CN114384372A

CN114384372A - Traveling wave method fault location and unmanned aerial vehicle obstacle clearing device for high-voltage transmission line

Info

Publication number: CN114384372A
Application number: CN202111477543.9A
Authority: CN
Inventors: 李忠魁; 杨铮; 薛东海; 马远; 孟翔; 惠娟; 孔高辉; 田凯; 郭旭; 刘跃辉; 朱可菲; 马龙
Original assignee: State Grid Henan Electric Power Co Xingyang City Power Supply Co
Current assignee: State Grid Henan Electric Power Co Xingyang City Power Supply Co
Priority date: 2021-12-06
Filing date: 2021-12-06
Publication date: 2022-04-22
Anticipated expiration: 2041-12-06
Also published as: CN114384372B

Abstract

The application relates to a traveling wave method fault location and unmanned aerial vehicle obstacle clearing device for a high-voltage transmission line, which comprises a current traveling wave processing circuit, a current voltage detection circuit and a traveling wave comparison output circuit. The current traveling wave processing circuit extracts a current signal from the current transformer to obtain a real undistorted signal, and can also greatly eliminate the influence of the current transformer on traveling wave fault location. The current and voltage detection circuit analyzes and calculates the position of a fault by collecting traveling wave signals with suddenly changed impedance, and when the wave impedance of a fault point suddenly changes, wave refraction and reflection can be generated, so that the fault point can be found more quickly. The traveling wave comparison output circuit can calculate the fault location through analyzing the fault information, transmits the processed fault information to the unmanned aerial vehicle obstacle clearing device, and solves the problem of the fault location of the high-voltage transmission line through navigation positioning.

Description

Traveling wave method fault location and unmanned aerial vehicle obstacle clearing device for high-voltage transmission line

Technical Field

The application relates to the field of high-voltage power transmission and fault cleaning, in particular to a traveling wave method fault location and unmanned aerial vehicle obstacle clearing device for a high-voltage power transmission line.

Background

The high-voltage transmission line is equipment built by national grid companies for realizing remote power supply and reasonably distributing electric energy, has long crossing distance, wide region and large bearing electric energy capacity, and can generate huge economic loss once a fault occurs. The design mainly discusses measures taken for the fault of the high-voltage line from two aspects, wherein the first is the research of a method for finding a fault point, namely the accurate positioning of the fault point; the second is to clear away general trouble, like plastic film, kite, fire balloon, branch etc. easily fires the foreign matter and clear up, so developed an unmanned aerial vehicle device of removing obstacles, then turned into GPS longitude and latitude coordinate with the result of the accurate location of fault point and transmitted for unmanned aerial vehicle's GPS system to do the accuracy and hover, can find the fault point through unmanned aerial vehicle is automatic, then clear away the foreign matter with the flaming device that unmanned aerial vehicle was taken. In order to improve the operation safety, economy and reliability of an electric power system, reduce the physical labor intensity of electric power workers and improve the working efficiency of the electric power workers, various accurate fault location methods are analyzed, the conventional multiple fault location methods are researched, the fault location by a traveling wave method is further researched on the basis, the commonly used single-end method and double-end method for fault location by the traveling wave method are mainly researched, the two methods are analyzed, and the method to be adopted by the design is selected. The fault point GPS coordinate is searched for through the equipment position in the PMS system with the accurate result of location of trouble, then in the fault point coordinate input unmanned aerial vehicle for unmanned aerial vehicle can accurate hover near the fault point, accurately finds the fault point, and through adjusting the unmanned aerial vehicle position, accurate flame projecting is clear away the barrier. The application effect is very good, has stronger practical value, has alleviateed electric power workman's work burden, has improved work efficiency, has fine economic benefits.

The traveling wave method is an algorithm for realizing line fault location according to the propagation characteristics of traveling waves in voltage and current. The transmission line can be regarded as a relatively symmetrical impedance and capacitive reactance, when the transmission line breaks down, the wave impedance of the fault point of the transmission line changes rapidly, then fault traveling waves transmitted along the transmission line are generated, meanwhile, refraction and reflection occur at the position where the fault occurs, and the distance between the fault and a transformer substation is calculated by calculating the time difference between the maximum values of the traveling waves. The position of the fault point is calculated by using a certain algorithm, so that the power line patrol worker can be well helped to accurately find the fault point without consuming excessive physical strength and energy to find the position of the fault point. How to find the fault point to clear the fault is also a problem of trouble for power workers.

