CN115798281A - Relay protection real operation system based on VR visualization and virtual debugging method thereof - Google Patents
Relay protection real operation system based on VR visualization and virtual debugging method thereof Download PDFInfo
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Abstract
The invention discloses a relay protection practical operation system based on VR visualization and a virtual debugging method thereof. VR visual equipment specifically include the VR host computer and respectively with VR host computer communication connection's VR helmet, VR input device and with visual online training platform communication connection's of many people on Web panoramic camera. The invention directly changes the traditional relay protection training mode into remote operation teaching, reduces the labor time, improves the training efficiency, realizes the combination of the remote operation teaching and the VR technology through the application of the digital twin technology, reduces the dependence on the training equipment and reduces the input cost. Meanwhile, VR visualization is an exploration result in relay protection major, and the method can be applied to intellectualization in other fields in the power system.
Description
Technical Field
The invention relates to the technical field of digital twinning, in particular to a relay protection real operation system based on VR visualization and a virtual debugging method thereof.
Background
The relay protection device is an important component of a power system and an indispensable component for ensuring reliable and stable operation of a power grid, so that the relay protection device has high requirements on the technical level of relay protection maintenance personnel. At present, relay protection maintenance professionals have high mobility, and new employees can be on duty only through a series of safety production and professional training. Traditional relay protection training is usually for the off-line mode of practising, the training number is limited and need spend a large amount of human costs and time cost, training efficiency is lower, this process has consumed a large amount of time, manpower, material resources simultaneously, work efficiency has seriously been influenced, and in order to ensure electric power system safe operation, the people is never allowed to set up the trouble for the student to study and handle, and single theoretical training lacks visual understanding and authenticity again, the student hardly obtains abundant exercise, can't grasp the fault handling skill conscientiously, high-efficiently.
Disclosure of Invention
Aiming at the technical problems in the prior art, the invention provides a relay protection real operation system based on VR visualization and a virtual debugging method thereof.
The technical scheme for solving the technical problems is as follows:
a relay protection real operation system based on VR visualization includes:
the system comprises a VR server cloud platform, VR visual equipment, a tester wireless communication platform and a Web multi-person visual online training platform, wherein the VR visual equipment, the tester wireless communication platform and the Web multi-person visual online training platform are respectively in communication connection with the VR server cloud platform;
the Web multi-person visual online training platform is used for carrying out visual virtual actual operation display on the received test task data, acquiring test data input by each training person and pre-edited test template data, and transmitting the test data and the pre-edited test template data to the VR server cloud platform; and the received test result of the corresponding relay protection tester is displayed visually; carrying out visual display on the received course of the trainee practice teaching and the video data of the relay protection virtual practice of the virtual practice personnel;
the VR server cloud platform is used for constructing a relay protection real operation virtual simulation scene by adopting a digital twin technology and utilizing a physical model and sensor data; generating a relay protection tester control command according to the received test data and the test template data, and transmitting the relay protection tester control command to a tester wireless communication platform; transmitting the received test result of the relay protection tester to a Web multi-person visual online training platform; generating video data of the relay protection virtual real operation in a virtual simulation scene of the relay protection real operation according to the received control instruction of the relay protection virtual real operation, and transmitting the generated video data of the relay protection virtual real operation to a Web multi-person visual online training platform; generating standardized operation flow data according to the generated video data of the relay protection virtual real operation, and judging the operation standard of the received video data of the relay protection real operation collected in real time according to the generated standardized operation flow data; transmitting a judgment result of the video data operation standard of the relay protection practical operation to a Web multi-person visual online training platform; transmitting the received test task data to a Web multi-person visual online training platform;
the tester wireless communication platform is used for issuing the received relay protection tester control command to the corresponding relay protection tester and uploading the received test result of the corresponding relay protection tester to the VR server cloud platform;
the VR visualization equipment is used for acquiring the course of the practical teaching of the trainer and video data of relay protection practical operation of each training person in an actual scene in real time, inputting a control instruction of the relay protection virtual practical operation in a virtual simulation scene of the relay protection practical operation according to the acquired video data of the relay protection practical operation in real time, and transmitting the acquired video data of the relay protection practical operation in real time and the input control instruction of the relay protection virtual practical operation to a VR server cloud platform; and generating test task data according to the input test task instruction, and transmitting the test task data to the VR server cloud platform.
As a preference of this embodiment, the VR visualization device specifically includes:
VR host computer and respectively with VR host computer communication connection's VR helmet, VR input device and with visual online training platform communication connection's of many people of Web panoramic camera.
