CN117471452B - Method for monitoring conductor galloping of power transmission line based on millimeter wave radar - Google Patents
Method for monitoring conductor galloping of power transmission line based on millimeter wave radar Download PDFInfo
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Abstract
The invention discloses a transmission line conductor galloping monitoring method based on millimeter wave radar, which comprises the steps of system deployment, parameter setting, data acquisition, signal processing and analysis, result display and recording, alarm and feedback, data analysis and application and the like. According to the invention, the movable cruising millimeter wave radar system is utilized to monitor each section of the wire in real time and compare the sections with the standard value, a delta dqt three-dimensional wire dynamic galloping curve is constructed, a safety area and a risk classification mechanism are formed, and the risk level of the wire galloping can be intuitively and rapidly judged; the monitoring method has strong adaptability, small influence on weather, illumination and object surface characteristics, can overcome environmental interference to a certain extent and has high spatial resolution; the method can realize high-speed measurement and accurate measurement of the monitoring wire, capture and monitor the rapid change of the wire galloping form, and further analyze the wire galloping data recorded in the operation process, thereby providing data support for the operation and maintenance of the power transmission line.
Description
Technical Field
The invention relates to the technical field of power transmission and maintenance thereof, in particular to a transmission line conductor galloping monitoring method based on millimeter wave radar.
Background
The wire waving, namely the low-frequency and large-amplitude self-excited vibration phenomenon of the overhead wire with uneven ice coating along the circumferential direction under the action of lateral wind force. Accidents are often caused by the waving of wires of a high-voltage transmission line, particularly an extra-high-voltage transmission line, such as different grades of accidents as flashover tripping, loosening of tower bolts, collision damage of insulators, wire jumper breakage, hardware damage breakage of spacing rods and the like, wire dropping and wire dropping, damage of a pole tower structure, tower falling and the like, and serious disasters are caused to a power grid.
Therefore, an extra-high voltage transmission line is often provided with a wire galloping monitoring device, the existing wire galloping monitoring is characterized in that a wire clamp is arranged at a designated position of a wire, a device body displacement sensor is arranged on one side of the wire clamp, a vibration sensor is arranged at a designated distance of an outlet on the other side of the wire, and a bending amplitude method is adopted for measuring the wire bending strain as a standard mode for monitoring the wire galloping.
However, the current wire galloping monitoring adopts a contact type measurement mode, is easy to interfere or influence the measured wire, has a limited measurement range, and cannot monitor the wire galloping in a large range.
Disclosure of Invention
The invention aims to solve the defects in the prior art, and provides a transmission line conductor galloping monitoring method based on a millimeter wave radar.
In order to achieve the above purpose, the present invention adopts the following technical scheme:
a transmission line conductor galloping monitoring method based on millimeter wave radar comprises the following steps:
s100, system deployment: determining a wire segment to be monitored, selecting a proper installation position and angle, and installing a millimeter wave radar system, wherein the millimeter wave radar system comprises a reflecting plate installed on the wire, transmitting equipment and receiving equipment installed on the ground or mobile equipment, a signal processing unit and an operation and maintenance platform;
s200, parameter setting: according to specific monitoring requirements, working parameters of the millimeter wave radar system, including frequency, power and scanning range, are set, so that the system can cover a target wire and acquire enough data;
s300, data acquisition: starting a millimeter wave radar system to acquire data, transmitting millimeter wave signals by a transmitter, receiving the reflected signals by an antenna, continuously acquiring data, and acquiring the data within a sufficient time range to acquire comprehensive galloping information;
s400, signal processing and analysis: the acquired data is subjected to signal processing and analysis, and proper algorithms and technologies are used, including time domain analysis, frequency domain analysis and phase difference measurement, so that the amplitude, frequency and phase parameters of wire waving are extracted;
s500, result display and record: and displaying and recording the processed galloping data. The real-time condition of the wire galloping can be displayed through a visual interface, and the data is stored for subsequent analysis and reference;
s600, alarming and feedback: judging whether the wire waving exceeds a preset range according to a set threshold value or rule, if so, triggering a corresponding alarm mechanism, and taking appropriate feedback measures, such as sending an alarm to inform related personnel or automatically triggering a protection device;
s700, data analysis and application: the recorded galloping data is further analyzed and applied, and the data is utilized to evaluate the health status of the wire, predict potential problems, optimize maintenance plans, and the like.