Firstly, current signals are collected through a current transformer installed on a high-voltage transmission line, and the current signals are developed and analyzed. The requirement of signal acquisition is met, the traveling wave sensor is required to meet the problem that the whole transformer substation is not affected by primary wiring after installation, electrical isolation can be basically arranged between a detection system and a power transmission line, the sensor is required to be capable of transmitting hundreds of kHz or even higher high-frequency signals, the sensitivity is good, good dynamic characteristics can be realized, and no dynamic time delay exists in wave head transmission.

As shown in fig. 1, for the current detection circuit in the prior art, a RC filtering and AD741H amplifier closed-loop amplification mode is adopted, so that the structure is complex, the sampling speed is slow, the signal delay is large, and the signal post-plasticity is poor.

As shown in fig. 2, the electric signal detection circuit in the prior art uses the ADS1115 chip as a core, and has a simple peripheral circuit, high flexibility, but is greatly interfered by external factors and has low reliability.

Disclosure of Invention

Problem (A)

1. The obstacle clearing device in the prior art is low in positioning accuracy and poor in anti-interference performance.

2. The obstacle clearing device in the prior art is complex in structure and weak in reliability.

(II) technical scheme

To above-mentioned technical problem, this application provides high tension transmission line travelling wave method fault location and unmanned aerial vehicle device of removing obstacles, including the electric current travelling wave processing circuit, current-voltage detection circuit, the travelling wave comparison output circuit that connect gradually. And fault location is carried out by a traveling wave method, and the unmanned aerial vehicle is enabled to implement obstacle removal according to the ranging signal.

The current traveling wave processing circuit generally extracts a current signal from a current transformer, and develops and analyzes the current signal. The signal extraction from the current transformer is easier, and the distortion is not easy to generate, thus conforming to the reality. And the signals are extracted through the current transformer without changing the wiring condition of a line, the traveling wave signals are high-frequency signals generally, and the high-frequency signals are isolated through the current extracted by the current transformer, so that the purpose of extracting the signals can be well realized. The primary side current can be obtained from the current of the secondary side, so that the influence of the current transformer on traveling wave fault location can be eliminated to a great extent; the current and voltage detection circuit is used for detecting the transmission state of a traveling wave, namely a plane wave on a transmission medium when normal alternating current is transmitted in a transmission line in a regular sine wave form. When a fault occurs in the middle of a line, the wave impedance of a fault point changes, and then a current traveling wave and a voltage traveling wave which are transmitted to two directions are generated, a great deal of fault information is contained in the two traveling waves, and the fault information is transmitted out along the current wave or the voltage wave in the form of the traveling wave. The fault location by the traveling wave method is to analyze and calculate the position of the fault by collecting the traveling wave signals. The method is relatively uniform for normal transmission lines, voltage waves and current waves traveling in the transmission lines meet the relationship of wave impedance, but when the transmission lines are in fault, the wave impedance of the fault point changes sharply, the current waves and the voltage waves are influenced in response, the traveling waves (traveling waves) are refracted and reflected at the positions where the wave impedance changes, and the refracted waves and the reflected waves propagate in opposite directions; the traveling wave comparison output circuit generates traveling wave signals to be transmitted to two directions after a fault occurs, the traveling waves are transmitted by taking voltage or current as a carrier, the traveling waves carry fault information inside, and the fault location can be measured and calculated through analysis of the fault information. Finally, the processed fault information is transmitted to an unmanned aerial vehicle obstacle clearing device, and the problem of fault points of the high-voltage transmission line is solved through navigation and positioning.