Preferably, the VR host is configured to receive and store a control instruction of the relay protection virtual real operation and a video and/or an image of a virtual operation process performed by a training staff, which are sent by the VR helmet and input by the VR input device in the relay protection real operation virtual simulation scene.
Preferably, the VR helmet is used for collecting virtual operations performed by training personnel, collecting virtual scenes provided for virtual operators and collecting action conditions of the relay protection device, so that video data of relay protection operators are visually displayed in real time.
Preferably, in this embodiment, the VR input device is configured to input a control instruction of the relay protection virtual real operation in the relay protection real operation virtual simulation scene according to the visually displayed video data of the relay protection real operation, and transmit the input control instruction of the relay protection virtual real operation to the VR host.
Preferably, the panoramic camera is used for acquiring a real-time course of a trainer in practice and sending a video and/or an image of the real-time course of the trainer to the Web multi-person visualization online training platform.
The embodiment of the invention provides a virtual debugging method of a relay protection real operation system based on VR visualization, which comprises the following steps:
s1, connecting an entity relay protection device and an entity relay protection tester according to a rule to form a test wire;
s2, the entity relay protection device and the virtual relay protection device complete digital twin connection;
s3, the entity relay protection tester and the virtual relay protection tester complete digital twin connection;
s4, wearing the VR helmet and the VR operating handle, and performing various debugging tasks in a virtual environment;
and S5, generating various action logics of the relay protection device through simulation modeling of various protection function logic digital twin subsystems, and verifying the action logics with analog quantity input, action signals, indicator lights and liquid crystal display of the entity relay protection device.
Compared with the prior art, the invention has the following beneficial effects:
(1) According to the relay protection professional practical operation system based on VR visualization, a traditional relay protection practical training mode can be directly changed into remote operation teaching by using a digital twin technology, so that the labor time is reduced, the training efficiency is improved, meanwhile, the remote operation teaching and the VR technology are combined by applying the digital twin technology, the dependence on practical training equipment can be completely reduced, and the investment cost is reduced. Meanwhile, VR can be visualized in exploration results of relay protection major, and the method can be applied to intellectualization in other fields in a power system.
(2) According to the virtual debugging method of the relay protection real operation system based on VR visualization, all action logics are fed back by the entity relay protection device in real time, so that the virtual equipment can be ensured to be consistent with the actual field, the accurate action protection condition can be realized, meanwhile, the modeling of the internal structure of the relay protection device is not needed, and only the modeling of the human-computer interaction part of the relay protection device is needed.
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Fig. 1 is a schematic structural diagram of a relay protection real operation system based on VR visualization in an embodiment of the present invention;
fig. 2 is a schematic structural diagram of VR visualization equipment in an embodiment of the present invention.
Detailed Description
The principles and features of this invention are described below in conjunction with the following drawings, which are set forth to illustrate, but are not to be construed to limit the scope of the invention.
By researching the application possibility of the digital twin technology in relay protection professional practical operation, the invention develops a set of relay protection practical operation system based on VR visualization, which comprises: VR visual equipment, VR server software platform, tester wireless communication system, the visual online system of many people of Web to a mode of long-range real operation of innovation promotes relay protection specialty real operation training cause, improves relay protection specialty training efficiency, reduces to train relay protection specialty talent and cultivates the cost.
The digital twin technology adopted by the invention is a virtual simulation technology which fully utilizes data of physical models, sensors and the like. The virtual reality technology is used for training by using VR visualization equipment. The traditional training is only that a teacher explains the training on the traditional training, and students listen to the training and cannot perform actual exercises. And utilize the virtual reality technique can make lively, lifelike on-the-spot real operation environment through VR visual equipment, the student can operate in virtual environment, just like carrying out relay protection operation test at the actual scene, makes the student have real impression, and a plurality of students can watch other students' operation condition in virtual scene moreover, and the existing study is with usefulness, does not limit the restriction of space and region.