Preferably, the installation process of S100 is as follows: the reflecting plates are equidistantly arranged on the wire segments to be monitored, and the transmitting equipment with a transmitting antenna and a transmitter and the receiving equipment with a receiving antenna and a receiver (the transmitting equipment and the receiving equipment are the same radar or can be different radars, the invention is set to the same radar to simplify operation) are arranged below the transmitting equipment at the middle position (the condition allows to be arranged right below).
Preferably, the parameter setting process of S200 is as follows:
s201, in the initial stage, the transmitting device adopts linear frequency modulation pulse (Chirp signal, i.e. the frequency of the used signal is linearly increased along with the time change), and the initial frequency f c Bandwidth B, duration Tc of one signal period and slope S (change rate of frequency), the radar transmitting antenna transmits the Chrip signal, after time tau, the receiving antenna receives the signal reflected by the target, the frequency difference is f 0 The intermediate frequency signal (IF signal) can be obtained by S tau, the transmitting device is turned on, and the reflecting plates are turned on (shielding other reflecting plates) in turn, so that the distance between each reflecting plate and the receiving device is d=f 0 c/2S, wherein c is the speed of light, namely measuring the distance between each reflecting plate and the receiving equipment;
s202, converting a time domain signal into a frequency domain signal through Fourier transformation, wherein a sine wave in a time domain generates a peak value in the frequency domain, and the peak value corresponds to the frequency of the sine wave signal; all transmitting devices are simultaneously turned on, and the receiving devices receive the reflected signals from the different reflecting plates and convert the reflected signals into IF signals, and a frequency spectrum with different separated peaks is generated by Fourier transformation, wherein each peak represents the existence of an object at a specific distance, and the distance resolution d res c/2B, where c is the speed of light, readjusting the inverseThe distance between the shooting plates is larger than d res ；
S203, the farthest detection distance d max =F s c/2S, wherein c is the speed of light, F s For the sampling frequency of the AD converter, the sampling frequency of the AD converter is adjusted to enable the receiving equipment to receive the reflection signals of the most reflection plates and simultaneously meet the requirements of strength and definition;
s204, under an ideal state (no wire galloping), the receiving device is moved back and forth at a constant speed, d values of the reflecting plates at different receiving device positions and dp graphs (curves after scattered point optimization) of d values along with the position change of the receiving device are observed, wherein p is the position of the receiving device, and the origin of the dp graphs is the initial position of the receiving device; taking the average value d of each d minimum value Are all The shift speed u=nd of the receiving device Are all F s (in m/s), wherein n is more than or equal to 20 and less than or equal to 50, and recording d values and dp graphs as standard values;
and S205, during detection, the receiving equipment is moved back and forth at a constant speed by taking u as the speed, and cruising monitoring is carried out on the transmitting plates in all areas of the target conductor.
Preferably, the data acquisition time of S300 is an integer multiple of one cycle time of the receiving device moving at a constant speed.
Preferably, the signal processing and analysis of S400 is as follows: comparing d values and dp curve graphs acquired in the cruising monitoring process with standard values to obtain Δd, constructing a dpt three-dimensional curve graph (t is time), and taking the p point with the maximum Δd to obtain Δdt; and (3) sequentially recording the delta d of each reflecting plate to obtain a delta dqt three-dimensional graph, wherein q is the mark of each reflecting plate (scaled in the abscissa of the graph in equal proportion), so as to obtain a dynamic galloping curve of the lead, and displaying the dynamic galloping curve on a terminal computer of the operation and maintenance platform.
Preferably, the alarm and feedback process of S600 is as follows: and setting a threshold value of each q point delta d according to a historical database of the operation and maintenance platform by a difference calculator and a difference amplifier of the signal processing unit, triggering a corresponding alarm mechanism if the average value of delta d of more than three reflecting plates in the period time exceeds the threshold value, and sending an alarm to inform related personnel or automatically triggering a protection device.
