作者:张博1, 陶亚光1, 常帅帅2, 钱泽利2, 吕中宾1
作者单位:1. 国网河南省电力公司电力科学研究院 河南省电力线路舞动防治技术重点实验室,河南 郑州 450052;
2. 哈尔滨工业大学仪器科学与工程学院,黑龙江 哈尔滨 150001
关键词:线路舞动;MEMS传感器;姿态解算;Mahony滤波;轨迹监测
摘要:
中国部分地区输电线路舞动事故频繁发生,为提供舞动预警及理论分析数据,提出一种基于MEMS六轴惯性传感器的输电线路舞动轨迹监测算法。算法给出舞动轨迹监测一般解算流程,以MEMS六轴惯性传感器敏感输电线路舞动的角速度、加速度信息可有效解决仅用三轴加速度计所存在的线路空间扭转问题,为有效抑制MEMS传感器中陀螺仪误差随时间累积,算法采用融合Mahony滤波的姿态解算,结合对线路位移的解算,得到线路空间舞动姿态和位置,二者相结合即能实现输电线路舞动轨迹的监测。算法同时提出线路舞动起舞及舞止的判别方法、监测设备工作于强烈电磁干扰环境无法引入外界磁信息,设备如何确定初始航向角方法,较传统相应轨迹监测算法准确性、完备性有较大改进。该算法最终应用于六轴传感器型号为ADIS16470的舞动轨迹监测装置后可达到对输电线路舞动轨迹的准确监测。
Transmission line galloping trajectory monitoring based on MEMS sensor
ZHANG Bo1, TAO Yaguang1, CHANG Shuaishuai2, QIAN Zeli2, Lü Zhongbin1
1. Henan Key Laboratory of Power Transmission Line Galloping Prevention and Control Technology, State Grid Henan Electric Power Research Institute, Zhengzhou 450052, China;
2. School of Instrumentation Science and Engineering, Harbin Institute of Technology, Harbin 150001, China
Abstract: Transmission line galloping accidents occur frequently in some areas of China. In order to provide galloping warning and theoretical analysis data, a transmission line galloping trajectory monitoring algorithm based on MEMS six axis inertial sensor is proposed. The algorithm gives the general galloping track monitoring solution process. The transmission line galloping velocity and acceleration information can be sensed by MEMS six axis inertial sensor, it can effectively solve the transmission line space torsion problem compared with using three-axis accelerometer. In order to suppress the error accumulation of gyroscope in MEMS sensor over time, the algorithm uses Mahony filter to solve the attitude problem, combined with the solution of line displacement, the galloping transmission line trajectory can be monitored. The algorithm also gives method of judging line galloping starting and stopping, because monitoring equipment works in the strong electromagnetic interference environment and cannot introduce the external magnetic information, algorithm proposes how to determine the initial heading angle of the equipment. This algorithm is greatly improved in accuracy and completeness compared with the traditional algorithm. Finally, the algorithm is applied to the galloping track monitoring device which the six axis inertial sensor is ADIS16470, the results show it can accurately monitor the galloping track of transmission lines.
Keywords: transmission line galloping;MEMS sensor;attitude solution;Mahony filter;trajectory monitoring
2022, 48(1):53-59 收稿日期: 2020-11-30;收到修改稿日期: 2021-01-04
基金项目: 国家电网有限公司指南项目(5200-201923086A-0-0-00)
作者简介: 张博(1985-),男,河南郑州市人,高级工程师,硕士,从事输电线路舞动试验与监测、防治与风险评估等相关研究
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