs to the field of mechanical fault detection of high-voltage circuit breakers, and relates to sound signal acquisition of mechanical faults of high-voltage circuit breakers; in particular to a three-dimensional stereo signal acquisition device.
Background
As an important control, protection and isolation switching device in an electric power system, reliable operation of a high-voltage circuit breaker is significant for safety of a power grid. High voltage circuit breakers are functionally performed by means of the correct action of their mechanical components, the state of their mechanical characteristics being directly related to the safe operation of the system [1] . Statistics show that the high voltage circuit breakerThe mechanical faults account for 70% -80% of all faults. The development of the mechanical state evaluation and fault diagnosis technology and the detection equipment of the high-voltage circuit breaker has great and profound significance.
LW30-252 SF 6 The high-voltage circuit breaker is composed of an arc extinguishing chamber, a pillar porcelain bushing, a transmission case and an operating mechanism, the total height can reach 6.9 meters, the size is large, the electromagnetic compatibility problem is serious, the interference of an external electric field is much larger than that of other circuit breakers, and the original sample collection and fault detection are more difficult.
In connection with mechanical fault diagnosis of high voltage circuit breakers, there is literature to monitor coil current [2] Contact travel [3] Mechanical vibration [4] And sound signals are dominant.
The coil current signal is sensitive to faults of the coil and the secondary circuit part, the coil current waveform is closely related to the state of the transmission mechanism system and the iron core, a theoretical basis is provided for timely finding early faults of the circuit breaker, but the secondary circuit is required to be opened for field measurement of the coil current signal, the measurement is inconvenient, and part of mechanical defects cannot be reflected in the current signal.
The contact travel signal can reflect mechanical characteristic parameters such as contact opening distance, travel, over travel, rigid opening/closing speed, opening/closing different phases and the like, physical significance of each phase is clear, but the rotation angle-travel ratio of the circuit breaker of each manufacturer is different, uniform measurement is difficult, and the travel sensor is inconvenient to install in field application, has single characteristics and is unfavorable for diagnosing complex faults.
The high-voltage circuit breaker mechanical vibration signal contains a large amount of equipment state information, and the monitoring of the high-voltage circuit breaker mechanical vibration signal does not influence the operation of the circuit breaker, is not influenced by an electromagnetic field, and has the advantages of good signal-to-noise ratio and the like. However, the vibration amplitude is 20000m/s when the breaker is opened or closed 2 In the interior [5] And SF of 252kV 6 Amplitude of the breaker can reach 80000m/s during opening 2 Above, too big amplitude is extremely fragile sensor, and easily appears cutting the saturation phenomenon on top, and the mounted position of sensor has very big influence to amplitude and frequency simultaneously.
The sound signal is generated by mechanical vibration of the circuit breaker and is homologous to the vibration signalThe number, the sound sensor simple to operate, the signal is less influenced by mounting means, the simple operation compares with vibration signal has very big advantage [6] And the measurement frequency bandwidth and amplitude of the sound signal are smaller, so that the saturation failure phenomenon can be effectively avoided. Meanwhile, the voice of the SF6 circuit breaker of 252kV can reach 120dB during opening and closing, and the voice sensor has difficulty in type selection.
Document [7 ]]An acoustic sensor is used and placed on the ground which is about 1.5 meters away from the breaker, and is used for LW30-252 porcelain column type outdoor high-voltage SF 6 The circuit breaker collects sound signals, and mechanical faults of the high-voltage circuit breaker are identified based on the sound signals; document [8 ]]A sound sensor is arranged at the position of 20 cm of the rear side of the DW15 series universal circuit breaker in a non-contact way, and is combined with the collected vibration signals, so as to provide a multi-feature fusion and QPSO-RVM universal circuit breaker opening and closing fault vibration sound diagnosis method; document [9 ]]Two bullet-type waterproof sound sensors are adopted and placed at the positions of 150 cm far away from the ZN65-12 vacuum circuit breaker, and the fusion processing and fault diagnosis methods of various signals are researched; document [10 ]]A sound sensor is arranged on a fixed base which is 10cm away from a ZN65-12 type breaker shell, sound signals of two working conditions of the vacuum breaker are collected, and fault diagnosis is carried out on the working conditions by combining vibration signals.
The above documents only adopt one or two sound sensors to collect sound signals of the circuit breaker, the positions of the sensors are fixed and not movable, the information of the circuit breaker cannot be collected in multiple dimensions and multiple angles, and three-dimensional positioning of fault points cannot be achieved. The documents [11-15] design a sound collection device based on a microphone array, but the number of microphones is huge, so that the collected information is redundant, and the processing process is complex and time-consuming.
Therefore, how to select proper sound sensor and design sensor adjustable bracket to the mechanical fault sound characteristics of 110kV, 252kV and above high-voltage circuit breaker, to form a three-dimensional stereo sound signal acquisition device, to realize the sensor position variable, relative coordinate clear and multi-dimension acquisition of the fault sound information of the high-voltage circuit breaker, and to rapidly and accurately stereo position the fault point through the information is the key problem to be solved.
Reference to the literature
[1] Guan Yonggang, yang Yuanwei, zhong Jianying, et al. Methods for diagnosing mechanical faults of high voltage circuit breakers overview [ J ]. High voltage electrical appliances, 2018,54 (07): 10-19.GUAN Yonggang,YANG Yuanwei,ZHONG Jianying,et al.Review on mechanical fault diagnosis methods for high-voltage circuit breakers [ J ]. High Voltage Apparatus,2018,54 (07): 10-19.
[2] Zhu Jipeng the method for diagnosing faults of operating mechanisms of high-voltage circuit breakers is studied [ D ]. North China electric university, 2019.ZHU Jipeng.Research on Fault Diagnosis Method of Operating Mechanism of High Voltage Circuit Breaker[D ]. School of Electrical and Electronic Engineering,2019.
[3]NIU Weihua,LIANG Guishu,YUAN Hejin,et al.A Fault Diagnosis Method of High Voltage Circuit Breaker Based on Moving Contact Motion Trajectory and ELM[J].Mathematical Problems in Engineering,2016,(2016-11-17),2016,2016(PT.11):1-10.
[4] Wanghao, wu Jianwen, ma Suliang, etc. high voltage circuit breaker mechanical fault diagnosis technical research based on nuclear principal component analysis-SoftMax [ J ]. Technical journal of electrotechnology, 2020, 35 (S1): 267-276.WANG Yuhao,WU Jianwen,MA Suliang,et al.Mechanical fault diagnosis research of high voltage circuit breaker based on kernel principal component analysis and soft max[J ]. Transactions of China Electrotechnical Society,2020, 35 (S1): 267-276 (in Chinese).