Preferably, the data analysis and application process of S700 is as follows: and (3) correcting a dynamic waving curve (namely a delta dqt three-dimensional curve graph) of the lead through actual feedback, drawing a safety area (drum-shaped area), and judging that the reflecting plate is abnormal when delta d overflows the circumference of the safety area with the radius r.
Further, the abnormal condition of the reflection plate is classified: r is smaller than delta d and is smaller than or equal to 110% r, and data checking and field authentication are needed as primary risks; 110% r is less than Δd and less than or equal to 140% r, which is a medium-grade risk, and the field overhaul is required immediately; the r is 140 percent and less than or equal to the Δd and less than or equal to 180 percent, and the warning device is required to be started immediately and people are evacuated, and an isolation area is arranged for maintenance; Δd > 180%r, and for the final risk, the transformer substation should be shut down for shutdown maintenance.
Compared with the prior art, the invention has the beneficial effects that:
1. the method has the advantages that the movable cruising millimeter wave radar system is utilized to monitor each section of the wire in real time, the sections are compared with the standard value, the dynamic waving curve of the wire with the delta dqt three-dimensional curve is constructed, a safety area and a risk classification mechanism are formed, the risk and the risk level of waving of the wire can be intuitively and rapidly judged, the monitoring method has strong adaptability, the influence on weather, illumination and the surface characteristics of articles is small, and the environmental interference can be overcome to a certain extent;
2. the invention can realize high-speed measurement and accurate measurement of the monitoring wire, and the millimeter wave radar can scan the tested wire at high frequency, thereby realizing the capture and monitoring of the rapid change of the wire waving form; the millimeter wave radar has a working frequency range of 30 GHz-300 GHz, and can provide higher spatial resolution;
3. the data obtained by the monitoring method has high utilization value, and the recorded wire galloping data in the running process can be further analyzed to provide data support for the operation and maintenance of the power transmission line.
4. In addition, the invention has the advantages of millimeter wave radar detection, including the following aspects:
non-contact measurement is realized: the millimeter wave radar can realize non-contact measurement of a target object, does not need to directly contact the object, and avoids interference or influence on the measured object;
the product adaptability is improved: the millimeter wave radar has certain adaptability to measurement in complex environments, has small influence on weather conditions, illumination changes and surface characteristics of some objects, and can overcome environmental interference to a certain extent;
high-speed measurement: the millimeter wave radar has rapid measurement capability, and can scan and measure a target at high frequency, so that the rapid change of the conductor galloping form is captured and monitored.
Drawings
Fig. 1 is a system architecture diagram for a transmission line conductor galloping monitoring method based on millimeter wave radar.
Detailed Description
The following description of the embodiments of the present invention will be made clearly and completely with reference to the accompanying drawings, in which it is apparent that the embodiments described are only some embodiments of the present invention, but not all embodiments.
Example 1:
for the defects of the existing wire galloping monitoring technology, namely, a displacement sensor and a vibration sensor can be more sensitive to environmental conditions, and the displacement sensor and the vibration sensor usually need to be in direct contact with an object to measure displacement or vibration, and can influence the measured object.
Whereas millimeter wave radar can achieve non-contact measurement: the millimeter wave radar can realize non-contact measurement of a target object, does not need to directly contact the object, and avoids interference or influence on the measured object; and millimeter wave radars have a certain adaptability to measurements in complex environments. The method has small influence on weather conditions, illumination changes and surface characteristics of some objects, and can overcome environmental interference to a certain extent.
Therefore, the present invention firstly proposes a system architecture of a transmission line conductor galloping monitoring method based on millimeter wave radar, as shown in fig. 1:
the method mainly comprises edge equipment, millimeter wave radar and a main station platform, and forms a complete transmission line conductor galloping monitoring method, and the specific implementation mode comprises the following steps:
(1) and (3) system deployment: and determining a wire segment to be monitored, and selecting a proper installation position and angle. A millimeter wave radar apparatus is mounted, including an antenna, a transmitter, a receiver, a signal processing unit, and the like.
(2) Parameter setting: according to specific monitoring requirements, working parameters of the millimeter wave radar system, such as frequency, power, scanning range and the like are set. Ensuring that the system is able to cover the target conductor and obtain sufficient data.
