CN202856468U - Integrated intelligent monitoring system suitable for substation direct current power supply - Google Patents

Integrated intelligent monitoring system suitable for substation direct current power supply Download PDF

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Publication number
CN202856468U
CN202856468U CN2012205872328U CN201220587232U CN202856468U CN 202856468 U CN202856468 U CN 202856468U CN 2012205872328 U CN2012205872328 U CN 2012205872328U CN 201220587232 U CN201220587232 U CN 201220587232U CN 202856468 U CN202856468 U CN 202856468U
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CN
China
Prior art keywords
power supply
transforming plant
collecting terminal
bus
direct current
Prior art date
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Expired - Fee Related
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CN2012205872328U
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Chinese (zh)
Inventor
陈振生
李鸿禄
纪学军
朱玉珊
李春耕
高冰
刘勇
刘洪波
赵秋领
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
State Grid Corp of China SGCC
State Grid Hebei Electric Power Co Ltd
Hengshui Power Supply Co
Original Assignee
State Grid Corp of China SGCC
State Grid Hebei Electric Power Co Ltd
Hengshui Power Supply Co
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Publication date
Application filed by State Grid Corp of China SGCC, State Grid Hebei Electric Power Co Ltd, Hengshui Power Supply Co filed Critical State Grid Corp of China SGCC
Priority to CN2012205872328U priority Critical patent/CN202856468U/en
Application granted granted Critical
Publication of CN202856468U publication Critical patent/CN202856468U/en
Anticipated expiration legal-status Critical
Expired - Fee Related legal-status Critical Current

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    • YGENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02EREDUCTION OF GREENHOUSE GAS [GHG] EMISSIONS, RELATED TO ENERGY GENERATION, TRANSMISSION OR DISTRIBUTION
    • Y02E60/00Enabling technologies; Technologies with a potential or indirect contribution to GHG emissions mitigation
    • YGENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y04INFORMATION OR COMMUNICATION TECHNOLOGIES HAVING AN IMPACT ON OTHER TECHNOLOGY AREAS
    • Y04SSYSTEMS INTEGRATING TECHNOLOGIES RELATED TO POWER NETWORK OPERATION, COMMUNICATION OR INFORMATION TECHNOLOGIES FOR IMPROVING THE ELECTRICAL POWER GENERATION, TRANSMISSION, DISTRIBUTION, MANAGEMENT OR USAGE, i.e. SMART GRIDS
    • Y04S10/00Systems supporting electrical power generation, transmission or distribution
    • Y04S10/16Electric power substations

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  • Remote Monitoring And Control Of Power-Distribution Networks (AREA)

Abstract

The utility model provides an integrated intelligent monitoring system suitable for a substation direct current power supply. The integrated intelligent monitoring system suitable for the substation direct current power supply comprises a number of switching value modules which are used for being connected with bus and feeder switch normal-open auxiliary contacts of the substation direct current power supply; a number of analog quantity modules which are used for being connected with a number of environmental parameter detection devices; an intelligent acquisition terminal which is in communication connection with a number of switching value modules to control bus state switching, receive and upload the telemetry information acquired by a number of switching value modules, and is used for being in communication connection with a charger of the substation direct current power supply to carry out equalization/floating charging state and parameter setting; and a dispatch center server which is connected with the intelligent acquisition terminal, is used for receiving the telemetry information uploaded by the intelligent acquisition terminal and sending a control command to the intelligent acquisition terminal. According to the utility model, the workload of the maintenance personnel can be greatly reduced; misoperation caused by manual filed operation is minimized; and the safe operation of an electric power system is ensured.

