基于惯性传感器的输电线路舞动信号处理技术

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振动与冲击 ›› 2023, Vol. 42 ›› Issue (19) : 49-57.

论文

胡涛1，申立群1，雷鹏1，张博2，董伟锋1，刘梦瑶1

作者信息 +

Transmission line galloping signal processing technology based on inertial sensor

HU Tao1, SHEN Liqun2, LEI Peng1, ZHANG Bo2, DONG Weifeng1, LIU Mengyao1

Author information +

文章历史 +

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%。

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%.

导出引用

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[J]. Journal of Vibration and Shock, 2023, 42(19): 49-57

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