(3) And (3) data acquisition: and starting the millimeter wave radar system to acquire data. The transmitter transmits millimeter wave signals and the antenna receives the reflected signals. Data is continuously collected, and it is recommended to collect in a sufficient time frame to obtain comprehensive galloping information.
(4) Signal processing and analysis: and processing and analyzing the acquired data. Parameters such as amplitude, frequency, phase and the like of the wire galloping are extracted by using proper algorithms and technologies such as time domain analysis, frequency domain analysis, phase difference measurement and the like.
(5) Results display and recording: and displaying and recording the processed galloping data. Real-time conditions of wire galloping can be displayed through a visual interface and the data stored for later analysis and reference.
(6) Alarming and feedback: and judging whether the wire waving exceeds a preset range according to a set threshold value or rule. If the threshold is exceeded, a corresponding alarm mechanism is triggered and appropriate feedback measures are taken, such as sending an alarm notification to the relevant personnel or automatically triggering the protection means.
(7) Data analysis and application: the recorded galloping data is further analyzed and applied. The data may be utilized to assess health of the wire, predict potential problems, optimize maintenance planning, and the like.
Example 2:
the installation and operation processes are as follows:
referring to fig. 1, a method for monitoring conductor galloping of a transmission line based on millimeter wave radar comprises the following steps:
1) The reflecting plates are equidistantly arranged on the wire segments to be monitored, and the transmitting equipment with a transmitting antenna and a transmitter and the receiving equipment with a receiving antenna and a receiver (the transmitting equipment and the receiving equipment are the same radar or can be different radars, the invention is set to the same radar to simplify operation) are arranged below the transmitting equipment at the middle position (the condition allows to be arranged right below).
2) In the initial stage, the transmitting device uses chirps (Chirp signals, i.e. the frequency of the signal used increases linearly with time), the starting frequency f c Bandwidth B, duration Tc of one signal period and slope S (change rate of frequency), the radar transmitting antenna transmits the Chrip signal, after time tau, the receiving antenna receives the signal reflected by the target, the frequency difference is f 0 The intermediate frequency signal (IF signal) can be obtained by S tau, the transmitting device is turned on, and the reflecting plates are turned on (shielding other reflecting plates) in turn, so that the distance between each reflecting plate and the receiving device is d=f 0 c/2S, wherein c is the speed of light, namely measuring the distance between each reflecting plate and the receiving equipment;
3) Converting the time domain signal into a frequency domain signal through Fourier transformation, wherein a sine wave in the time domain generates a peak value in the frequency domain, and the peak value corresponds to the frequency of the sine wave signal; all transmitting devices are simultaneously turned on, and the receiving devices receive the reflected signals from the different reflecting plates and convert the reflected signals into IF signals, and a frequency spectrum with different separated peaks is generated by Fourier transformation, wherein each peak represents the existence of an object at a specific distance, and the distance resolution d res c/2B, where c is the speed of light, readjusting the reflector distance to be greater than d res ；
4) Distance d of furthest detection max =F s c/2S, wherein c is the speed of light, F s For the sampling frequency of the AD converter, the sampling frequency of the AD converter is adjusted to enable the receiving equipment to receive the reflection signals of the most reflection plates and simultaneously meet the requirements of strength and definition;
5) Under ideal state (no-wire waving), the receiving equipment moves back and forth at constant speedObserving d values of the reflecting plates at different receiving equipment positions and dp graphs (curves after scattered point optimization) of d values changing along with the positions of the receiving equipment, wherein p is the position of the receiving equipment, and the origin of the dp graphs is the initial position of the receiving equipment; taking the average value d of each d minimum value Are all The shift speed u=nd of the receiving device Are all F s (in m/s), wherein n is more than or equal to 20 and less than or equal to 50, and recording d values and dp graphs as standard values;
6) During detection, the receiving equipment is moved at a constant speed in a reciprocating way by taking u as a speed, cruising monitoring is carried out on the transmitting plates in each area of the target lead, and the data acquisition time is an integral multiple of the period time of the constant speed movement of the receiving equipment;
7) Comparing d values and dp curve graphs acquired in the cruising monitoring process with standard values to obtain Δd, constructing a dpt three-dimensional curve graph (t is time), and taking the p point with the maximum Δd to obtain Δdt; sequentially recording the delta d of each reflecting plate to obtain a delta dqt three-dimensional graph, wherein q is the mark of each reflecting plate (scaled in the abscissa of the graph in equal proportion), namely, a dynamic galloping curve of the lead is obtained and displayed on a terminal computer of an operation and maintenance platform;
8) And setting a threshold value of each q point delta d according to a historical database of the operation and maintenance platform by a difference calculator and a difference amplifier of the signal processing unit, triggering a corresponding alarm mechanism if the average value of delta d of more than three reflecting plates in the period time exceeds the threshold value, and sending an alarm to inform related personnel or automatically triggering a protection device.