Description

Be applicable to the comprehensive intelligent supervisory control system of transforming plant DC power supply
Technical field
The utility model relates to a kind of Direct Current Power Supervise Control System, relates in particular to a kind of comprehensive intelligent supervisory control system that is applicable to the transforming plant DC power supply.
Background technology
In transformer station, DC power supply is one of important composition that guarantees the normal operation of transformer station for control overhead, living load, direct current emergency lighting load etc. provide power supply.At present, transformer station is to the future development of digitlization, unattended operation type and networking centralized management, various electric equipments are realized remote monitoring gradually, but the remote on-line monitoring of DC power supply is but without perfect embodiment, although the control centre can obtain by telecontrol channel the real time information of transformer station, but can only obtain a small amount of important information for direct current component, the details that can not reflect DC power supply, affect the automation level of transformer station, also stay hidden danger (with reference to Chinese patent literature CN201839076U) to electric power netting safe running simultaneously.
Summary of the invention
The purpose of this utility model is to provide a kind of comprehensive intelligent supervisory control system that is applicable to the transforming plant DC power supply, to solve the problem of the details that control centre that prior art exists can't Overall Acquisition transforming plant DC power supply.
In order to solve above-mentioned purpose, the comprehensive intelligent supervisory control system that is applicable to the transforming plant DC power supply that the utility model provides comprises a plurality of switching value modules, be used for often driving auxiliary contact with the bus of transforming plant DC power supply and feeder switch and be connected, to gather the on off operating mode of each bus and feeder switch; A plurality of analog modules are used for being connected with a plurality of environmental parameter checkout gears, to gather the operational factor of transforming plant DC power environment; Collecting terminal, switch, receive and upload the information that described a plurality of switching value module, described a plurality of analog modules are obtained with described a plurality of switching value modules and the communication connection of described a plurality of analog module with the control bus state, and described collecting terminal is used for also and the charger of transforming plant DC power supply communicates to connect to carry out all/float state and parameter setting; Control centre's server, with the communication connection of described collecting terminal, be used for receiving telemetry intelligence (TELINT) that described collecting terminal uploads, send control command, judge that the operational factor of transforming plant DC power environment is unusual and send accordingly warning message to described collecting terminal.
According to the above-mentioned a kind of preferred implementation that is applicable to the comprehensive intelligent supervisory control system of transforming plant DC power supply, wherein, described collecting terminal communicates with described control centre server by Ethernet and is connected.
According to the above-mentioned a kind of preferred implementation that is applicable to the comprehensive intelligent supervisory control system of transforming plant DC power supply, wherein, described collecting terminal is connected to realize that by light coupling relay and the bus electric operating mechanism of circuit-breaker of transforming plant DC power supply the bus state switches.
According to the above-mentioned a kind of preferred implementation that is applicable to the comprehensive intelligent supervisory control system of transforming plant DC power supply, wherein, described a plurality of environmental parameter checkout gears comprise Temperature Humidity Sensor, air-conditioning, leakage inductive device, battery data logging device.
To sum up analyze, the utility model can show transformer station direct current system running status and environment operational factor in real time as can be known, comprise the feeder switch state, the charger operational factor, the batteries Monitoring Data, ambient temperature and humidity, the situation etc. of leaking, whole system unified interface (full Chinese interface, Graphic Design, support electronic chart), intuitive and convenient, and be provided with multiple alert levels and type of alarm, note for example, phone, on-the-spot acousto-optic, and report to the police and have the expert diagnosis function, can provide expert's solution according to different alarm condition, can both according to the measure of guide emergency processing, prevent larger loss to make things convenient for anyone to receive the report for police service.The utility model can also Long-distance Control dc bus state switches and charger all/float state, the charger parameter is set in addition.Whereby, the utility model can alleviate attendant's workload greatly, reduces to greatest extent the misoperation that artificial execute-in-place brings, and provides strong guarantee to safe operation of power system.
Description of drawings
Fig. 1 is the theory diagram of the utility model preferred embodiment.
Embodiment
Below in conjunction with the drawings and specific embodiments the utility model is described in further details.
Fig. 1 schematically shows the theory structure of the utility model preferred embodiment, as shown in the figure, this preferred embodiment for monitoring transforming plant DC power supply 6 comprises the environmental parameter checkout gears such as control centre's server 1, collecting terminal 3, a plurality of switching value module 4, light coupling relay 5, a plurality of analog module 7 and Temperature Humidity Sensor 81, air-conditioning 82, leakage inductive device 83, battery data logging device 84.The bus of a plurality of switching value modules 4 and transforming plant DC power supply 6 and feeder switch are often driven auxiliary contact 62 and are connected, to gather the on off operating mode of each bus and feeder switch.A plurality of analog modules 7 are respectively applied to be connected with Temperature Humidity Sensor 81, air-conditioning 82, leakage inductive device 83, battery data logging device 84, to gather the operational factor of transforming plant DC power environment.The information that a plurality of switching value modules 4, a plurality of analog module 7 are obtained is switched, received and upload to collecting terminal 3 and a plurality of switching value modules 4,7 communication connections of a plurality of analog module with the control bus state, in addition, collecting terminal 3 also and the charger 61 of transforming plant DC power supply 6 communicate to connect to carry out all/float state and parameter setting.Control centre's server 1 is