[5] The analysis and diagnosis method of failure mechanism of spring operating mechanism of the breaker is researched by [ D ]. North China university of electric power (Beijing), 2019.DOU Longjiang.Research on the Fault Mechanism Analysis and Diagnosis Method of Circuit Breaker Spring Operating Mechanism[D ]. School of Electrical and Electronic Engineering,2019.
[6] Zhao Shutao, wang Yaxiao, sun Huiwei, etc. breaker failure diagnosis methods based on adaptive weight evidence theory are studied [ J ]. Chinese motor engineering theory, 2017,37 (23): 7040-7046+7096.ZHAO Shutao,WANG Yaxiao,SUN Huiwei,et al.Research of Circuit Breaker Fault Recognition Method Based on Adaptive Weighted of Evidence Theory[J ]. Proceedings of the CSEE,2017,37 (23): 7040-7046+7096.
[7] Yang Yuanwei, guan Yonggang, chen Shigang, wang Jingjun, zhao Ke. Method for diagnosing mechanical failure of high voltage circuit breaker based on sound signal [ J ]. Chinese motor engineering journal, 2018,38 (22): 6730-6737.YANG Yuanwei,GUAN Yonggang,CHEN Shigang,et al.Mechanical Fault Diagnosis Method of High Voltage Circuit Breaker Based on Sound Signal[J ]. Proceedings of the CSEE,2018,38 (22): 6730-6737 (in Chinese).
[8] Sun Shuguang, break, du Taihang, wang Jingqin, zhao Liyuan. Universal method for diagnosing faults in circuit breakers based on multi-feature fusion and improved QPSO-RVM [ J ]. Protect, 2017,32 (19): 107-117.Sun Shuguang,Yu Han,Du Taihang,et al.Vibration and Acoustic Joint Fault Diagnosis of Conventional Circuit Breaker Based on Multi-Feature Fusion and Improved QPSO-RVM [ J ]. Transactions of China Electrometrical Society,2017,32 (19): 107-117.
[9] Wang Yaxiao the method for identifying the state of the high-voltage circuit breaker based on the combined analysis of sound and vibration signals is researched by [ D ]. North China electric university, 2017.WANG Yaxiao.Research on High Voltage Circuit Breaker Status Based on Sound and Vibration Signal[D ]. North China Electric Power University,2017.
[10] Cai Sun, wang Yaxiao. Method for diagnosing faults of circuit breaker based on joint Analysis of characteristic entropy of acoustic vibration segments [ J ]. Instrumentation and Analysis Monitoring,2016, {4} (03): 1-4.CAI Sun,WANG Yaxiao.Based on Sound and Vibration Segmentation Feature Entropy Analysis Method in Circuit Breaker Fault Diagnosis[J }, instrumentation. Analysis. Monitoring,2016, {4} (03): 1-4.
[11] Cui Weiwei, wei Jianjiang methods and apparatus for locating sound sources using microphones are described as CN, CN 1952684A [ P ].
[12] And (Tian Qingfu), village, mountain, filigree, sound collection/reproduction method and apparatus CN 200680045728 a [ p ].
[13]Zhu J,Zhang X,Luo Z,et al.MICROPHONE ARRAY SOUND SOURCE POSITIONING METHOD AND DEVICE:,WO2018223639A1[P].
[14]Mccowan I A.A microphone array system and method for sound acquistion:,2014.
[15]Matsuo N.Microphone array:US,US6757394 B2[P].2003.
Disclosure of Invention
In order to solve the problems that in the mechanical fault sound signal acquisition process of the high-voltage circuit breaker, the position is single and fixed, the dimension is smaller, the information is not rich, the sensor position is ambiguous, the calculation is complex and the sound source positioning cannot be realized, the invention provides the three-dimensional stereo sound signal acquisition device, the up-down, left-right and front-back three-dimensional positions of three sound sensors can be automatically adjusted according to the needs, the multi-dimensional, multi-angle and stereo acquisition of three-way sound signals can be simultaneously satisfied, the richer sound information is acquired through the three sound sensors at different spatial positions, the coordinate digitization of the three sensors is realized, the coordinate positions of the sound sensors are more intuitively, rapidly and accurately confirmed, and the rapid and accurate stereo spatial positioning of the fault sound source can be realized according to the positioning technology of the sound time difference. The method solves the optimization problem containing inequality constraint, is simple, quick, convenient and accurate in calculation, and has important application value for on-line monitoring and research of mechanical faults of the high-voltage circuit breaker.
The three-dimensional stereo sound collecting device comprises three sound sensors, a base and four sliding cross beams; the three sound sensors are a first sound sensor, a second sound sensor and a third sound sensor respectively; the sliding cross beams are respectively a first sliding cross beam, a second sliding cross beam, a third sliding cross beam and a fourth sliding cross beam;
the second sliding cross beam is fixed on the base and is vertical to the base; the second sliding cross beam is provided with 16-24 fixing holes at equal intervals, the first sliding cross beam is fixed at the top end and parallel to the base for fixing the first sound sensor; the bottom end is fixed with a fourth sliding cross beam, the fourth sliding cross beam is parallel to the first sliding cross beam and is respectively positioned at two sides of the second sliding cross beam, and the first sliding cross beam and the fourth sliding cross beam can slide up and down in the fixed holes of the second sliding cross beam to adjust different heights.
8-12 fixed holes are formed in the first sliding cross beam at equal intervals, and the first sound sensor can move back and forth on different holes;
the fourth sliding cross beam is provided with 4-8 equidistant fixing holes, a third sliding cross beam is horizontally and vertically arranged on the fourth sliding cross beam, a clamping groove is arranged in the middle of the third sliding cross beam and is buckled with the fourth sliding cross beam, and the third sliding cross beam moves back and forth on the fourth sliding cross beam.
The third sliding cross beam is used for fixing the second sound sensor and the third sound sensor, and is provided with 17-21 equidistant fixing holes, the two sound sensors are positioned on the sliding cross beam and can move left and right on the third sliding cross beam, and the two sound sensors are positioned on the same side of the cross beam or respectively positioned at two ends of the cross beam, and the distance between the two sound sensors is adjustable.