9) Correcting a dynamic waving curve (namely a delta dqt three-dimensional curve graph) of the lead through actual feedback, drawing a safety area (drum-shaped area), and judging that the reflecting plate is abnormal when delta d overflows the circumference of the safety area with the radius r;
10 Grading abnormal conditions of the reflecting plate): r is smaller than delta d and is smaller than or equal to 110% r, and data checking and field authentication are needed as primary risks; 110% r is less than Δd and less than or equal to 140% r, which is a medium-grade risk, and the field overhaul is required immediately; the r is 140 percent and less than or equal to the Δd and less than or equal to 180 percent, and the warning device is required to be started immediately and people are evacuated, and an isolation area is arranged for maintenance; Δd > 180%r, and for the final risk, the transformer substation should be shut down for shutdown maintenance.
The foregoing is only a preferred embodiment of the present invention, but the scope of the present invention is not limited thereto, and any person skilled in the art, who is within the scope of the present invention, should make equivalent substitutions or modifications according to the technical scheme of the present invention and the inventive concept thereof, and should be covered by the scope of the present invention.
Claims (7)
1. The transmission line conductor galloping monitoring method based on the millimeter wave radar is characterized by comprising the following steps of:
s100, system deployment: determining a wire segment to be monitored, selecting a proper installation position and angle, and installing a millimeter wave radar system, wherein the millimeter wave radar system comprises a reflecting plate installed on the wire, transmitting equipment and receiving equipment installed on the ground or mobile equipment, a signal processing unit and an operation and maintenance platform;
s200, parameter setting: according to specific monitoring requirements, working parameters of the millimeter wave radar system, including frequency, power and scanning range, are set, so that the system can cover a target wire and acquire enough data;
the parameter setting process of S200 is as follows:
s201, in an initial stage, the transmitting device adopts linear frequency modulation pulse with initial frequency f c The bandwidth B, the duration Tc of one signal period and the slope S, the radar transmitting antenna transmits the Chrip signal, and after the time tau, the receiving antenna receives the signal reflected by the target, the frequency difference is f 0 Sτ, i.e. obtain an intermediate frequency signal, turn on the transmitting device, turn on each reflecting plate in turn, and the distance between each reflecting plate and the receiving device is d=f 0 c/2S, wherein c is the speed of light, namely measuring the distance between each reflecting plate and the receiving equipment;
s202, converting a time domain signal into a frequency domain signal through Fourier transformation, wherein a sine wave in a time domain generates a peak value in the frequency domain, and the peak value corresponds to the frequency of the sine wave signal; all transmitting devices are started at the same time, and receiving devices receive reflected signals of different reflecting platesNumber and converted to IF signals, which by fourier transformation will produce a spectrum with distinct separated peaks, each peak representing the presence of an object at a specific distance, distance resolution d res c/2B, where c is the speed of light, readjusting the reflector distance to be greater than d res ；
S203, the farthest detection distance d max =F s c/2S, wherein c is the speed of light, F s For the sampling frequency of the AD converter, the sampling frequency of the AD converter is adjusted to enable the receiving equipment to receive the reflection signals of the most reflection plates and simultaneously meet the requirements of strength and definition;
s204, in an ideal state, the receiving device is moved back and forth at a constant speed, d values of the reflecting plates at different receiving device positions and dp graphs of d values changing along with the positions of the receiving device are observed, wherein p is the position of the receiving device, and the origin of the dp graphs is the position of the initial receiving device; taking the average value d of each d minimum value Are all The shift speed u=nd of the receiving device Are all F s Wherein n is more than or equal to 20 and less than or equal to 50, and recording d values and dp graphs as standard values;