Current traveling wave processing circuit: and extracting a current signal from the current transformer, processing the high-frequency traveling wave signal by developing and analyzing the current signal, and eliminating the influence of the current transformer on traveling wave fault location. The signal flows into an RC circuit consisting of a capacitor C7 and a resistor R13, the input signal is stabilized, the voltage is divided by resistors R5 and R14 and then input to the base electrode of a triode Q2, the voltage is input to the base electrode of a triode Q3 after passing through the collector electrode of a triode Q2, the signal is input to the base electrode of a triode Q1 after passing through the collector electrode, bias voltage is provided, the signal flows through a diode D1 and a capacitor C1, common mode signal interference is inhibited, and the amplified sampling voltage current signal is transmitted to a next-stage circuit.

Current-voltage detection circuit: and processing signals with changed traveling wave impedance of a fault point, detecting and processing signal changes caused by impedance matching, and analyzing and calculating the position of the fault by collecting the traveling wave signals. Signals flow in through input signals of a capacitor C4 and a resistor R7, the input levels are converted and adjusted through an operational amplifier U1A, the analog signal quantity output in the sensor is converted into voltage signals which can be processed by an acquisition circuit, the signals are coupled through the capacitor C5, the signals pass through a capacitor C2 and a resistor R1 to form a first-order resistance-capacitance low-pass filter circuit, the effect of filtering out coupled high-frequency clutter signals is achieved, the signals are input into an inverting end of the amplifier U1B, voltage is provided for a non-inverting end of the amplifier U1B through a resistor R12, the signals are fed back to the non-inverting end through a resistor R2 and a capacitor C3, finally, the signals are coupled and output through a capacitor C6, the circuit is guaranteed to process different voltages, and the stability of the output voltage and current signals is guaranteed through the resistor R6 and the resistor R10.

Travelling wave comparison output circuit: after a fault occurs, a traveling wave signal is generated and transmitted to two directions, the traveling wave is transmitted by taking voltage or current as a carrier, the traveling wave carries fault information, and a fault location can be measured and calculated by analyzing the fault information. The signal of the circuit key path flows through a triode Q6, a triode Q5, a triode Q8, a triode Q7 and a triode Q4 to carry out boosting amplification and compensate loss in the signal transmission process, a current mirror processing circuit consisting of a triode Q5 and a triode Q6 compensates current output of the signal, the signal is input into a base electrode of a triode Q8 through voltage division of a resistor R20 and a resistor R25, a diode D3 ensures the signal flow direction and is amplified through a triode Q7 and a triode Q4 in two stages, then the signal is processed through a resistor R23 and a capacitor C9 and then is output, and the accuracy of the output fault signal is ensured.

(III) advantageous effects

The application provides high tension transmission line travelling wave method fault location and unmanned aerial vehicle device of removing obstacles, at first, fault location accuracy nature is high, and interference immunity is strong, has better dynamic characteristic, and secondly, equipment investment is few, stability is high, simple reliable, has reduced power supply loss, has liberated the labour. Through high tension transmission line travelling wave method fault location and unmanned aerial vehicle device of removing obstacles, can realize the accurate location of trouble to through unmanned aerial vehicle device of removing obstacles, go in using unmanned aerial vehicle device of removing obstacles with the fault position that the accurate location of trouble obtained, make unmanned aerial vehicle can accurately find the fault point, gained good effect. The working efficiency of line workers is well improved, the safety of personnel is guaranteed, and the advance of live-line maintenance operation to standardization and intellectualization is promoted.

Drawings

Fig. 1 is a prior art electrical signal detection circuit.

Fig. 2 is a prior art current acquisition circuit.

Fig. 3 is a current traveling wave processing circuit of the present design.

Fig. 4 is a current-voltage detection circuit of the present design.

Fig. 5 is a traveling wave comparison output circuit of the present design.

Detailed Description

The present invention will be further described with reference to the following examples.

As shown in fig. 3, 4, and 5, the traveling wave fault location and unmanned aerial vehicle obstacle clearing device for the high-voltage transmission line provided by the present application includes a current traveling wave processing circuit, a current voltage detection circuit, and a traveling wave comparison output circuit, which are connected in sequence.