The three-dimensional stereo sound collection device is fixed on the tripod and is placed right in front of the high-voltage circuit breaker operating mechanism, and when the high-voltage circuit breaker generates mechanical faults to generate sound, the specific process for estimating the sound source space position is as follows:
step one, calculating the distance difference of the sound source reaching any two sensors, namely, the sound path difference a;
the calculation formula is as follows:
a＝v×τ (1)
τ is the time difference between the arrival of sound at two different position sound sensors; v is the sound propagation velocity in air;
step two, when the sound sensor and the sound source are on the same plane, determining the plane position of the sound source;
the method comprises the following steps: from the knowledge of the geometrical correlation, it can be seen that the time difference τ between reaching the first and third acoustic sensors 1 Determining hyperbola a 1 Also, according to the time difference τ between reaching the second and third sensors 2 Determining hyperbola a 2 And determining the plane position of the sound source according to the intersection point of the two hyperbolas.
Step three, when the sound sensor and the sound source are not in the same plane, collecting the sound source and the three-dimensional stereo soundThe distance r of the device satisfies
When the sound is diffused to the periphery through the medium in the form of spherical waves; when the distance r does not meet the above condition, the sound wave is transmitted to the sound collection device in the form of a plane wave.
Wherein L is the diameter of the sound collecting device, and lambda is the wavelength of sound waves.
When sound diffuses to the periphery in a spherical wave mode, setting a base of the three-dimensional stereo sound collecting device as a coordinate origin, taking a left-right direction as an x-axis direction, a front-back direction as a y-axis direction and taking an up-down direction as a z-direction, and constructing a three-dimensional sound source model for determining three-dimensional coordinates of a sound source;
the method is concretely characterized by comprising the following steps:
(1) Case one: when the coordinate of a certain dimension of the sound source is known, taking the coordinate of the y direction as an example, the same theory of the x direction and the z direction is calculated; when the high-voltage circuit breaker emits sound due to mechanical faults, the coordinates in the y direction are the known quantity y0, and the position of the fault sound source can be judged only by knowing the coordinates in the x and z directions of the fault sound source through the three-dimensional stereo sound collecting device, so that sound source positioning is realized.
The specific calculation is as follows: the coordinates of the first sound sensor are (x 1, y1, z 1), the coordinates of the second sound sensor are (x 2, y2, z 2), the coordinates of the third sound sensor are (x 3, y3, z 3), and the three-dimensional coordinates of the sound source are (x, y0, z); calculating the space positioning of the sound source by utilizing the time delay from the sound source to each sensor aiming at the current positions of the three sensors;
the expression is as follows:
a 21 ＝v×τ 21 (4)
a 31 ＝v×τ 31 (5)
the delay time for reaching the second sound sensor is tau based on the time for reaching the first sound sensor 21 Millisecond delay of tau to reach the third sound sensor 31 Millisecond. At this time, the two equations of the two unknowns x and z do not need to adjust the relative positions of the three sound sensors, and the coordinates of the mechanical fault sound source of the high-voltage circuit breaker can be rapidly determined by only one calculation.
In order to realize rapid calculation and acquisition of the fault sound source coordinates, the binary quadratic problem is converted into an optimization solving problem containing inequality constraint; the expression is as follows:
min FF＝f 1 +f 2
a 21 ＝v×τ 21
a 31 ＝v×τ 31
f 1 ≥0
f 2 ≥0
(2) And a second case: when the application condition is not only aimed at mechanical fault positioning of the high-voltage circuit breaker, three-dimensional coordinates of the x direction, the y direction and the z direction of the sound source are required to be determined simultaneously, a plurality of groups of coordinates and equations can be obtained by adjusting the positions of the three sound sensors, and then the time delay of the sound source to each sensor is utilized to calculate the space positioning of the sound source;
The expression is as follows:
a 21 ＝v×τ 21 (8)
a 31 ＝v×τ 31 (9)
the two equations correspond to three unknown quantities (x, y and z), the positions of the sound sensors need to be adjusted, three-dimensional sound information of the same faults is collected again, and sound source localization based on time delay is obtained; when the sound sensors are adjusted, the positions of only one sound sensor are adjusted, or the positions of two or three sound sensors are adjusted simultaneously, and the specific adjusting mode is determined according to actual needs.
I) When only one sensor is adjusted in position, the remaining two sensors remain stationary, and when the first acoustic sensor is selected for adjustment, the expression is as follows:
a 211 ＝v×τ 211 (12)
a 311 ＝v×τ 311 (13)
the first acoustic sensor has adjusted coordinates (x 11, y11, z 11) and a delay time τ of arrival at the second acoustic sensor based on the time of arrival of the acoustic source at the first acoustic sensor 211 Millisecond delay of tau to reach the third sound sensor 311 Millisecond.
At this time, four equations (6) (7) (10) and (11) are combined to solve three unknowns (x, y, z), three equations are arbitrarily selected from the four equations to solve three unknowns to be solved, and the three unknowns are shared
Four combination methods are adopted to obtain four sound source three-dimensional coordinates, and finally, the four coordinate results are averaged to obtain the final productIs a three-dimensional coordinate of the sound source.
Similarly, when only one sensor is adjusted, when the second sound sensor or the third sound sensor is selected to be adjusted, the coordinates of the first sound sensor are (x 1, y1, z 1) and the coordinates of the second sound sensor are updated to (x 22, y22, z 22) or the coordinates of the third sound sensor are updated to (x 33, y33, z 33) in the above formulas (10) and (11); in both cases, three equations correspond to three unknowns, and a unique solving result can be obtained as a final sound source three-dimensional coordinate.
II), when any two sound sensors or three sound sensors are required to be adjusted simultaneously, the formulas (10) and (11) are changed, and the four formulas (6) (7) (10) and (11) are combined to solve three unknowns (x, y, z); three equations are selected from four sets of equations to solve three unknown numbers to be solved, and the three-element quadratic problem is converted into an optimization solving problem containing inequality constraint and sharing
Four combination methods are adopted to obtain four sound source three-dimensional coordinates, and finally, the four coordinate results are averaged to obtain the final sound source three-dimensional coordinates.
In order to realize rapid calculation and acquisition of the coordinates of the fault sound source and avoid the phenomenon that three equation sets have no solution because of errors, the three-element quadratic problem is converted into an optimization solution problem containing inequality constraint.
The expression is as follows:
min FF＝f 1 +f 2 +f 3
a 21 ＝v×τ 21
a 31 ＝v×τ 31
a 2211 ＝v×τ 2211
f 1 ≥0
f 2 ≥0
f 3 ≥0
the invention has the advantages that:
1) The three-dimensional stereo sound signal acquisition device can automatically adjust the up-down, left-right and front-back positions of the three sound sensors according to the needs, so that multi-dimensional, multi-angle and stereo fault information acquisition is realized, the quantification of the coordinates of the three sound sensors can be realized, the coordinate positions of the sound sensors can be confirmed more intuitively, rapidly and accurately, and the movement of the sensors is more regular and standard.