s205, during detection, the receiving equipment is moved at a constant speed in a reciprocating way at a speed u, and cruising monitoring is carried out on the transmitting plates in all areas of the target lead;
s300, data acquisition: starting a millimeter wave radar system to acquire data, transmitting millimeter wave signals by a transmitter, receiving the reflected signals by an antenna, continuously acquiring data, and acquiring the data within a sufficient time range to acquire comprehensive galloping information;
s400, signal processing and analysis: the acquired data is subjected to signal processing and analysis, and proper algorithms and technologies are used, including time domain analysis, frequency domain analysis and phase difference measurement, so that the amplitude, frequency and phase parameters of wire waving are extracted;
s500, result display and record: displaying and recording the processed galloping data, displaying the real-time condition of the galloping of the lead through a visual interface, and storing the data for subsequent analysis and reference;
s600, alarming and feedback: judging whether the wire waving exceeds a preset range according to a set threshold value or rule, triggering a corresponding alarm mechanism if the wire waving exceeds the threshold value, and taking proper feedback measures;
s700, data analysis and application: the recorded galloping data is further analyzed and applied, and the data is used to evaluate the health status of the wire, predict potential problems, and optimize maintenance planning.
2. The millimeter wave radar-based transmission line conductor galloping monitoring method of claim 1, wherein the installing process of S100 is as follows: the reflecting plates are equidistantly arranged on the wire segments to be monitored, and the transmitting equipment with the transmitting antenna and the transmitter and the receiving equipment with the receiving antenna and the receiver are arranged below the transmitting equipment at the middle position.
3. The millimeter wave radar-based transmission line conductor galloping monitoring method of claim 1, wherein the data acquisition time of S300 is an integer multiple of a period time for the receiving device to move at a constant speed.
4. The millimeter wave radar-based transmission line conductor galloping monitoring method of claim 1, wherein the signal processing and analysis of S400 is as follows: comparing d values and dp graphs acquired in the cruising monitoring process with standard values to obtain Δd, constructing a dpt three-dimensional graph, and taking the p point with the largest Δd to obtain Δdt; and sequentially recording the delta d of each reflecting plate to obtain a delta dqt three-dimensional graph, wherein q is the mark of each reflecting plate, namely, the dynamic waving curve of the lead is obtained, and the dynamic waving curve is displayed on a terminal computer of the operation and maintenance platform.
5. The millimeter wave radar-based transmission line conductor galloping monitoring method of claim 1, wherein the alarming and feedback process of S600 is as follows: and setting a threshold value of each q point delta d according to a historical database of the operation and maintenance platform by a difference calculator and a difference amplifier of the signal processing unit, triggering a corresponding alarm mechanism if the average value of delta d of more than three reflecting plates in the period time exceeds the threshold value, and sending an alarm to inform related personnel or automatically triggering a protection device.
6. The millimeter wave radar-based transmission line conductor galloping monitoring method of claim 1, wherein the data analysis and application process of S700 is as follows: and correcting the dynamic waving curve of the lead through actual feedback, drawing a safety area, and judging that the reflecting plate is abnormal when delta d overflows the circumference of the safety area with the radius r.
7. The millimeter wave radar-based transmission line conductor galloping monitoring method of claim 6, wherein the abnormal condition of the reflecting plate is classified: r is smaller than delta d and is smaller than or equal to 110% r, and data checking and field authentication are needed as primary risks; 110% r is less than Δd and less than or equal to 140% r, which is a medium-grade risk, and the field overhaul is required immediately; the r is 140 percent and less than or equal to the Δd and less than or equal to 180 percent, and the warning device is required to be started immediately and people are evacuated, and an isolation area is arranged for maintenance; Δd > 180%r, and for the final risk, the transformer substation should be shut down for shutdown maintenance.
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