As shown in fig. 1, an embodiment of the present invention provides a relay protection practical operation system based on VR visualization, including:
the system comprises a VR server cloud platform, VR visual equipment, a tester wireless communication platform and a Web multi-person visual online training platform, wherein the VR visual equipment, the tester wireless communication platform and the Web multi-person visual online training platform are respectively in communication connection with the VR server cloud platform;
the Web multi-person visual online training platform is used for carrying out visual virtual actual operation display on the received test task data, acquiring test data input by each training person and pre-edited test template data, and transmitting the test data and the pre-edited test template data to the VR server cloud platform; the received test result of the relay protection tester is displayed visually; carrying out visual display on the received course of the trainee practice teaching and the video data of the relay protection virtual practice of the virtual practice personnel;
the VR server cloud platform is used for constructing a relay protection real operation virtual simulation scene by adopting a digital twin technology and utilizing a physical model and sensor data; generating a relay protection tester control command according to the received test data and the test template data, and transmitting the relay protection tester control command to a tester wireless communication platform; transmitting the received test result corresponding to the relay protection tester to a Web multi-person visual online training platform; generating video data of the relay protection virtual real operation in a virtual simulation scene of the relay protection real operation according to the received control instruction of the relay protection virtual real operation, and transmitting the generated video data of the relay protection virtual real operation to a Web multi-person visual online training platform; generating standardized operation flow data according to the generated video data of the relay protection virtual real operation, and judging the operation standard of the received video data of the relay protection real operation collected in real time according to the generated standardized operation flow data; transmitting a judgment result of the video data operation standard of the relay protection practical operation to a Web multi-person visual online training platform; transmitting the received test task data to a Web multi-person visual online training platform;
the tester wireless communication platform is used for issuing the received relay protection tester control command to the corresponding relay protection tester and uploading the received test result of the corresponding relay protection tester to the VR server cloud platform;
the VR visualization equipment is used for acquiring the course of the practical teaching of the trainer and video data of relay protection practical operation of each training person in an actual scene in real time, inputting a control instruction of the relay protection virtual practical operation in a virtual simulation scene of the relay protection practical operation according to the acquired video data of the relay protection practical operation in real time, and transmitting the acquired video data of the relay protection practical operation in real time and the input control instruction of the relay protection virtual practical operation to a VR server cloud platform; and generating test task data according to the input test task instruction, and transmitting the test task data to the VR server cloud platform.
In an alternative embodiment of the present invention, as shown in fig. 2, a VR visualization apparatus according to the present invention specifically includes:
VR host computer and respectively with VR host computer communication connection's VR helmet, VR input device and with visual online training platform communication connection's of many people of Web panoramic camera. Of course, the system can also comprise necessary data connecting lines and other props such as network lines, video lines and the like. Wherein the VR host performance requirement is GPU: NVIDIA GEFORCE GTX760 and above, memory 1lg, and CPU I5 core. The VR series products adopt an outsourcing HTC brand device. The camera requires a 4K high definition camera.
The invention mainly realizes the functions of three-dimensional live-action scanning, live-action display, immersive interactive experience design, data communication and the like by adopting VR visual equipment. The hardware composition and topology of the whole system are shown in fig. 2.
In an optional embodiment of the invention, the panoramic camera related to the VR visualization device is used for acquiring video data of relay protection practical operation of each training person in an actual scene in real time, transmitting the acquired video data of the relay protection practical operation in real time to the VR server cloud platform through the Web multi-person visualization online training platform, and transmitting the video data to the VR host through the VR server cloud platform.
In an optional embodiment of the invention, the VR headset related to the VR visualization device of the invention is used for visually displaying video data of relay protection operation.
In an optional embodiment of the invention, the VR input device related to the VR visualization device of the invention is configured to input a control instruction of the relay protection virtual real operation in the relay protection real operation virtual simulation scene according to the visually displayed video data of the relay protection real operation, and transmit the input control instruction of the relay protection virtual real operation to the VR host.
In an optional embodiment of the invention, the VR host involved in the VR visualization device of the invention is configured to perform visual rendering on the received video data of the relay protection real operation, transmit the video data to the VR headset, and transmit the received input control instruction of the relay protection virtual real operation to the VR server cloud platform. It should be noted that, in the foregoing embodiments, the descriptions of the respective embodiments have respective emphasis, and reference may be made to relevant descriptions of other embodiments for parts that are not described in detail in a certain embodiment.
Specifically, the VR real-time interaction function can be realized by using VR visualization equipment, namely, a teacher end can observe the flow of field operation steps of students in real time and give correctness guidance through a video picture scanned by a high-definition camera; meanwhile, the virtual scene can be scanned through the live-action, the virtual tester and the protection device are operated in person, and a test task is issued to the real scene of the remote training room to complete the test so as to complete the training target.