2) The three-dimensional stereo sound signal acquisition device has the farthest distances of 340 mm in each direction, and the maximum sound delay can reach 1 millisecond in each dimension according to the propagation speed of sound in the air being 340 m/s.
3) According to the positioning technology principle of sound time difference, the position of the sensor does not need to be moved and adjusted, and the one-time quick positioning of the two-dimensional sound source coordinates can be realized; the accurate positioning of the three-dimensional sound source coordinates can also be realized through one or more sensor positions.
4) The three-dimensional stereo signal acquisition device solves the optimization problem containing inequality constraint, is simple, quick, convenient and accurate in calculation, and has important application value for on-line monitoring and research of mechanical faults of the high-voltage circuit breaker.
Drawings
FIG. 1 is an assembly diagram of a three-dimensional stereo sound collection device, sonidworks, employed in the present invention;
FIG. 2 is a three-dimensional stereo field modeling diagram established by the invention;
FIG. 3 is a physical diagram of a sound sensor and a power distribution module used in the present invention;
FIG. 4 is a physical diagram of a three-dimensional stereo sound collecting device used in the present invention;
FIG. 5 is a graph of the relative position of three acoustic sensors employed in the present invention;
fig. 6 is a schematic diagram of the sound time difference localization technique according to the present invention.
Detailed Description
The invention is described in further detail below with reference to examples and figures;
aiming at the mechanical fault sound characteristics of the high-voltage circuit breakers of 110kV, 252kV and above, the invention selects a proper sound sensor, designs a three-dimensional stereo sound bracket, and forms a three-dimensional stereo sound signal acquisition device for acquiring the mechanical fault sound signals of the high-voltage circuit breakers; the device comprises three sound sensors and five movable modules, wherein the modules are mutually linked and tightly matched.
The three-dimensional stereo sound collecting device, as shown in figure 1, comprises three sound sensors, a base and four sliding cross beams; the three sound sensors are a first sound sensor, a second sound sensor and a third sound sensor respectively; the sliding cross beams are respectively a first sliding cross beam, a second sliding cross beam, a third sliding cross beam and a fourth sliding cross beam;
The second sliding cross beam is fixed on the base and is vertical to the base, and is a height adjusting rod of the whole device; 16-24 fixing holes are formed in the second sliding cross beam at equal intervals, the first sliding cross beam is fixed at the top end and parallel to the base, and the first sliding cross beam is used for fixing the first sound sensor; the bottom end is fixed with a fourth sliding cross beam, the fourth sliding cross beam is parallel to the first sliding cross beam and is respectively positioned at two sides of the second sliding cross beam, and the first sliding cross beam and the fourth sliding cross beam can slide up and down in the fixed holes of the second sliding cross beam to adjust different heights.
8-12 fixed holes are formed in the first sliding cross beam at equal intervals, and the first sound sensor can move back and forth on different holes;
the fourth sliding cross beam is provided with 4-8 equidistant fixing holes, a third sliding cross beam is horizontally and vertically arranged on the fourth sliding cross beam, a clamping groove is arranged in the middle of the third sliding cross beam and is buckled with the fourth sliding cross beam, and the third sliding cross beam moves back and forth on the fourth sliding cross beam.
The third sliding cross beam is used for fixing the second sound sensor and the third sound sensor, and is provided with 17-21 equidistant fixing holes, the two sound sensors are positioned on the sliding cross beam and can move left and right on the third sliding cross beam, can be positioned on the same side of the cross beam, can also be respectively positioned at two ends of the cross beam, and the distance between the two sensors is adjustable.
It should be noted that: the dimension parameter is set according to the actual requirement of the application, and is only used for the reference of readers, and the readers can adjust the dimension parameter on the basis of the parameter according to the actual requirement.
The three-dimensional stereo sound collection device is fixed on the tripod and is placed right in front of the high-voltage circuit breaker operating mechanism, when the high-voltage circuit breaker generates mechanical faults to generate sound, the three-dimensional stereo sound collection device is used as a sound source, and the specific process of estimating the spatial position of the sound source is as follows:
step one, calculating the distance difference of the sound source reaching any two sensors, namely, the sound path difference a;
the calculation formula is as follows:
a＝v×τ (1)
τ is the time difference between the arrival of sound at two different position sound sensors; v is the sound propagation velocity in air, typically 340m/s;
step two, when the sound sensor and the sound source are on the same plane, determining the plane position of the sound source by using a time delay estimation method;
the method comprises the following steps: from the knowledge of the geometrical correlation, it can be seen that the time difference τ between reaching the first and third acoustic sensors 1 Determining hyperbola a 1 Also, according to the time difference τ between reaching the second and third sensors 2 Determining hyperbola a 2 And determining the plane position of the sound source according to the intersection point of the two hyperbolas.
Step three, when the sound sensor and the sound source are not in the same plane, judging whether the distance r between the sound source and the three-dimensional stereo sound collecting device meets the following conditions, and if so, diffusing the sound to the periphery through the medium in the form of spherical waves; otherwise, the sound wave is transmitted to the sound collection device in the form of a plane wave.
The specific conditions are as follows:
wherein L is the diameter of the sound collecting device, and lambda is the wavelength of sound waves.
When sound diffuses to the periphery in a spherical wave mode, setting a base of the three-dimensional stereo sound collecting device as a coordinate origin, taking a left-right direction as an x-axis direction, a front-back direction as a y-axis direction and taking an up-down direction as a z-direction, and constructing a three-dimensional sound source model for determining three-dimensional coordinates of a sound source;
as shown in fig. 2, the following cases are specifically classified:
(1) Case one: when the coordinate of a certain dimension of the sound source is known, taking the coordinate of the y direction as an example, the same theory of the x direction and the z direction is calculated; for example, when the high-voltage circuit breaker emits sound due to mechanical failure, the coordinates in the y direction can be uniformly set as the coordinates of the outer surface of the mechanism, the coordinates in the x and z directions of the failure sound source can be obtained only through the three-dimensional stereo sound collecting device, and the device of the sound source can be judged.
