基于惯性传感器的输电线路舞动信号处理技术

摘要
图/表
参考文献(28)
相关文章 (15)

全文: PDF (2875 KB) HTML (1 KB)
输出: BibTeX | EndNote (RIS)

摘要为了实现对输电线路舞动特征参数的准确辨识，本文提出一种基于六轴惯性传感器的舞动信号处理算法。根据捷联惯导理论，设计了舞动信号解算框架；利用舞动三自由度模型，进行反演与姿态解算；通过建立惯性传感器加速度与陀螺仪误差模型，对确定性误差采用无定向快速标定算法进行标定补偿；采用小波阈值去噪算法对环境白噪声进行去噪，确定最佳小波基函数及阈值选取原则；采用两向不水平度测定俯仰角与横滚角来计算初始四元数进行姿态更新，实现舞动幅值和舞动频率辨识算法。在实验室环境下，利用单摆运动模拟实际舞动信号，经信号处理后，较好的实现了对舞动特征参数的辨识，解算结果舞动幅值误差最大为3.58%，频率误差最大为3.67%。

	服务

	把本文推荐给朋友
	加入我的书架
	加入引用管理器
	E-mail Alert
	RSS
	作者相关文章
	胡涛1
	申立群1
	雷鹏1
	张博2
	董伟锋1
	刘梦瑶1

关键词 ：惯性传感器, 输电线路舞动, 信号处理, 小波阈值去噪, 误差处理

Abstract：In order to identify the galloping characteristic parameters of transmission lines accurately, a galloping signal processing algorithm based on six-axis inertial sensor is proposed in this paper. Based on the theory of strapdown inertial navigation, the frame of galloping signal processing algorithm is designed and the three-degree-of-freedom galloping model is built to perform inversion and attitude calculation. By establishing the error model of acceleration and gyroscope separately, the deterministic error is calibrated and compensation based on non-directional fast calibration algorithm. The wavelet threshold denoising algorithm is used to denoise the ambient white noise and the optimal wavelet basis function and threshold selection principle are determined. In order to update attitude, pitch angle and roll angle is measured by two-direction unevenness to calculate the initial quaternion. In the laboratory environment, the pendulum motion is used to simulate the actual galloping signals. After signal processing, the characteristic parameters of galloping are well identified. The maximum amplitude error and frequency error of the calculated results are 3.58% and 3.67%.

Key words： inertial sensor galloping transmission lines signal processing wavelet threshold denoising error handling

收稿日期: 2022-10-25 出版日期: 2023-10-15

引用本文:

胡涛1，申立群1，雷鹏1，张博2，董伟锋1，刘梦瑶1. 基于惯性传感器的输电线路舞动信号处理技术[J]. 振动与冲击, 2023, 42(19): 49-57.
HU Tao1, SHEN Liqun2, LEI Peng1, ZHANG Bo2, DONG Weifeng1, LIU Mengyao1. Transmission line galloping signal processing technology based on inertial sensor. JOURNAL OF VIBRATION AND SHOCK, 2023, 42(19): 49-57.

链接本文:

http://jvs.sjtu.edu.cn/CN/ 或 http://jvs.sjtu.edu.cn/CN/Y2023/V42/I19/49

[1] 王有元，任欢，杜林，等．输电线路导线舞动轨迹监测分析[J]. 高电压技术，2010，36(05)：1113-1118．
WANG Youyuan, REN Huan, DU Lin, et al. Analysis on conductor galloping track monitoring of transmission line[J]. High Voltage Engineering, 2010, 36(05): 1113-1118.
[2] 胡志坚，李洪江，文习山，等. 基于差分GPS的输电线路舞动和风偏在线监测方法[J]. 电力自动化设备，2012，32(03):120-124.
HU Zhijian, LI Hongjiang, WEN Xishan, et al. Online monitoring of transmission conductor wave and wind galloping based on differential GPS[J]. Electric Power Automation Equipment, 2012, 32(03): 120-124.
[3] 李新民，朱宽军，李军辉. 输电线路舞动分析及防治方法研究进展[J]. 高电压技术，2011，37(02)：484-490.
LI Xinmin, ZHU Kuanjun, LI Junhui. Review on analysis and prevention measures of galloping for transmission line[J]. High Voltage Engineering, 2011, 37(02): 484-490.
[4] 黄新波，陶保震，冯玲. 基于光流场的输电导线舞动监测方法[J]. 电力自动化设备，2012，32(07)：99-103.
HUANG Xinbo, TAO Baozhen, FENG Ling. Transmission line galloping monitoring based on optical flow field[J]. Electric Power Automation Equipment, 2012, 32(07): 99-103.
[5] 楼文娟，余江，姜雄，等. 覆冰六分裂导线舞动风洞试验及起舞风速研究[J]. 振动工程学报，2017，30(02)：280-289.
LOU Wenjuan, YU Jiang, JIANG Xiong, et al. Wind tunnel test and critical wind speed study for galloping of 6-bundled iced conductors[J]. Journal of Vibration Engineering, 2017, 30(02): 280-289.
[6] 任鹏亮，谢凯，陈钊，等. 输电线路舞动监测技术综述[J]. 河南科技，2015(16)：129-132.
REN Pengliang, XIE Kai, CHEN Zhao, et al. A review of transmission line galloping monitoring technology[J]. Henan Science and Technology, 2015(16): 129-132.
[7] 黄官宝，黄新波，赵雪松，等. 输电线路导线舞动在线监测系统设计[J]. 南方电网技术，2009，03(04)：85-89.
HUANG Guanbao, HUANG Xinbo, ZHAO Xuesong, et al. Online monitoring system design on transmission line galloping[J]. Southern Power System Technology, 2009, 03(04): 85-89.
[8] 严旭，李兵，何怡刚. 冲击载荷在输电线路防舞动作用中的仿真研究[J]. 计算机仿真，2018，35(12)：77-80.
YAN Xu, LI Bing, HE Yigang. Research on the anti-galloping of transmission lines based on the influence of impact load[J]. Computer Simulation, 2018, 35(12): 77-80.
[9] WU H, TANG B, XIAO Y, et al. Monitoring of the transmission line galloping with a novel distributed optical fibre sensor and its statistical data analysis[J]. IET Generation, Transmission & Distribution, 2020, 14(1): 166-171.
[10] LI S，LI Z，LIANG Y，LIU S. Transmission line galloping prediction based on numerical weather prediction results[J]. Journal of Electrical and Electronic Engineering, 2018, 6(5): 42-47.
[11] LASSEA M. Modeling power line icing in freezing precipitation[J]. Atmospheric Research, 1998, 46(1): 131-142.
[12] PIERRE M, ALAIN P. A cable galloping model for thin ice accretions[J]. Atmospheric Research, 1998, 46(1): 13-25.
[13] JIN S, FENG S, LIU X, WANG B, et al. On the formation and wind enhancement mechanisms of a Mongolian cyclone that caused a transmission line galloping trip in Gansu province [J]. Atmospheric and Oceanic Science Letters, 2021, 14(2): 1-5.
[14] 肖渊，马龙涛，黄新波. 输电线路导线舞动在线监测技术研究现状[J]. 机电一体化，2014，(06)：11-15.
XIAO Yuan, MA Longtao, HUANG Xinbo. Research status of online monitoring technique of conductor galloping of transmission lines[J]. Mechatronics, 2014, (06): 11-15.
[15] 张港，朱勤翔，郭薇，等. 基于九轴MEMS定位系统误差分析与补偿算法研究[J]. 传感器与微系统，2016，35(06)：13-16.
