电工技术学报  2023, Vol. 38 Issue (zk1): 204-213    DOI: 10.19595/j.cnki.1000-6753.tces.L10049
高电压与放电 |
500 kV换流变压器无人机巡检路径规划
普子恒1,2, 张隆1,2, 余欣芸1,2, 陈建宝3, 万泉3
1.湖北省输电线路工程技术研究中心（三峡大学） 宜昌 443002;
2.三峡大学电气与新能源学院 宜昌 443002;
3.国网湖北直流运检公司 宜昌 443002
Route Planning of Unmanned Aerial Vehicle Patrol Inspection for 500 kV Converter Transformer
Pu Ziheng1,2, Zhang Long1,2, Yu Xinyun1,2, Chen Jianbao3, Wan Quan3
1. Hubei Provincial Engineering Technology Research Center for Power Transmission Line China Three Gorges University Yichang 443002 China;
2. College of Electrical Engineering & New Energy China Three Gorges University Yichang 443002 China;
3. State Grid Hubei DC Transport and Inspection Company Yichang 443002 China
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摘要 针对换流变压器上层存在巡视盲区的问题,拟采用无人机进行巡检,但换流变压器区域复杂的电磁环境可能使无人机受到干扰而失控,需规划安全的巡检路径。为此,该文根据某换流站实际布置和设备尺寸建立换流变压器广场区域三维模型,利用有限元法计算空间电磁场分布。基于无人机可承受的安全阈值,并结合盲区需要巡检的部位,规划路径如下：无人机由隔离墙外起飞,在靠近阀厅侧的小电场强度区域进入变压器巡检区域,下降至巡检高度后依次对大储油柜、高压套管、小储油柜、压力释放阀和在线滤油机进行巡检。路径上的最大电场强度为27 kV/m,最大磁感应强度为60 μT,均小于安全阈值。最后,根据规划路径进行实地飞行测试,可安全稳定地完成巡检作业。
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普子恒
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陈建宝
万泉
关键词 ： 换流变压器,  无人机巡检,  电磁场分布,  路径规划    
Abstract：Converter transformers are important equipment in DC systems, and they need to be regularly inspected. However, due to the large volume of converter transformers, there are blind spots in both manual inspections and fixed camera inspections. Unmanned aerial vehicle (UAV) can conduct aerial patrols with high operability and flexibility, which can effectively compensate for the shortcomings of manual patrols, solve the blind spots of high-level equipment patrols, and significantly improve the quality and efficiency of patrols. However, the complex electromagnetic environment in the converter transformer area may cause UAV to be interfered and lose control, and a safe inspection path needs to be planned.
Firstly, a three-dimensional simulation model is established based on the actual layout and equipment size of the converter transformer square area of a 500 kV converter station. The spatial electromagnetic field distribution in the converter transformer square area under actual operating conditions is calculated using the finite element method. Then, based on the results of the magnetic field withstand test of the UAV and scholars' research on the ability of the UAV to resist electromagnetic interference, it was determined that it was very safe to fly within an electric field strength of 50 kV/m and a magnetic induction strength of 100 µT. Therefore, based on this safety threshold, the safe flight area range of the UAV is determined, and the inspection path of the UAV is planned in combination with the blind area of the converter transformer and the parts that need to be inspected. The planned path is as follows: The drone takes off from outside the isolation wall, enters the transformer inspection area in a small field strength area close to the valve hall side, descends to the inspection height, and then successively performs inspection on the large oil conservator, high voltage bushing, small oil conservator, pressure relief valve, and online oil filter. Finally, the electromagnetic field intensity on the planned UAV inspection path was calculated, and after verifying the safety of the inspection path, the actual flight inspection test of the converter transformer was carried out.
Through the above research and analysis, the following conclusions can be drawn: (1) The strong electromagnetic field region of the converter transformer is mainly distributed near the high-voltage bushing and high-voltage bus, and the electromagnetic field intensity near the insulator string is relatively low. The minimum safety distance between the UAV and the high-voltage bushing and busbar is 700 mm and 1 500 mm, respectively. (2) The maximum electric field intensity on the planned path is 27 kV/m, and the maximum magnetic flux density on the path is 60 µT. When considering the path offset of 500 mm, the maximum electric field intensity is 31.73 kV/m, and the maximum magnetic flux density is 72.72 µT, both of which are smaller than the electromagnetic field safety threshold that the UAV can withstand. (3) According to the planned inspection path, field tests were conducted and it was found that the drone could complete the inspection work safely and reliably according to the inspection path, with little impact of electromagnetic interference on it, and good shooting results, which well verified the feasibility and rationality of the path.
Key words： Converter transformer    unmanned aerial vehicle patrol inspection    electromagnetic field distribution    path planning   
收稿日期: 2023-01-13      出版日期: 2023-11-09
PACS: TM85  
基金资助:学基金资助项目（51807110）
通讯作者: 普子恒 男,1987年生,副教授,博士生导师,研究方向为高压电器设备绝缘试验技术、输电线路智能运维等。E-mail：pzhdq@ctgu.edu.cn   
作者简介: 张 隆 男,1996年生,硕士研究生,研究方向为高电压绝缘与试验技术。E-mail：460281911@qq.com
引用本文:   
普子恒, 张隆, 余欣芸, 陈建宝, 万泉. 500 kV换流变压器无人机巡检路径规划[J]. 电工技术学报, 2023, 38(zk1): 204-213. Pu Ziheng, Zhang Long, Yu Xinyun, Chen Jianbao, Wan Quan. Route Planning of Unmanned Aerial Vehicle Patrol Inspection for 500 kV Converter Transformer. Transactions of China Electrotechnical Society, 2023, 38(zk1): 204-213.
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