In this case, the coordinates of the first sound sensor are (x 1, y1, z 1), the coordinates of the second sound sensor are (x 2, y2, z 2), the coordinates of the third sound sensor are (x 3, y3, z 3), the three-dimensional coordinates of the sound source are (x, y0, z), x, z are the quantities to be solved, and the time delay from the sound source to each sensor is utilized for the current positions of the three sensors, so that the spatial positioning of the sound source is calculated;
the expression is as follows:
a 21 ＝v×τ 21 (4)
a 31 ＝v×τ 31 (5)
the delay time for reaching the second sound sensor is tau based on the time for reaching the first sound sensor 21 Millisecond delay of tau to reach the third sound sensor 31 Millisecond. At this time, the two unknown quantities x and z of the two equations do not need to adjust the relative positions of the three sound sensors, and the mechanical fault sound source coordinates of the high-voltage circuit breaker can be rapidly determined only by one-time calculation, so that the calculated quantity is reduced, and the rapid online monitoring is more facilitated.
In order to realize rapid calculation and acquisition of the fault sound source coordinates, the invention converts the binary quadratic problem into an optimization solving problem containing inequality constraint; the expression is as follows:
min FF＝f 1 +f 2
a 21 ＝v×τ 21
a 31 ＝v×τ 31
f 1 ≥0
f 2 ≥0
(2) And a second case: when the application condition is not only aimed at mechanical fault positioning of the high-voltage circuit breaker, and three-dimensional coordinates of the x direction, the y direction and the z direction of the sound source are required to be determined simultaneously, the positions of three sound sensors can be adjusted on the basis of the first condition, a plurality of groups of coordinates and equations are obtained, and then the time delay of the sound source to each sensor is utilized to calculate the space positioning of the sound source;
The expression is as follows:
a 21 ＝v×τ 21 (8)
a 31 ＝v×τ 31 (9)
the coordinates of the first sound sensor are (x 1, y1, z 1), the coordinates of the second sound sensor are (x 2, y2, z 2), the coordinates of the third sound sensor are (x 3, y3, z 3), and the three-dimensional coordinates of the sound source are (x, y, z) as the amount to be calculated. The delay time for reaching the second sound sensor is tau based on the time for reaching the first sound sensor 21 Millisecond delay of tau to reach the third sound sensor 31 Millisecond.
The two equations correspond to three unknown quantities (x, y and z), the positions of the sound sensors need to be adjusted, three-dimensional sound information of the same faults is collected again, and sound source localization based on time delay is obtained again; when the sound sensors are adjusted, the positions of only one sound sensor are adjusted, or the positions of two or three sound sensors are adjusted simultaneously, and the specific adjusting mode is determined according to actual needs.
I) When only one sensor is adjusted in position, the remaining two sensors remain stationary, and when the first acoustic sensor is selected for adjustment, the expression is as follows:
a 211 ＝v×τ 211 (12)
a 311 ＝v×τ 311 (13)
the coordinates of the first sound sensor after adjustment are (x 11, y11, z 11) and the first sound sensor arrives at the first sound sourceThe time of a sound sensor is used as a reference, and the delay time for reaching the second sound sensor is tau 211 Millisecond delay of tau to reach the third sound sensor 311 Millisecond.
At this time, four equations (6) (7) (10) and (11) are combined to solve three unknowns (x, y, z), three equations are arbitrarily selected from the four equations to solve three unknowns to be solved, and the three unknowns are shared
Four combination methods are adopted to obtain four sound source three-dimensional coordinates, and finally, the four coordinate results are averaged to obtain the final sound source three-dimensional coordinates.
Similarly, when only one sensor is adjusted, when the second sound sensor or the third sound sensor is selected to be adjusted, the coordinates of the first sound sensor are (x 1, y1, z 1) and the coordinates of the second sound sensor are (x 22, y22, z 22) or the coordinates of the third sound sensor are (x 33, y33, z 33) in the above formulas (10) and (11); the formula corresponds to:
or alternatively
In the two cases, three equations correspond to three unknowns, and a unique solving result can be obtained to be a final sound source three-dimensional coordinate;
II), when any two or three sound sensors need to be adjusted at the same time, the above formulas (10) and (11) are changed, and the expression is as follows:
a 2211 ＝v×τ 2211 (121)
a 3311 ＝v×τ 3311 (131)
the first acoustic sensor has coordinates (x 11, y11, z 11), the second acoustic sensor has coordinates (x 22, y22, z 22), the third acoustic sensor has coordinates (x 33, y33, z 33), and the delay time to reach the second acoustic sensor is τ based on the time of arrival of the acoustic source at the first acoustic sensor 2211 Millisecond delay of tau to reach the third sound sensor 3311 Millisecond.
Simultaneously, four equations (6) (7) (101) and (111) are formed to solve three unknowns (x, y, z); three equations are selected from four sets of equations to solve three unknown numbers to be solved, and the three-element quadratic problem is converted into an optimization solving problem containing inequality constraint and sharing
Four combination methods are adopted to obtain four sound source three-dimensional coordinates, and finally, the four coordinate results are averaged to obtain the final sound source three-dimensional coordinates.
In order to realize rapid calculation and acquisition of the coordinates of the fault sound source and avoid the phenomenon that three equation sets have no solution because of errors, the three-element quadratic problem is converted into an optimization solution problem containing inequality constraint.
The expression is as follows:
min FF＝f 1 +f 2 +f 3
a 21 ＝v×τ 21
a 31 ＝v×τ 31
a 2211 ＝v×τ 2211
f 1 ≥0
f 2 ≥0
f 3 ≥0
finally, the three sensors are moved for a plurality of times to assist in verifying the three-dimensional space position of the sound source.
The frequency domain characteristic analysis is carried out on the collected fault sound information with different three-dimensional dimensions, so that the multi-point positioning can be realized according to different sound source frequencies of different three-dimensional positions.
Examples:
firstly, a three-dimensional stereo sound collecting device is fixed on an A-frame and is placed right in front of an operating mechanism of a 252kV sulfur hexafluoride high-voltage circuit breaker, the front-back distance between a sound frame and a mechanism shell is 750 mm, and the height of the sound frame is 1500 mm, and when the high-voltage circuit breaker is mechanically broken down, the sound frame is used as a sound source.
The dimensional parameters of the base and the four sliding beams in this embodiment are shown in table 1. The base part is the bearing of the whole device, and the second sliding cross beam is connected with the base through an English M1/4 screw so as to play a role in fixing.
TABLE 1
The whole length of the first sliding cross beam is 230 mm, the number of the fixing holes is 10, every two holes are spaced by 20 mm, the first sound sensor can move back and forth on the first sliding cross beam, and the maximum moving distance is 160 mm.
The whole height of the second sliding cross beam is 400 mm, the number of fixing holes is 20, every two holes are spaced by 20 mm, the first sliding cross beam, the fourth sliding cross beam and the second sliding cross beam are connected by two M6 screws, the height can be adjusted on the second sliding cross beam in a sliding mode, and the maximum height difference can reach 350 mm.