The invention can also realize the function of guiding the standardized operation flow by utilizing the VR visualization equipment, namely, in a VR virtual scene, the system can drill the operation process of the device according to different devices, for example, when checking the distance between phases, 1) the communication process between the connection relay protection tester and the device. 2) 61850 data channel information is set, and information such as a hard and soft pressing plate, a fixed value, input current and the like is also set. 3) And after the test is started, checking the action information of the relay protection device. The system will record the standard operating flow for each device. And providing a basis for the subsequent trainee to judge whether the actual operation process is wrong. In the virtual scene, the trainees can be guided to master the operation steps by editing the standard operation flow.
When the system is used for relay protection professional practice training, training personnel input test data in advance, edit a test template, remotely communicate with a matched relay protection tester through a VR training platform and a wireless communication platform, and send a corresponding control command of the edited test template to a corresponding relay protection tester on site; the relay protection tester carries out relay protection test according to the received control command, and feeds back a test result to the training staff through the wireless communication platform, and the training staff just like the training staff is in the scene.
The invention relates to a relay protection device based digital twin modeling method, which is characterized in that virtual digital relay protection equipment is established according to physical appearance parameters of an entity relay protection device, and the virtual equipment comprises key information such as the size, the color, the shape and the position of a device body, a liquid crystal display, a signal lamp and an operation button. According to the invention, the content of the liquid crystal screen of the entity relay protection device and the states of the indicator lamps are sent to the VR server cloud platform in real time through a video capture technology, and digital connection corresponding to virtual relay protection is established. The invention establishes a remote control mode, and operates the button of the relay protection device through the Internet. When the remote control operation causes the content of the liquid crystal screen and the indicator light of the entity relay protection device to change, the virtual digital relay protection also changes along with the change. The virtual button of the virtual digital relay protection device is associated with the remote control program, so that when the virtual button is operated, the entity relay protection device receives completely consistent information through the remote control program.
On the basis, the virtual debugging technology for remote practical training is developed, is used for practical training, mainly solves the problem of network safety, and can be completely applied to an actual production field technically.
The invention uses a digital twin modeling method similar to a relay protection device to establish a set of virtual relay protection tester. The specific implementation method comprises the following steps:
1. and establishing a virtual digital relay protection tester according to physical appearance parameters of the entity relay protection tester, wherein the virtual equipment comprises key information such as the size, the color, the shape, the position and the like of a tester body, a liquid crystal display, a signal lamp and an operation button.
2. The entity relay protection tester is based on a linux operating system, and a computer-like remote control method is used for sending screen content of the entity relay protection tester to a VR server cloud platform and receiving action information of a mouse and a keyboard from the VR server cloud platform. And forming a digital association with the virtual relay protection tester.
3. And the mouse and keyboard operation of the relay protection tester in the virtual environment is sent to the VR server cloud platform, so that the entity relay protection tester is further controlled.
The invention carries out the concrete process of virtual debugging (relay protection remote practical training):
1. and connecting the entity relay protection device and the entity relay protection tester with a test wire according to a rule.
2. And the entity relay protection device and the virtual relay protection device complete digital twin connection.
3. And the entity relay protection tester and the virtual relay protection tester finish digital twin connection.
4. Wear VR helmet, VR operating handle, carry out each item debugging task under virtual environment. The input and output of the virtual relay protection device and the virtual relay protection tester are completely consistent with those of the entity equipment.
5. Various action logics of the relay protection device are generated by simulation modeling of the digital twin subsystem of each protection function logic, and are verified with analog quantity input (current and voltage), action signals, indicator lights and liquid crystal display of the entity relay protection device, so that the action condition of the virtual relay protection device is kept consistent with that of the entity.
The following description will be made in detail by taking a stage type current protection digital twin subsystem, a distance protection digital twin subsystem, and a pilot current differential protection digital twin subsystem as examples to perform simulation modeling of a line protection logic in relay protection.
The stage type current protection digital twin subsystem is used for separating three-phase current data from a transient simulation result and outputting an action signal according to a comparison result of the three-phase current data and a set current value, and comprises a system line fault transient simulation unit, an algorithm unit, a starting element, a current protection I section unit, a current protection II section unit, a current protection III section unit, a matched human-computer interaction interface and the like. Firstly, a transient simulation result is obtained by a Simulink system line fault transient simulation unit, three-phase current data is separated from the transient simulation result, and the three-phase current data is calculated and displayed; the starting element judges whether the three-phase current data accords with the starting criterion or not by utilizing the three-phase current data, if so, the fault is judged, and the algorithm unit carries out filtering processing on the three-phase current data by utilizing a Fourier algorithm; and the processed three-phase current data enters a current protection I section unit, a current protection II section unit and a current protection III section unit, are respectively compared with three sections of setting current values, and output action signals according to action time limits.