Specifically, the current traveling wave processing circuit includes an input port Vin, a capacitor C7, 4 resistors R3, R5, R13, R14, and a transistor Q2, where the input port Vin is connected to a negative electrode of the capacitor C7, one end of the resistor R13, one end of the resistor R5, one end of the resistor R14, and one end of the transistor Q2, an anode of the capacitor C7 is connected to the high level VCC, a cathode of the resistor R13 is grounded, the other end of the resistor R5 is connected to the high level VCC, the other end of the resistor R14 is grounded, an emitter of the transistor Q2 is connected to one end of the resistor R3, the other end of the resistor R3 is connected to the high level VCC, and a collector of the transistor Q2 is grounded. The current traveling wave processing circuit comprises an output port Va, 3 triodes Q2, Q3 and Q1, 2 resistors R4 and R11, 2 capacitors C1 and C8, and 2 diodes D1 and D2, in the current traveling wave processing circuit, an emitter of a triode Q2 is connected with a base of a triode Q3, a collector of a triode Q3 is connected with one end of a resistor R4 and a base of a triode Q1 respectively, the other end of a resistor R4 is connected with a high level VCC, an emitter of a triode Q1 is connected with the high level VCC, an emitter of a triode Q3 is connected with one end of a resistor R11, an anode of a capacitor C8, an anode of a diode D2, a cathode of a diode D1 and one end of a capacitor C1 respectively, the other end of the resistor R11 is grounded, a cathode of the capacitor C8 is grounded, a cathode of the diode D2 is grounded, an anode of the diode D1 is connected with the collector of the triode Q1, the other end of the capacitor C1 is connected with the high level VCC, and an output port Va is connected with an anode of a diode D2.

Current-voltage detection circuit: and processing signals with changed traveling wave impedance of a fault point, detecting and processing signal changes caused by impedance matching, and analyzing and calculating the position of the fault by collecting the traveling wave signals. Signals flow in through input signals of a capacitor C4 and a resistor R7, the input levels are converted and adjusted through an operational amplifier U1A, the analog signal quantity output in the sensor is converted into voltage signals which can be processed by an acquisition circuit, the signals are coupled through the capacitor C5, the signals pass through a capacitor C2 and a resistor R1 to form a first-order resistance-capacitance low-pass filter circuit, the effect of filtering out coupled high-frequency clutter signals is achieved, the signals are input into an inverting end of the amplifier U1B, voltage is provided for an inverting end of the amplifier U1B through the resistor R12, the signals are fed back to the inverting end through a resistor R2 and a capacitor C3, finally, the signals are coupled and output through a capacitor C6, the circuit is guaranteed to process different voltages, and the stability of the output voltage and current signals is guaranteed through the resistor R6 and the resistor R10.

Specifically, the current-voltage detection circuit comprises an input port Va, an amplifier U1A, 3 capacitors C4, C7, C5, and 3 resistors R1, R7, and R9, wherein the input port Va is connected with one end of the capacitor C4, the other end of the capacitor C4 is connected with one end of a resistor R7, the other end of the resistor R7 is connected with one end of the capacitor C2, one end of the resistor R1, and a No. 2 interface of the amplifier U1A, the other end of the resistor R1 is connected with the other end of the capacitor C2, a No. 1 interface of the amplifier U1A, and a negative electrode of the capacitor C5, one end of the resistor R9 is connected with a No. 3 interface of the amplifier U1A, and the other end is grounded. The current and voltage detection circuit comprises an output port Vb, an amplifier U1B, 4 resistors R2, R6, R8 and R12, a potentiometer R10 and 3 capacitors C3, C5 and C6, wherein the anode of a capacitor C5 in the current and voltage detection circuit is connected with one end of the resistor R8, the other end of the resistor R8 is connected with one end of a resistor R2 and one end of a capacitor C3, the other end of the resistor R2 is connected with the other end of a capacitor C3, the cathode of a capacitor C6 and a No. 7 interface of the amplifier U1B, the anode of a capacitor C6 is connected with one end of a resistor R6, one end of a resistor R10 and the output port Vb, the other end of a resistor R6 is connected with a high-level VCC, the other end of a resistor R10 is grounded, a sliding blade end of the resistor R12 is connected with the No. 5 interface of the amplifier U1B, and the other end of the sliding blade is grounded.