The third sliding beam has an overall length of 400 mm, 19 fixing holes, 20 mm intervals between every two holes, and 360 mm of maximum moving distance for the second sound sensor and the third sound sensor to move left and right.
The depth of the clamping groove in the middle of the third sliding cross beam is 2 mm, and the clamping groove is connected with the third sliding cross beam through M6 screws.
The fourth sliding cross beam is used for adjusting the front and back positions of the second sound sensor and the third sound sensor, the whole length is 130 mm, the number of fixing holes is 6, every two holes are spaced by 20 mm, the third sliding cross beam moves back and forth on the fourth sliding cross beam, and the maximum movable distance is 100 mm.
Due to 252kVSF 6 When the high-voltage circuit breaker is switched on and off, the sound at the position 750 mm away from the mechanism can reach 125dB, the sound pressure peak value can reach 51.1Pa, and the frequency range is wide, so that the invention selects a (model 14423L) free field sound sensor to be used together with an (AWA 14604 type) preamplifier and an (AH 6012 type) power adapter, and a physical diagram of the sound sensor and a power distribution module is shown in figure 3. The three-dimensional stereo sound collecting device comprising the three sound sensors is fixed on the tripod and is placed at the position of 0.75 m right in front of the high-voltage circuit breaker operating mechanism, the overall height is about 1.5 m, and a physical diagram of the three-dimensional stereo sound collecting device is shown in fig. 4.
The technical parameters of the acoustic sensor are shown in table 2. The sound sensor with high sensitivity (14423L type) and wide dynamic response range is required, can effectively collect low-frequency signals, and is suitable for collecting mechanical fault sound signals of 252kV high-voltage circuit breakers.
TABLE 2
When the high-voltage circuit breaker has mechanical faults, fault sound information of different three dimensions can be collected by adjusting the relative positions of the three sound sensors in the three-dimensional bracket, as shown in fig. 5, fig. 5 (a) is a position fixing the second sound sensor and the third sound sensor, and the first sound sensor is moved up and down; fig. 5 (b) is a view of fixing the second and third sound sensor positions, moving the first sound sensor back and forth; fig. 5 (c) is a view showing the fixing of the positions of the sounds of the first sound sensor and the third sound sensor, and moving the second sound sensor left and right; fig. 5 (d) is a view showing the positions of the first sound sensor and the second sound sensor being fixed, and the third sound sensor being moved left and right; fig. 5 (e) is a diagram of the simultaneous movement of the positions of three sound sensors. It is possible to adjust the position of only one sound sensor as in fig. 5 (a) (b) (c) (d) in order to achieve a rapid localization of the sound source; meanwhile, in order to ensure accurate positioning of the fault sound source, the positions of two or three sound sensors are adjusted at the same time as shown in fig. 5 (e), so that richer coordinate information is obtained, and the sound source is positioned more accurately.
The principle of the method is shown in fig. 6, and the method comprises the steps of sound source and sound sensors at three different spatial positions.
Research shows that if the sound time difference positioning technology is adopted to realize the positioning of the sound source target in the three-dimensional space, at least three mutually independent delay values are needed, namely at least four sound sensors are needed to be used as the sound receiving device. However, in the high-voltage circuit breaker mechanical fault sound signal acquisition application, since the device name of the sound source can be judged by the coordinates in the x and z directions when the high-voltage circuit breaker sounds in the mechanical action, the coordinates in the front and rear directions can be uniformly set as the coordinates of the outer surface of the mechanism to be a known quantity. Therefore, only the coordinates of the left-right direction and the up-down direction of the sound source when the high-voltage circuit breaker is mechanically failed are determined. The two-dimensional coordinates of the sound source are determined, and the method can be realized by only three sensors, so that compared with a quaternary sensor acquisition device, the method has the advantages of reducing the calculated amount and being more beneficial to realizing quick on-line monitoring.
In the first embodiment, the 252kV sulfur hexafluoride high-voltage circuit breaker normally operates at first, a designed three-dimensional collection device is arranged right in front of an operating mechanism of the high-voltage circuit breaker, and the sound support is located at a position with a distance of 750 mm and a height of 1500 mm from the front and back of a shell of the mechanism, so that the high-voltage circuit breaker is monitored in real time.
The base of the three-dimensional stereo sound collecting device is set as a coordinate origin, the left-right direction is set as an x-direction, the front-back direction is set as a y-axis direction, and the up-down direction is set as a z-direction. Initially, three sound sensors are respectively arranged at the highest forefront, lowest rearmost left and lowest rearmost right of the three-dimensional bracket, namely, the coordinates of the first sound sensor are (0, 220, 400), the coordinates (-180, -120, 40) of the second sound sensor, and the coordinates (180, -120, 40) of the third sound sensor.
When the high voltage circuit breaker is mechanically failed, the three-dimensional coordinates of the fault sound source are assumed to be (x, y0, z), wherein the front-rear coordinates y0 are fixed in value, and are the front surface of the high voltage circuit breaker, and are 1222.7mm away from the origin. At this time, the time delay of the sound source reaching the second sound sensor and the first sound sensor is 1.4678 milliseconds, the time delay of the sound source reaching the third sound sensor and the first sound sensor is 1.1733 milliseconds, the propagation speed of sound in air is 340mm/ms, and the sound is brought into (3) - (6).
a 21 ＝340×1.4678 (5)
a 31 ＝340×1.1733 (6)
The binary quadratic problem is converted into an optimization solving problem containing inequality constraint, and the expression is as follows:
min FF＝f 1 +f 2
a 21 ＝340×1.4678
a 31 ＝340×1.1733
f 1 ≥0
f 2 ≥0
by solving the optimization problem, the three-dimensional coordinates (452.3, 1222.7, 818.9) of the sound source can be obtained rapidly, namely, the space positioning of the sound source is realized, and the mechanical fault position of the sulfur hexafluoride high-voltage circuit breaker is determined to be in the closing release.
Embodiment two: when the high-voltage circuit breaker has mechanical faults and the front and back coordinate y values are unknown, namely three-dimensional direction coordinates (x, y and z) are all required to be determined, the fault sound source can be determined by moving the three-dimensional stereo sound acquisition system;
the method comprises the following specific steps:
the same as the first embodiment, the 252kV sulfur hexafluoride high-voltage circuit breaker is normally operated at first, the designed three-dimensional collection device is arranged right in front of the operating mechanism of the high-voltage circuit breaker, the distance between the sound support and the shell of the mechanism is 750 mm, and the height of the sound support is 1500 mm, and the high-voltage circuit breaker is monitored in real time. The base of the three-dimensional stereo sound collecting device is set as a coordinate origin, the left-right direction is set as an x-direction, the front-back direction is set as a y-axis direction, and the up-down direction is set as a z-direction.