By applying Simulink, a single power supply load system model can be constructed, and parameters of each element of the system are as follows: the line voltage of a voltage source is 10.5kV, zs is system equivalent impedance, the maximum operation mode of the system is Zs.max =2 omega, the minimum operation mode is Zs.min =3 omega, and the normal operation mode is 2.5 omega; the length of the two-stage line is 10km, the positive sequence impedance Z1= (0.05 + j0.3) omega/km of the line, and the zero sequence impedance Z0= (0.04 + j1.2) omega/km; load capacity SLD =1.2+ j0.9MVA. The parameters can be modified according to simulation requirements, and in addition, parameters such as simulation time, fault point positions, fault types, fault starting moments and the like can be set according to the simulation requirements.
The distance protection digital twin subsystem measures the ratio of voltage and current by using the characteristic that the voltage and the current change simultaneously when in short circuit fault, and the protection works by reflecting the distance from a fault point to a protection installation position. The distance protection has certain time limit characteristics, and the relation between the action time and the distance between the fault point and the protection installation point belongs to the time limit characteristics of the distance protection. According to the basic principle and the logical cooperation relationship among the components of the distance protection and the relay protection, the modeling of the distance protection digital twin subsystem is designed.
The subsystem is composed of a fault transient simulation unit, an algorithm unit, a starting element, a fault phase selection element, an impedance calculation unit, an impedance comparison unit, a matched human-computer interaction interface and the like. Firstly, a transient simulation result is obtained by a Simulink system line fault transient simulation unit, three-phase voltage current data is separated from the transient simulation result, and the three-phase voltage current data is calculated and displayed; the starting element judges whether the three-phase current data accord with the starting criterion or not according to the three-phase current data, if so, the starting element judges that a fault occurs, and the Fourier algorithm is utilized to carry out filtering processing on the three-phase voltage current data; the phase selection element performs phase selection by using the processed three-phase current data, and the phase selection result is input to an interface for display; calculating voltage according to the impedance to obtain measured impedance; and the impedance comparison voltage is compared with the setting impedance according to different impedance relay wiring modes, and an action signal is output.
The impedance calculation voltage and the impedance comparison voltage belong to the core of distance protection, and when a fault problem occurs, the accurate measurement of the fault direction and the fault distance can be realized in a short time, the fault distance is compared and analyzed with a preset protection range, if the fault belongs to the range of the setting protection area, an action signal is executed, and if the fault belongs to an outside fault, the action is not executed.
The pilot current differential protection digital twin subsystem is used for separating double-end three-phase current data from a transient simulation result and outputting an action signal according to the double-end three-phase current data and an action equation of the differential relay. Assuming that the positive direction of the current at the two ends of the line is the line flowing from the bus to be protected, the current flowing into the protection device is the sum of the currents at the two sides: ir = im + in. When the line MN is in normal operation or an external (e.g. k2 point) fault occurs, the currents flowing through the two ends of the line are equal in magnitude and opposite in direction, i.e. ir = im + in =0, and the protection device does not act. When a fault occurs in the protected line (such as a point k 1), the power supplies at the two ends respectively supply fault currents to the fault point, at the moment, im + in = ik (ik is the fault current at the point k 1), if is not zero, and when is greater than the setting current of the current element, the protection device acts. Therefore, the pilot current differential protection can reflect the fault of any point in the protected line.
According to the basic principle of the longitudinal current differential protection and the logical cooperation relationship among all elements of the composition and protection equipment, a longitudinal current differential protection digital twin subsystem is designed. The system consists of a system line fault transient simulation unit, an algorithm unit, a starting element, a fault phase selection element, a differential relay unit, a matched human-computer interaction interface and the like. Firstly, obtaining a transient simulation result by a Simulink system line fault transient simulation unit, separating system double-end three-phase current data from the transient simulation result, and calculating and displaying; the starting element judges whether the three-phase current value of the M side meets the starting criterion or not by utilizing the three-phase current value of the M side, if so, the starting element judges that a fault occurs, and the Fourier algorithm is utilized to carry out filtering processing on the three-phase current data; the fault phase selection element performs phase selection by using the processed three-phase current data, and the phase selection result is input to an interface for display; and the processed double-end three-phase current data enters the differential relay unit and outputs an action signal when the action equation is met.