Travelling wave comparison output circuit: after a fault occurs, a traveling wave signal is generated and transmitted to two directions, the traveling wave is transmitted by taking voltage or current as a carrier, the traveling wave carries fault information, and a fault location can be measured and calculated by analyzing the fault information. The signal of the circuit key path flows through a triode Q6, a triode Q5, a triode Q8, a triode Q7 and a triode Q4 to carry out boosting amplification and compensate loss in the signal transmission process, a current mirror processing circuit consisting of a triode Q5 and a triode Q6 compensates current output of signals, the signals are input into a base electrode of a triode Q8 through voltage division of a resistor R20 and a resistor R25, a diode D3 ensures signal flow direction, the signals are amplified through a triode Q7 and a triode Q4 in two stages, then the signals are processed through a resistor R23 and a capacitor C9 and then output, and the accuracy of output fault signals is ensured.

Specifically, the traveling wave comparison output circuit comprises an input port Vb, 2 triodes Q6, Q5, 6 resistors R9, R16, R17, R21, R22 and R20, wherein the input port Vb of the traveling wave comparison output circuit is connected with one end of the resistor R9, the other end of the resistor R9 is connected with a base of the triode Q6 and one end of the resistor R21, the other end of the resistor R21 is grounded, a collector of the triode Q6 is connected with one end of the resistor R16, the other end of the resistor R16 is connected with a high level VCC, an emitter of the triode Q6 is connected with an emitter of the triode Q5 and one end of the resistor R22, the other end of the resistor R22 is grounded, a collector of the triode Q5 is connected with one end of the resistor R17, the other end of the resistor R17 is connected with the high level VCC, and a base of the triode Q5 is connected with one end of the resistor R20. The traveling wave comparison output circuit comprises an output port Vout, a diode D3, 3 triodes Q4, Q7, Q8, 6 resistors R15, R18, R23, R24, R20, R25, and a capacitor C25, wherein the other end of the resistor R25 is connected with one end of the resistor R25 and the base of the triode Q25, the other end of the resistor R25 is grounded, the emitter of the triode Q25 is grounded, the collector of the triode Q25 is connected with the cathode of the diode D25 and the base of the triode Q25, the anode of the diode D25 is connected with a high level VCC, the collector of the triode Q25 is connected with one end of the resistor R25, the other end of the resistor R25 is grounded, the emitter of the triode Q25 is connected with one end of the resistor R25 and the base of the triode Q25, the other end of the resistor R25 is connected with the high level VCC, the collector of the triode Q4 is connected to one end of the resistor R23, one end of the capacitor C9, and the output port Vout, respectively, the other end of the resistor R23 is grounded, and the other end of the capacitor C9 is grounded.

While one embodiment of the present invention has been described in detail, the description is only a preferred embodiment of the present invention and should not be taken as limiting the scope of the invention. All equivalent changes and modifications made within the scope of the present invention shall fall within the scope of the present invention.

Claims

1. High tension transmission line travelling wave method fault location and unmanned aerial vehicle device of removing obstacles, including the electric current travelling wave processing circuit, current-voltage detection circuit, the travelling wave comparison output circuit that connect gradually, its characterized in that: the current traveling wave processing circuit comprises an input port Vin, a capacitor C7, 4 resistors R3, R5, R13 and R14, and a triode Q2, wherein the input port Vin is respectively connected with the negative electrode of the capacitor C7, one end of the resistor R13, one end of the resistor R5, one end of the resistor R14 and the base electrode of the triode Q2, the positive electrode of the capacitor C7 is connected with a high-level VCC, the negative electrode of the resistor R13 is grounded, the other end of the resistor R5 is connected with the high-level VCC, the other end of the resistor R14 is grounded, the emitter of the triode Q2 is connected with one end of the resistor R3, the other end of the resistor R3 is connected with the high-level VCC, and the collector of the triode Q2 is grounded.