by Ethernet 2 and collecting terminal 3 communication connections, is used for receiving telemetry intelligence (TELINT) that collecting terminal 3 uploads and sends control command, judges that the operational factor of transforming plant DC power environment is unusual and send accordingly warning message to collecting terminal 3.In other embodiments, the communication mode between control centre's server 1 and the collecting terminal 3 should not be limited to Ethernet 2, can also be the communications such as GSM/GPRS.Wherein, between collecting terminal 3 and DC power supply 6, collecting terminal 3 is connected to realize that by light coupling relay 5 and the bus electric operating mechanism of circuit-breaker 63 of transforming plant DC power supply 6 the bus state switches.Wherein, a plurality of switching value modules 4 can be referred to as the DC power supply Monitor And Control Subsystem, can certainly be also included within light coupling relay 5 in the DC power supply Monitor And Control Subsystem.And a plurality of analog modules 7 can be referred to as DC power supply running environment Monitor And Control Subsystem.
As from the foregoing, this preferred embodiment can have several functions, such as DC power supply monitoring, accumulator monitoring, precision air conditioner monitoring, temperature-humidity monitoring, water leakage monitoring etc.Wherein, the DC power supply monitoring is Core Feature, is detected and is formed by direct current system analog quantity (remote measurement), direct current system running status (remote signalling), direct current system operational factor, remote control, remote regulating, insulating monitor monitoring, feeder line.This preferred embodiment can intuitively be embodied the direct current system running status by control centre's server 1, simultaneously the data that collect are carried out combinatory analysis, the Establishment strategy storehouse, unusual, fault are reported to the police, as according to control bus, closing bus bar average load and battery capacity, when calculating civil power and losing efficacy, actual preparation time, can carry out preparation time lower limit alarm equipment, when the preparation time that calculates during the time, will send warning less than lower limit.
Battery data logging device 84 can provide RS485 intelligent communication interface etc., and control centre's server 1 is by carrying out data communication, can obtain the data such as battery pack group voltage, group electric current, monomer voltage, charging and discharging currents, voltage of DC power supply.When detecting battery failures, can start a multi-media voice system, to remind administrative staff, determine operation, avoid resulting in greater loss.
Air-conditioning 82 carries intelligent communication interface and communications protocol, this preferred embodiment can be in real time, the comprehensive diagnostic Air conditioners running mode, running status and the parameter of monitoring air-conditioning 82 each parts, but and remotely modifying air-conditioning parameters, such as temperature, humidity etc., the remote on-off of realization air-conditioning 82.Central dispatching server 1 in case judge have report to the police or parameter out-of-limit, will automatically switch to relevant operation picture.Out-of-limit parameter can change, and sends alarm sound and relevant treatment prompting.To important parameter, can make the curve record, the user can see intuitively by curve record the riding quality of air-conditioning 82.Even air-conditioning 82 has small fault, also can detect, in time take steps to prevent further damage.To serious fault, can add telephone phonic alarm and short message and report to the police.
The equipment such as direct current system, storage battery is very strict to the requirement of the running environment such as temperature, humidity, so this preferred embodiment installs Temperature Humidity Sensor 81 additional, with temperature, the humidity in real-time detection machine room and the visual plant zone.Integrated Temperature Humidity Sensor 81 will be sent to the humiture value that detects in control centre's server 1 in real time, and show intuitively with graphic form on monitoring interface.In case temperature, humidity value are out-of-limit, with the automatic spring alert box and trigger audio alert, the prompting keeper by regulate the air-conditioning temperature, humidity value provides the optimum operation environment to calculator room equipment.And the humiture value in the machine room in a period of time can be showed intuitively by history curve, check to make things convenient for administrative staff.Particular importance when using non-precision air conditioner in the machine room can allow the keeper understand in time humiture ruuning situation actual in the machine room.
Importance in view of direct current system, machine room need be accomplished unattended operation again, and forceful electric power under the floor of machine room, light current, ground wire, cable is crisscross, accidentally leak and can not in time find and process such as air-conditioning or exterior wall, consequence is with hardly imaginable, so the written or printed documents preferred embodiment is integrated water leakage monitoring subsystem, around also namely at the air-conditioning water source that might leak or locate mode leakage inductive device 83 is set encloses around the air-conditioning, when having detected the situation of leaking and occured, display at control centre's server 1 shows the concrete position that leaks, be accurate to rice, accurate positioning leakage fault, send simultaneously phone or SMS alarm, in time notify the relevant personnel to get rid of water leakage fault.
Further specifically, in this preferred embodiment, control centre's server 1 can be connected in Ethernet 2 by the RJ45 interface, and then communicates by letter with the collecting terminal 3 that is connected in simultaneously Ethernet 2.Collecting terminal 3 can be by charger 61 and the switching value module 4 in the 485 buses connection DC power supply 6.Switching value module 4 can often be driven auxiliary contact 62 by bus and feeder switch that light-coupled isolation connects in the DC power supply 6.Collecting terminal 3 connects DC power supply 6 bus electric operating mechanism of circuit-breaker 63 by light coupling relay 5.During concrete the application, control centre's server 1 is as required by Ethernet 2 remote-controlled intelligent acquisition terminals 3, make the charger 61 in the collecting terminal 3 control DC power supply 6 carry out all/float state and parameter setting, realize that by the bus electric operating mechanism of circuit-breaker 63 of light coupling relay 5 control DC power supply 6 the bus state switches.Switching value module 4 is by minute state that closes of the bus in the optocoupler collection DC power supply 6 and feeder switch, be uploaded to collecting terminal 3, collecting terminal 3 closes this minute state information again and is uploaded to control centre's server 1 by Ethernet 2, the information that is generated DC power supply 6 by control centre's server 1 shows chart, for example dynamic analog graphoid.