The following description details the bus protection logic in relay protection by performing simulation modeling, and taking a ratio brake type current differential protection digital twin subsystem, a bus-coupled charging protection digital twin subsystem, a bus-coupled overcurrent protection digital twin subsystem, a bus-coupled failure protection and bus-coupled dead zone protection digital twin subsystem and a circuit breaker failure protection digital twin subsystem as examples.
The bus protection main protection generally adopts a ratio brake type current differential protection principle, the ratio brake type current differential protection is constructed based on a current sampling value, and the bus protection main protection is realized by opening a bus protection current element only when continuous multiple points meet action conditions. The steady state criterion of differential protection uses the conventional rate braking principle. When the bus operates normally or the protection range of the bus is out of order, the sum of all currents flowing into and out of the bus is zero (differential current is zero), and when the bus is in order, the sum of all currents flowing into and out of the bus is no longer zero (differential current is not zero). Based on this premise, differential protection can correctly distinguish bus internal and external faults.
A ratiometric differential element system was built using Simulink. Firstly, obtaining a differential current amplitude value of the obtained differential current through a Fourier algorithm, obtaining an amplitude value of the braking current through the Fourier algorithm, then building a rate differential element model by applying a rate braking type bus differential protection action equation, and packaging the rate differential element model into a subsystem.
When a group of buses are overhauled or bus fault tripping occurs, after the fault is removed, a bus charging test needs to be carried out before the fault bus is put into the bus again, at the moment, bus-tie charging protection needs to be put into the bus-tie charging protection, if the tested bus still has a fault, an action outlet is protected, and a bus-tie breaker is tripped off, and the protection principle is called bus-tie charging protection. The bus protection device can detect three conditions in real time: one section of bus operates normally, and the other section of bus stops operating; disconnecting the bus tie breaker; the bus-tie current is from zero to present. And when the three conditions are simultaneously met, starting the bus coupler charging protection function and automatically extending for 0.3s. When any phase current of the bus-tie is larger than the charging protection current fixed value, the bus-tie breaker is tripped out and is not locked by the composite voltage.
When the bus-tie overcurrent protection is used as temporary protection of the circuit, the bus-tie overcurrent protection can be put into use. After the bus-tie overcurrent protection pressing plate is put into operation, when any phase current of the bus-tie branch is greater than the bus-tie overcurrent fixed value, two-section bus-tie overcurrent protection can be formed through time delay at two ends, and when the bus-tie zero-sequence current is greater than the bus-tie zero-sequence overcurrent fixed value, two-section bus-tie zero-sequence overcurrent protection can be formed through time delay at two ends, and the bus-tie overcurrent protection does not need to be locked through composite voltage.
After the protection sends a tripping command to the bus-tie, after a period of time delay, the bus-tie branch is found to still have current, the tripping failure of the bus-tie switch is proved, at the moment, the bus-tie failure protection function needs to be started, and when the bus-tie current exceeds a protection fixed value, all branches connected on the bus are tripped. The starting mode of the bus-tie failure protection is various, and the bus-tie failure protection and the bus-tie charging protection can be started by an external action contact besides bus differential protection and bus-tie charging protection. When a bus fault occurs between the bus tie switch and the bus tie TA, the bus protection action outlet is used for tripping off all branches of the fault bus and the bus tie branches, and due to the particularity of fault positions, after the bus tie three-phase is detected to be tripped completely, fault current still exists in the bus tie branches, and at this time, bus tie dead zone protection needs to be started to trip off all branches on the healthy and complete section bus. The bus tie failure protection and the bus tie dead zone protection can share one set of action logic.
In a substation with a voltage class of 110kV or above, when a bus, a line or a transformer is short-circuited and a protection device is operated to remove a fault, a phenomenon that a breaker fails to operate may occur, which is called a breaker failure fault. The failure of the circuit breaker can be caused by various reasons, such as the disconnection of a tripping circuit of the circuit breaker, the failure of an operating mechanism of the circuit breaker and the like. The circuit breaker and the protection device of the high-voltage power grid have certain backup functions, so that when the circuit breaker or the protection device fails, the fault can be still effectively removed. In a power grid with 220kV and above possible rejection situations (and in particular in the 110kV grid), breaker failure protection should be installed if it can narrow the accident window caused by the rejection of the breaker. When the breaker fails to protect, all branch breakers connected on the fault bus are required to be tripped.