2. The traveling wave method fault location and unmanned aerial vehicle obstacle clearing device for the high-voltage transmission line according to claim 1, characterized in that: the current traveling wave processing circuit comprises an output port Va2 triodes Q3 and Q1, 2 resistors R4 and R11, 2 capacitors C1 and C8, and 2 diodes D1 and D2, in the current traveling wave processing circuit, an emitter of a triode Q2 is connected with a base of a triode Q3, a collector of a triode Q3 is connected with one end of a resistor R4 and a base of a triode Q1 respectively, the other end of a resistor R4 is connected with a high level VCC, an emitter of a triode Q1 is connected with the high level VCC, an emitter of a triode Q3 is connected with one end of a resistor R11, an anode of a capacitor C8, an anode of a diode D2, a cathode of a diode D1 and one end of a capacitor C1 respectively, the other end of the resistor R11 is grounded, a cathode of the capacitor C8 is grounded, a cathode of the diode D2 is grounded, an anode of the diode D1 is connected with the collector of the triode Q1, the other end of the capacitor C1 is connected with the high level VCC, and an output port Va is connected with an anode of a diode D2.

3. The traveling wave method fault location and unmanned aerial vehicle obstacle clearing device for the high-voltage transmission line according to claim 1, characterized in that: the current-voltage detection circuit comprises an input port Va, an amplifier U1A, 3 capacitors C4, C2, C5 and 3 resistors R1, R7 and R9, wherein the input port Va is connected with one end of the capacitor C4, the other end of the capacitor C4 is connected with one end of a resistor R7, the other end of the resistor R7 is respectively connected with one end of the capacitor C2, one end of the resistor R1 and a No. 2 interface of the amplifier U1A, the other end of the resistor R1 is respectively connected with the other end of the capacitor C2, a No. 1 interface of the amplifier U1A and a negative electrode of the capacitor C5, one end of the resistor R9 is connected with a No. 3 interface of the amplifier U1A, and the other end of the resistor R9 is grounded.

4. The traveling wave method fault location and unmanned aerial vehicle obstacle clearing device for the high-voltage transmission line according to claim 3, characterized in that: the current and voltage detection circuit comprises an output port Vb, an amplifier U1B, 4 resistors R2, R6, R8 and R12, a potentiometer R10 and 3 capacitors C3, C5 and C6, wherein the positive electrode of a capacitor C5 in the current and voltage detection circuit is connected with one end of a resistor R8, the other end of a resistor R8 is respectively connected with one end of a resistor R2, one end of a capacitor C3 and a No. 6 interface of an amplifier U1B, the other end of the resistor R2 is respectively connected with the other end of a capacitor C3, the negative electrode of a capacitor C6 and a No. 7 interface of an amplifier U1B, the positive electrode of a capacitor C6 is respectively connected with one end of a resistor R6, one end of a resistor R10 and the output port Vb, the other end of the resistor R6 is connected with a high-level VCC, the other end of the resistor R10 is grounded, the sliding end of the resistor R12 is connected with the output port Vb, and one end of the resistor R12 is connected with the No. 5 interface of the amplifier U1 and the other end of the interface of the amplifier U1B.

5. The traveling wave method fault location and unmanned aerial vehicle obstacle clearing device for the high-voltage transmission line according to claim 1, characterized in that: the traveling wave comparison output circuit comprises an input port Vb, 2 triodes Q6, Q5, 6 resistors R19, R16, R17, R21, R22 and R20, wherein the input port Vb in the traveling wave comparison output circuit is connected with one end of the resistor R19, the other end of the resistor R19 is connected with the base of the triode Q6 and one end of the resistor R21 respectively, the other end of the resistor R21 is grounded, the collector of the triode Q6 is connected with one end of the resistor R16, the other end of the resistor R16 is connected with a high level VCC, the emitter of the triode Q6 is connected with the emitter of the triode Q5 and one end of the resistor R22 respectively, the other end of the resistor R22 is grounded, the collector of the triode Q5 is connected with one end of the resistor R17, the other end of the resistor R17 is connected with the high level VCC, and the base of the triode Q5 is connected with one end of the resistor R20.