Collecting terminal 3 mainly comprises microprocessor, ethernet interface circuit, optocoupler, 485 interface circuits.Connect 2 remote control commands of receiving control centre's servers 1 by Ethernet, upload telemetry intelligence (TELINT), switch by light coupling relay control dc bus state, and by 485 total line traffic control chargers 61, and each switch telemetry intelligence (TELINT) of uploading of receiving key amount module 4.Microprocessor can adopt the LM3S6938 single-chip microcomputer; Ethernet interface circuit can Adoption Network transformer/RJ45 interface chip HR911105A; Optocoupler can adopt light coupling relay G3VM351G; 485 interface circuits can adopt ADM2483.
Switching value module 4 is used for gathering the on off operating mode of each bus, feeder switch, and uploads telemetry intelligence (TELINT) by 485 buses to collecting terminal 3, is comprised of microprocessor, optocoupler, 485 interface circuits.Microprocessor can adopt the MSP430F2013 single-chip microcomputer; Optocoupler can adopt PS2505, identical in 485 interface circuits and the collecting terminal 3.
When the specific design circuit, the GND of LM3S6938 single-chip microcomputer, GNDA, GNDPHY, CMOD0 and CMOD1 are connected with ground wire; VDD, VDDA, VCCPHY connect the 3.3V high level; LDO, VDD connect the 2.5V high level.The OSC0 of single-chip microcomputer LM3S6938, OSC1 pin are connected with an end of two electric capacity respectively, the other end ground connection of this two electric capacity, and between OSC0, OSC1, connect a 8M crystal oscillator, for system provides master clock signal; XTALPPHY, XTALNPHY pin link to each other with an end of two electric capacity respectively, and the other end ground connection of this two electric capacity, and connect a 25M crystal oscillator between XTALPPHY, XTALNPHY is for ethernet access control and physical layer provide clock signal.TXCT, the RXCT pin of four resistance and network transformer/RJ45 interface HR911105A are connected with the 3.3V power supply jointly, wherein a resistance other end links to each other with the RXIN pin of LM3S6938, the RX-of HR911105A, another resistance other end links to each other with the RXIP pin of LM3S6938, the RX+ of HR911105A, the other end of another resistance links to each other with the TXON pin of LM3S6938, the TX-of HR911105A, the other end of another resistance links to each other with the TXOP pin of LM3S6938, the TX+ of HR911105A, the GND ground connection of HR911105A; These four resistance and HR911105A form ethernet interface circuit, are connected on the Ethernet.
The RST pin of single-chip microcomputer LM3S6938 is connected with an end of an end of a resistance and an electric capacity, another termination 3.3V power supply of this resistance, and the other end ground connection of this electric capacity is finished the electrification reset function.The VDD1 of 485 interface circuit ADM2483, PV pin connect the 3.3V power supply, GND1 pin ground connection, and the RXO pin is connected with the PA1 pin of LM3S6938, and the TXI pin is connected with the PA0 pin of LM3S6938, links to each other with the PA2 pin of LM3S6938 behind RE, the DE pin short circuit; The A of ADM2483, B, VDD2, GND2 pin connect the RS485 bus, and consist of 485 communication loops.
The motor switch control circuit has five the tunnel, each road all by two light coupling relay provide two close, tapping point, be used for controlling DC power supply 6 the bus electric operating mechanism of circuit-breaker close a minute operation, realize that the bus state switches.The first via, the PB0 pin of LM3S6938 links to each other with 1 pin of a light coupling relay by a resistance, 2 pin ground connection of this light coupling relay, the PB1 pin of LM3S6938 links to each other with 1 pin of another light coupling relay by another resistance, 2 pin ground connection of this another light coupling relay, 4 pin short circuits of two light coupling relay and 3 pin of two light coupling relay connect first via motor-operating mechanism control interface.Each road motor switch control circuit by that analogy.
MSP430F2013 single-chip microcomputer VSS pin is connected with ground wire; The VCC pin connects the 3.3V high level; The RST pin connects the 3.3V high level by a resistance and finishes the electrification reset function.The VDD1 pin of 485 interface circuit ADM2483 connects the 3.3V power supply, GND1 pin ground connection, and the RXO pin is connected with the P26 pin of MSP430F2013, and the TXI pin is connected with the P17 pin of MSP430F2013, and RE, DE pin short circuit link to each other with the P27 pin of MSP430F2013; The A of ADM2483, B, VDD2, GND2 pin connect the RS485 bus, consist of 485 communication loops.Switching value input circuit has six the tunnel, and each road all is to gather the on off operating mode that bus in the DC power supply 6 and feeder switch are often driven auxiliary contact 62 by optocoupler.The first via, the P10 pin of MSP430F2013 links to each other by a grounding through resistance and with 3 pin of optocoupler PS2505U1, and 4 pin of this optocoupler connect the 3.3V power supply, and 2 pin meet common port COM, and 1 pin connects the input of first via switching value by a resistance.Other switching value input circuits also by that analogy.
To sum up, the utility model comprises control centre's server, collecting terminal, switching value module, analog module, light coupling relay, Temperature Humidity Sensor, air-conditioning and air-conditioning communication interface thereof, leakage inductive device and the communication interface that leaks, battery data logging device and communication interface thereof.Control centre's server and collecting terminal communication connection, collecting terminal communicates to connect charger, switching value module, analog module, air-conditioning, leakage inductive device, the battery data logging device in DC power supply simultaneously, switching value module then connection bus and each feeder switch is often driven auxiliary contact, analog module connects the environmental parameter checkout gears such as Temperature Humidity Sensor, and collecting terminal is connected with the bus electric operating mechanism of circuit-breaker of DC power supply.Whereby, the utility model can be realized the Real Time Monitoring of DC power supply running status and environmental parameter and failure condition, the feeder switch state shows in real time, Long-distance Control dc bus state switches, charger all/float state switches and the long-range function such as charger parameter that arranges, reduce attendant's workload and misoperation, ensure the safe and stable operation of electric power system.
As known by the technical knowledge, the utility model can be realized by other the embodiment that does not break away from its Spirit Essence or essential feature.Therefore, above-mentioned disclosed embodiment with regard to each side, all just illustrates, and is not only.All in the utility model scope or the change that is being equal in the scope of the present utility model all be included in the utility model.