The virtual debugging method is applied to relay protection remote actual operation training, and has the following advantages compared with simulation training:
1. the protection action condition is accurate. All action logics are fed back by the entity relay protection device in real time, so that the virtual equipment can be ensured to be actually consistent with the field.
2. The modeling speed is high. The modeling of the internal structure of the relay protection device is not needed, and the modeling of the human-computer interaction part of the relay protection device is only needed.
After the work is finished, the invention also develops a relay protection remote real operation system. And adding a user side on the basis of the virtual debugging system, perfecting an interaction platform to form a Web multi-person visual online training platform, and forming the platform on the basis of a VR server cloud platform.
1. A virtual classroom is established on a Web multi-person visual online training platform, and the form of the virtual classroom is similar to that of a video live broadcast room. The trainer can send voice and video signals to the Web multi-person visual online training platform through live broadcast equipment in a live video broadcast room. The students can enter the virtual classroom through traditional equipment such as computers, mobile phones and the like. The online relay protection training function can be realized in a virtual classroom, such as relay protection electronic data learning, live broadcast interaction, online examination and the like.
2. The trainer can operate the entity relay protection device and the relay protection tester to perform relay protection practical operation demonstration. Meanwhile, a virtual relay protection device and a relay protection tester which are in digital twins with entity equipment are displayed on the Web multi-person visual online training platform. The student can more clearly observe the relevant settings and state changes of the relay protection device and the relay protection tester in the actual operation process.
3. The trainer can open virtual debugging permission to a certain student device connected to the Web multi-person visual online training platform, and the student can use the device with the virtual debugging permission to perform virtual debugging (relay protection remote operation). Meanwhile, the trainer and other students can observe the actual operation process of the operating students. The trainer has higher operation authority and can intervene in the operation process of the trainee.
4. A system login interface is arranged at each access end of the Web multi-person visual online training platform, a registration system is implemented, and the registration of teachers and students needs to be audited by a system administrator. After the examination is passed, the teacher automatically gives each operation authority. The student application is provided, the teacher authorizes the student authority, and the teacher can actively open the operation authority of the student to the real operation system according to the student list, and the teacher authority is opened for individuals, teaching classes and the like. The teacher has the authority to lock the real operation system, so that the system is suitable for guaranteeing the system safety under the condition of no teacher supervision, and misoperation is prevented. Meanwhile, the system has a protection function, automatically locks the actual operation system according to a specific scene, and gives an alarm, such as single-person login and single-person operation.
As will be appreciated by one skilled in the art, embodiments of the present invention may be provided as a method, system, or computer program product. Accordingly, the present invention may take the form of an entirely hardware embodiment, an entirely software embodiment or an embodiment combining software and hardware aspects. Furthermore, the present invention may take the form of a computer program product embodied on one or more computer-usable storage media (including, but not limited to, disk storage, CD-ROM, optical storage, and the like) having computer-usable program code embodied therein.
The present invention is described with reference to flowchart illustrations and/or block diagrams of methods, apparatus (systems), and computer program products according to embodiments of the invention. It will be understood that each flow and/or block of the flow diagrams and/or block diagrams, and combinations of flows and/or blocks in the flow diagrams and/or block diagrams, can be implemented by computer program instructions. These computer program instructions may be provided to a processor of a general purpose computer, special purpose computer, embedded computer, or other programmable data processing apparatus to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing apparatus, create means for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.
These computer program instructions may also be stored in a computer-readable memory that can direct a computer or other programmable data processing apparatus to function in a particular manner, such that the instructions stored in the computer-readable memory produce an article of manufacture including instruction means which implement the function specified in the flowchart flow or flows and/or block diagram block or blocks.
These computer program instructions may also be loaded onto a computer or other programmable data processing apparatus to cause a series of operational steps to be performed on the computer or other programmable apparatus to produce a computer implemented process such that the instructions which execute on the computer or other programmable apparatus provide steps for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.
While preferred embodiments of the present invention have been described, additional variations and modifications in those embodiments may occur to those skilled in the art once they learn of the basic inventive concepts. Therefore, it is intended that the appended claims be interpreted as including preferred embodiments and all such alterations and modifications as fall within the scope of the invention.
It will be apparent to those skilled in the art that various changes and modifications may be made in the present invention without departing from the spirit and scope of the invention. Thus, if such modifications and variations of the present invention fall within the scope of the claims of the present invention and their equivalents, the present invention is also intended to include such modifications and variations.