Assuming that three sound sensors are initially arranged at the highest forefront, lowest rearmost left and lowest rearmost right of the three-dimensional bracket respectively, namely, the coordinates of a first sound sensor are (0, 220, 400), the coordinates of a second sound sensor (-180, -120, 40), the coordinates of a third sound sensor (180, -120, 40), when a high-voltage circuit breaker is mechanically failed, the time delay of a sound source reaching the second sound sensor and the first sound sensor is 1.5185 milliseconds, the time delay of the sound source reaching the third sound sensor and the first sound sensor is 1.1039 milliseconds, the propagation speed of the sound in the air is 340mm/ms, and the sound sources are brought into (7) - (10).
a 21 ＝340×1.5185 (9)
a 31 ＝340×1.1039 (10)
And adjusting the front and back positions of a third sliding beam in the three-dimensional stereo sound collecting device to enable the second sound sensor and the third sound sensor to move forwards by 80 millimeters at the same time, and keeping the positions of other sliding beams unchanged, namely keeping the positions of the first sound sensors unchanged. At this time, the coordinates of the first sound sensor are still (0, 220, 400), the coordinates of the second sound sensor are (-180, -40, 40), the coordinates of the third sound sensor are (180, -40, 40), the time delay of the sound source reaching the second sound sensor and the first sound sensor is 1.3715 milliseconds, the time delay of the sound source reaching the third sound sensor and the first sound sensor is 0.9428 milliseconds, the propagation speed of the sound in the air is 340mm/ms, and the sound is brought into (11) - (14).
a 2211 ＝340×1.3715 (13)
a 3311 ＝340×0.9428 (14)
Equations (7) - (14) are combined to form four sets of equations, and three sets of equations are arbitrarily selected from the four sets of equations, so that four different methods are available. In order to realize rapid calculation and acquisition of the coordinates of the fault sound source and avoid the phenomenon that three equation sets have no solution because of errors, the three-dimensional quadratic problem can be converted into an optimization solution problem containing inequality constraint, three unknowns to be solved are solved respectively, the three-dimensional coordinates of the sound source are obtained as (x, y, z), and the final result is shown in table 3. Taking the first calculation as an example, the optimization solution expression containing the inequality constraint is listed as follows:
min FF＝f 1 +f 2 +f 3
a 21 ＝340×1.5185
a 31 ＝340×1.1039
a 2211 ＝340×1.3715
f 1 ≥0
f 2 ≥0
f 3 ≥0
TABLE 3 Table 3
The four calculation results in table 3 are averaged to obtain the three-dimensional coordinates (619.6, 936.7, 1028.1) of the fault sound source, namely, the space localization of the sound source is realized, and the mechanical fault position of the sulfur hexafluoride high-voltage circuit breaker is determined to be at the motor.
Through a large number of practical examples of MATLAB, time consumption is compared between the solution of the ternary quadratic equation set and the solution of the optimization problem containing inequality constraint, and the result shows that the time required for solving the optimization problem is about 9 times of the time required for solving the three equation sets, and the problem that no solution exists in the solution process of the ternary quadratic equation set due to the existence of measurement errors.
The three-dimensional sound bracket can conveniently, quickly and accurately determine the relative positions of the three sound sensors, so that the movement of the sensors is more regular and standard. The relative positions of the three sound sensors are changed, so that richer sound information can be obtained when the high-voltage circuit breaker is in mechanical failure, and a firmer data base is provided for on-line monitoring of the mechanical failure.
Simultaneously, three paths of sound signals are collected, the up-down, left-right, front-back three-dimensional positions of the three sound sensors can be automatically adjusted according to the requirements, multi-dimension, multi-angle and three-dimensional fault information collection is realized, and the farthest distance of each direction is 340 mm. The delay of sound can be up to 1 millisecond in each dimension, depending on the speed of sound propagation in air at 340 m/s. Through three sound sensors in different spatial positions, richer sound information can be acquired, three sensor coordinate digitization is realized, and the coordinate positions of all the sound sensors are confirmed more intuitively, quickly and accurately.
According to the positioning technology principle of the sound time difference, the position of the sensor does not need to be moved and adjusted, and the one-time quick positioning of the two-dimensional sound source coordinates can be realized; the accurate positioning of the three-dimensional sound source coordinates can also be realized through one or more sensor positions. The method solves the optimization problem containing inequality constraint, is simple, quick, convenient and accurate in calculation, and has important application value for on-line monitoring and research of mechanical faults of the high-voltage circuit breaker.