Claims (4)

1. a comprehensive intelligent supervisory control system that is applicable to the transforming plant DC power supply is characterized in that, comprising:
A plurality of switching value modules are used for often driving auxiliary contact with the bus of transforming plant DC power supply and feeder switch and are connected, to gather the on off operating mode of each bus and feeder switch;
A plurality of analog modules are used for being connected with a plurality of environmental parameter checkout gears, to gather the operational factor of transforming plant DC power environment;
Collecting terminal, switch, receive and upload the information that described a plurality of switching value module, described a plurality of analog modules are obtained with described a plurality of switching value modules and the communication connection of described a plurality of analog module with the control bus state, and described collecting terminal is used for also and the charger of transforming plant DC power supply communicates to connect to carry out all/float state and parameter setting; With
Control centre's server, with the communication connection of described collecting terminal, be used for receiving telemetry intelligence (TELINT) that described collecting terminal uploads, send control command, judge that the operational factor of transforming plant DC power environment is unusual and send accordingly warning message to described collecting terminal.
2. the comprehensive intelligent supervisory control system that is applicable to the transforming plant DC power supply according to claim 1 is characterized in that, described collecting terminal communicates with described control centre server by Ethernet and is connected.
3. the comprehensive intelligent supervisory control system that is applicable to the transforming plant DC power supply according to claim 1, it is characterized in that described collecting terminal is connected to realize that by light coupling relay and the bus electric operating mechanism of circuit-breaker of transforming plant DC power supply the bus state switches.
4. the comprehensive intelligent supervisory control system that is applicable to the transforming plant DC power supply according to claim 1 is characterized in that, described a plurality of environmental parameter checkout gears comprise Temperature Humidity Sensor, air-conditioning, leakage inductive device, battery data logging device.
CN2012205872328U 2012-11-08 2012-11-08 Integrated intelligent monitoring system suitable for substation direct current power supply Expired - Fee Related CN202856468U (en)