Claims (7)
1. A relay protection real operation system based on VR visualization is characterized by comprising:
the system comprises a VR server cloud platform, VR visual equipment, a tester wireless communication platform and a Web multi-person visual online training platform, wherein the VR visual equipment, the tester wireless communication platform and the Web multi-person visual online training platform are respectively in communication connection with the VR server cloud platform;
the Web multi-person visual online training platform is used for carrying out visual virtual practice display on received test task data, acquiring test data input by each training person and pre-edited test template data, and transmitting the test data and the pre-edited test template data to the VR server cloud platform; the received test result of the relay protection tester is displayed visually; carrying out visual display on the received course of the trainee practice teaching and the video data of the relay protection virtual practice of the virtual practice personnel;
the VR server cloud platform is used for constructing a relay protection real operation virtual simulation scene by adopting a digital twin technology and utilizing a physical model and sensor data; generating a relay protection tester control command according to the received test data and the test template data, and transmitting the relay protection tester control command to a tester wireless communication platform; transmitting the received test result corresponding to the relay protection tester to a Web multi-person visual online training platform; generating video data of the relay protection virtual real operation in a virtual simulation scene of the relay protection real operation according to the received control instruction of the relay protection virtual real operation, and transmitting the generated video data of the relay protection virtual real operation to a Web multi-person visual online training platform; generating standardized operation flow data according to the generated video data of the relay protection virtual real operation, and judging the operation standard of the received video data of the relay protection real operation collected in real time according to the generated standardized operation flow data; transmitting a judgment result of the video data operation standard of the relay protection practical operation to a Web multi-person visual online training platform; transmitting the received test task data to a Web multi-person visual online training platform;
the tester wireless communication platform is used for issuing the received relay protection tester control command to the corresponding relay protection tester and uploading the received test result of the corresponding relay protection tester to the VR server cloud platform;
the VR visualization equipment is used for acquiring the course of the practical teaching of the trainer and video data of relay protection practical operation of each training person in an actual scene in real time, inputting a control instruction of the relay protection virtual practical operation in a virtual simulation scene of the relay protection practical operation according to the acquired video data of the relay protection practical operation in real time, and transmitting the acquired video data of the relay protection practical operation in real time and the input control instruction of the relay protection virtual practical operation to a VR server cloud platform; and generating test task data according to the input test task instruction, and transmitting the test task data to the VR server cloud platform.
2. The relay protection practical operation system based on VR visualization of claim 1, wherein the VR visualization device specifically includes:
VR host computer and respectively with VR host computer communication connection's VR helmet, VR input device and with visual online training platform communication connection's of many people of Web panorama camera.
3. The relay protection practical operation system based on VR visualization of claim 2, wherein the VR host is configured to receive and store the control command of the relay protection virtual practical operation input by the VR input device in the virtual simulation scene of the relay protection practical operation and the video and/or image of the virtual operation process performed by the training personnel sent by the VR helmet.
4. The relay protection practical operation system based on VR visualization of claim 2, wherein the VR helmet is used for collecting virtual operations performed by training personnel, virtual scenes provided for the virtual practical operation personnel and action conditions of a relay protection device, so that video data of the relay protection practical operation can be visually displayed in real time.
5. The relay protection practical operation system based on VR visualization of claim 2, wherein the VR input device is configured to input a control command of the relay protection virtual practical operation in the relay protection practical operation virtual simulation scene according to the visually displayed video data of the relay protection practical operation, and transmit the input control command of the relay protection virtual practical operation to the VR host.
6. The VR visualization based relay protection practical operation system of claim 2, wherein the panoramic camera is used for collecting real-time teaching processes of the trainer practical operation and sending videos and/or images of the teaching processes of the trainer practical operation to a Web multi-person visualization online training platform.
7. A virtual debugging method of a relay protection real operation system based on VR visualization is characterized by comprising the following steps:
s1, connecting an entity relay protection device and an entity relay protection tester according to a rule to form a test wire;
s2, the entity relay protection device and the virtual relay protection device complete digital twin connection;
s3, the entity relay protection tester and the virtual relay protection tester complete digital twin connection;
s4, wearing the VR helmet and the VR operating handle, and performing various debugging tasks in a virtual environment;
and S5, generating various action logics of the relay protection device through simulation modeling of various protection function logic digital twin subsystems, and verifying the action logics with analog quantity input, action signals, indicator lights and liquid crystal display of the entity relay protection device.
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