Claims (4)
1. The three-dimensional stereo signal acquisition device is characterized by comprising three sound sensors, a base and four sliding cross beams; the three sound sensors are a first sound sensor, a second sound sensor and a third sound sensor respectively; the sliding cross beams are respectively a first sliding cross beam, a second sliding cross beam, a third sliding cross beam and a fourth sliding cross beam;
the second sliding cross beam is fixed on the base and is vertical to the base; the second sliding cross beams are provided with holes at equal intervals, and the first sliding cross beams are fixed at the top ends and used for fixing the first sound sensor; the bottom end of the first sliding cross beam is fixed with a second sliding cross beam, and the first sliding cross beam and the second sliding cross beam slide up and down through an opening of the second sliding cross beam to adjust different heights;
The first sliding cross beam is provided with holes at equal intervals, and the first sound sensor moves back and forth through different holes;
the fourth sliding cross beam is provided with holes at equal intervals, a third sliding cross beam is horizontally and vertically arranged on the fourth sliding cross beam, and the third sliding cross beam moves back and forth on the fourth sliding cross beam;
the third sliding cross beam is used for fixing the second sound sensor and the third sound sensor, holes are formed in the same equidistant mode, and the two sound sensors move left and right on the third sliding cross beam;
the three-dimensional stereo sound signal acquisition device is fixed on the tripod and is placed right in front of the high-voltage circuit breaker operating mechanism, and when the high-voltage circuit breaker generates mechanical faults to generate sound, the specific process for estimating the sound source space position is as follows:
step one, calculating the distance difference of a sound source reaching any two sound sensors, namely, a sound path difference a;
the calculation formula is as follows:
a＝v×τ (1)
τ is the time difference between the arrival of sound at two different position sound sensors; v is the sound propagation velocity in air;
step two, when the sound sensor and the sound source are on the same plane, determining the plane position of the sound source;
the method comprises the following steps: according to the time difference tau between reaching the first and third sound sensor 1 Determining hyperbola a 1 Also, according to the time difference τ between reaching the second and third sensors 2 Determining hyperbola a 2 According to the intersection point of the two hyperbolas, the plane position of the sound source can be determined;
step three, when the sound sensor and the sound source are not in the same plane, and the distance r between the sound source and the three-dimensional stereo sound signal acquisition device is as follows
When the sound is in the form of spherical wavesDiffuse to the periphery through the medium; when the distance r does not meet the above condition, the sound wave is transmitted to the sound collecting device in the form of plane wave;
wherein L is the diameter of the sound collecting device, and lambda is the wavelength of sound waves;
when sound diffuses to the periphery in a spherical wave mode, setting a base of the three-dimensional stereo sound signal acquisition device as a coordinate origin, taking a left-right direction as an x-axis direction, a front-back direction as a y-axis direction and taking an up-down direction as a z-direction, and constructing a three-dimensional sound source model for determining three-dimensional coordinates of a sound source;
the method is concretely characterized by comprising the following steps:
(1) Case one: when the high-voltage circuit breaker emits sound due to mechanical faults, knowing the coordinates of a certain dimension of a sound source, and only knowing the coordinates of the fault sound source in the other two directions through the three-dimensional stereo sound signal acquisition device, the position of the fault sound source can be judged, and sound source positioning is realized;
The specific calculation of the spatial localization of the sound source in x-direction and z-direction, known as the coordinate y0 in y-direction, is:
the coordinates of the first sound sensor are (x 1, y1, z 1), the coordinates of the second sound sensor are (x 2, y2, z 2), the coordinates of the third sound sensor are (x 3, y3, z 3), and the three-dimensional coordinates of the sound source are (x, y0, z);
the expression is as follows:
a 21 ＝v×τ 21 (4)
a 31 ＝v×τ 31 (5)
the delay time for reaching the second sound sensor is tau based on the time for reaching the first sound sensor 21 Millisecond delay of tau to reach the third sound sensor 31 A millisecond; at the moment, two unknown quantities x and z of the two equations are obtained, the relative positions of the three sound sensors are not required to be adjusted, and the mechanical fault sound source coordinates of the high-voltage circuit breaker can be rapidly determined by only one-time calculation;
in order to realize rapid calculation and acquisition of the fault sound source coordinates, converting a binary quadratic problem into an optimization solving problem containing inequality constraint; the expression is as follows:
min FF＝f 1 +f 2
a 21 ＝v×τ 21
a 31 ＝v×τ 31
f 1 ≥0
f 2 ≥0
(2) And a second case: when the application condition is not only aimed at mechanical fault positioning of the high-voltage circuit breaker, three-dimensional coordinates of the x direction, the y direction and the z direction of a sound source are required to be determined simultaneously, a plurality of groups of coordinates and equations are obtained by adjusting the positions of three sound sensors, and then the time delay of the sound source to each sensor is utilized to calculate the space positioning of the sound source;
The expression is as follows:
a 21 ＝v×τ 21 (8)
a 31 ＝v×τ 31 (9)
the two equations correspond to three unknown quantities (x, y and z), the positions of the sound sensors need to be adjusted, three-dimensional sound information of the same faults is collected again, and sound source localization based on time delay is obtained; when the sound sensors are adjusted, the positions of only one sound sensor are adjusted, or the positions of two or three sound sensors are adjusted at the same time, and the specific adjusting mode is determined according to actual needs;
the position of the sound sensor is adjusted as follows:
i) When only the position of one sound sensor is adjusted and the other two sound sensors remain stationary, the expression is as follows when the first sound sensor is selected for adjustment:
a 211 ＝v×τ 211 (12)
a 311 ＝v×τ 311 (13)
the first acoustic sensor has adjusted coordinates (x 11, y11, z 11) and a delay time τ of arrival at the second acoustic sensor based on the time of arrival of the acoustic source at the first acoustic sensor 211 Millisecond delay of tau to reach the third sound sensor 311 A millisecond;
at this time, four equations (6) (7) (10) and (11) are combined to solve three unknowns (x, y, z), three equations are arbitrarily selected from the four equations to solve three unknowns to be solved, and the three unknowns are shared
Four combination methods are adopted to obtain four sound source three-dimensional coordinates, and finally, the four coordinate results are averaged to obtain the final sound source three-dimensional coordinates;
Similarly, when only one sensor is adjusted, when the second sound sensor or the third sound sensor is selected to be adjusted, the coordinates of the first sound sensor are (x 1, y1, z 1) and the coordinates of the second sound sensor are updated to (x 22, y22, z 22) or the coordinates of the third sound sensor are updated to (x 33, y33, z 33) in the above formulas (10) and (11); in the two cases, three equations correspond to three unknowns, and a unique solving result is obtained as a final sound source three-dimensional coordinate;
II), when any two sound sensors or three sound sensors are required to be adjusted simultaneously, the formulas (10) and (11) are changed, and the four formulas (6) (7) (10) and (11) are combined to solve three unknowns (x, y, z); three equations are selected from four sets of equations to solve three unknown numbers to be solved, and the three-element quadratic problem is converted into an optimization solving problem containing inequality constraint and sharing
Four combination methods are adopted to obtain four sound source three-dimensional coordinates, and finally, the four coordinate results are averaged to obtain the final sound source three-dimensional coordinates;
in order to realize rapid calculation and acquisition of the coordinates of the fault sound source, and avoid the phenomenon that three equation sets have no solution because of errors, the three-element quadratic problem is converted into an optimization solution problem containing inequality constraint;
The expression is as follows:
min FF＝f 1 +f 2 +f 3
a 21 ＝v×τ 21
a 31 ＝v×τ 31
a 2211 ＝v×τ 2211
f 1 ≥0
f 2 ≥0
f 3 ≥0。
2. the device of claim 1, wherein the fourth sliding beam is parallel to the first sliding beam and is located on two sides of the second sliding beam.
3. The device for capturing three-dimensional stereo signals according to claim 1, wherein a clamping groove is arranged in the middle of the third sliding cross beam and is buckled with the fourth sliding cross beam.
4. The device for capturing three-dimensional stereo sound signals according to claim 1, wherein the second sound sensor and the third sound sensor are simultaneously located on the same side of the third sliding beam or respectively located at two ends of the third sliding beam, and the distance between the two sound sensors is adjustable.
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