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Cited By (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN102931731A (en) * 2012-11-08 2013-02-13 衡水供电公司 Integrated intelligent monitoring system applicable to substation direct-current power supply
CN104198836A (en) * 2014-08-06 2014-12-10 国家电网公司 Novel output parameter detection device for direct-current system charge device of transformer substation
CN105391180A (en) * 2015-12-28 2016-03-09 国网河北省电力公司衡水供电分公司 Automated power dispatching monitoring alarm system
CN110509278A (en) * 2019-09-06 2019-11-29 云南电网有限责任公司电力科学研究院 A kind of centralized management system and method for Intelligent Mobile Robot
CN110907848A (en) * 2019-11-28 2020-03-24 国网河北省电力有限公司电力科学研究院 Intelligent wave recording and grading alarm device for DC power supply fault

Cited By (8)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN102931731A (en) * 2012-11-08 2013-02-13 衡水供电公司 Integrated intelligent monitoring system applicable to substation direct-current power supply
CN102931731B (en) * 2012-11-08 2015-09-23 衡水供电公司 Be applicable to the comprehensive intelligent supervisory control system of transforming plant DC power supply
CN104198836A (en) * 2014-08-06 2014-12-10 国家电网公司 Novel output parameter detection device for direct-current system charge device of transformer substation
CN105391180A (en) * 2015-12-28 2016-03-09 国网河北省电力公司衡水供电分公司 Automated power dispatching monitoring alarm system
CN110509278A (en) * 2019-09-06 2019-11-29 云南电网有限责任公司电力科学研究院 A kind of centralized management system and method for Intelligent Mobile Robot
CN110509278B (en) * 2019-09-06 2023-03-31 云南电网有限责任公司电力科学研究院 Centralized management system and method for transformer substation inspection robot
CN110907848A (en) * 2019-11-28 2020-03-24 国网河北省电力有限公司电力科学研究院 Intelligent wave recording and grading alarm device for DC power supply fault
CN110907848B (en) * 2019-11-28 2021-11-12 国网河北省电力有限公司电力科学研究院 Intelligent wave recording and grading alarm device for DC power supply fault

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