ZHANG Gang, ZHU Qinxiang, GUO Wei, et al. Study on error analysis and compensation algorithm based on nine-axis MEMS positioning system[J]. Transducer and Microsystem Technologies, 2016, 35(06): 13-16.
[16] 黄新波，赵隆，周柯宏，等. 采用惯性传感器的输电导线舞动监测系统[J]. 高电压技术，2014，40(05)：1312-1319.
HUANG Xinbo, ZHAO Long, ZHOU Kehong，et al. A transmission conductor galloping monitoring system using inertial sensors[J]. High Voltage Technology, 2014, 40(05): 1312-1319.
[17] 汪滔，吴德智，胡柯，等. 基于互补滤波的输电导线舞动轨迹还原算法[J]. 计算机测量与控制，2017，25(01)：173-176.
WANG Tao, WU Dezhi, HU Ke, et al. An algorithm for restoring the galloping trajectory of transmission conductors based on complementary filtering [J]. Computer Measurement and Control, 2017, 25(01): 173-176.
[18] 霍翔宇. 特高压大截面八分裂导线舞动特性与防治技术研究[D]. 郑州：郑州大学，2021.
[19] 伍川，叶中飞，严波，等. 考虑导线偏心覆冰对四分裂导线舞动的影响[J]. 振动与冲击，2020，39(01)：29-36.
WU Chuan, YE Zhongfei, YAN Bo, et al. Effects of conductor eccentric icing on quad-bundle conductor galloping[J]. Journal of Vibration and Shock, 2020, 39(01): 29-36.
[20] 王琼，王黎明，卢明，等. 覆冰四分裂导线风洞试验与舞动研究[J]. 高电压技术，2019，45(05)：1608-1615.
WANG Qiong, WANG Liming, LU Ming, et al. Study on wind tunnel test and galloping of iced quad bundle conductor[J]. High Voltage Engineering, 2019, 45(05): 1608-1615.
[21] 周林抒，严波，张亮，等. 新月形覆冰八分裂导线舞动特征研究[J]. 振动与冲击，2015，34(18)：183-189.
ZHOU Linshu, YAN Bo, ZHANG Liang, et al. Study on galloping behaviors of eight bundled conductors with crescent-shaped ice[J]. Journal of Vibration and Shock, 2020, 39(01): 29-36.
[22] 李欣业，张华彪，高仕赵，等. 三自由度模型覆冰输电导线舞动的数值仿真分析[J]. 河北工业大学学报，2010，39(03)：1-5.
LI Xinye, ZHANG Huabiao, GAO Shizhao, et al. Numerical analysis of galloping of iced power transmission lines[J]. Journal of Hebei University of Technology, 2010, 39(03): 1-5.
[23] 楼文娟，余江，姜雄，等. 覆冰导线三自由度耦合舞动稳定性判定及气动阻力研究[J]. 土木工程学报，2017，50(02)：55-64.
LOU Wenjuan, YU Jiang, JIANG Xiong, et al. Stability evaluation and aerodynamic damping study on three-degree-of-freedom coupled galloping of iced conductors[J]. China Civil Engineering Journal, 2017, 50(02): 55-64.
[24] 丁多斌，冯向萍，丁燕，等. 基于STM32四轴无人机自主巡线设计[J]. 电子设计工程，2021，29(02)：142-145.
DING Duobin, FENG Xiangping, DING Yan, et al. Design of autonomous line patrol based on STM32 four-axis UAV[J]. Electronic Design Engineering, 2021, 29(02): 142-145.
[25] 晏致涛，李正良，杨振华. 基于结点六自由度的输电线舞动有限元分析[J]. 振动与冲击，2011，30(08)：112-117.
YAN Zhitao, LI Zhengliang, YANG Zhenhua. Finite element modeling of transmission line galloping based on 6-DOFS nodes[J]. Journal of Vibration and Shock, 2020, 39(01): 29-36.
[26] 秦力，李亚南，魏晓光. 覆冰单导线舞动非线性数值模拟[J]. 科学技术与工程，2014，14(04)：230-235.
QIN Li, LI Yanan, WEI Xiaoguang. Nonlinear numerical simulation for galloping of single iced conductor[J]. Science Technology and Engineering, 2014, 14(04): 230-235.
[27] 李永平，郑毅，苏攀. 覆冰导线舞动的非线性数值模拟[J]. 水电能源科学，2011，29(02)：161-163.
LI Yongping, ZHENG Yi, SU Pan. Nonlinear numerical simulation of ice-covered wire dance[J]. Water Resources and Power, 2011, 29(02): 161-163.
[28] YU P, DESAI Y M, POPPLEWELL N, et al. 3-degree-of-freedom model for galloping(Part II): solutions[J]. Journal of Engineering Mechanics-ASCE, 1993, 119(12): 2426-2448.