|
|
|
| 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 |
|
|
|
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.
|
|
Received: 13 January 2023
|
|
|
|
|
|
[1] 张文亮, 于永清, 李光范, 等. 特高压直流技术研究[J]. 中国电机工程学报, 2007, 27(22): 1-7.
Zhang Wenliang, Yu Yongqing, Li Guangfan, et al.Researches on UHVDC technology[J]. Proceedings of the CSEE, 2007, 27(22): 1-7.
[2] 杨帆, 池骋, 刘刚, 等. 计及温度-电场强度非线性的换流变压器瞬态电场影响分析[J]. 电工技术学报, 2020, 35(23): 4971-4979.
Yang Fan, Chi Cheng, Liu Gang, et al.Study on transient insulation condition of converter transformer based on nonlinearity between temperature and electric field[J]. Transactions of China Electrotechnical Society, 2020, 35(23): 4971-4979.
[3] 李冰, 王泽忠, 刘海波, 等. 直流偏磁下500kV单相变压器振动噪声的试验研究[J]. 电工技术学报, 2021, 36(13): 2801-2811.
Li Bing, Wang Zezhong, Liu Haibo, et al.Experiment on vibro-acoustic characteristic of 500kV single-phase transformer under DC-bias[J]. Transactions of China Electrotechnical Society, 2021, 36(13): 2801-2811.
[4] 李冰, 王泽忠, 刘恪, 等. 特高压变压器直流偏磁对绕组电流的影响[J]. 电工技术学报, 2020, 35(7): 1422-1431.
Li Bing, Wang Zezhong, Liu Ke, et al.Research on winding current of UHV transformer under DC-bias[J]. Transactions of China Electrotechnical Society, 2020, 35(7): 1422-1431.
[5] 黄炜昭, 皇甫学真, 陈建福, 等. 电网主设备运行维护策略辅助决策方法[J]. 电力系统自动化, 2013, 37(10): 119-123, 128.
Huang Weizhao, Huangfu Xuezhen, Chen Jianfu, et al.An assistant decision-making method for operation and maintenance strategy of primary equipment in power grid[J]. Automation of Electric Power Systems, 2013, 37(10): 119-123, 128.
[6] 仲林林, 胡霞, 刘柯妤. 基于改进生成对抗网络的无人机电力杆塔巡检图像异常检测[J]. 电工技术学报, 2022, 37(9): 2230-2240, 2262.
Zhong Linlin, Hu Xia, Liu Keyu.Power tower anomaly detection from unmanned aerial vehicles inspection images based on improved generative adversarial network[J]. Transactions of China Electrotechnical Society, 2022, 37(9): 2230-2240, 2262.
[7] 律方成, 牛雷雷, 王胜辉, 等. 基于优化YOLOv4的主要电气设备智能检测及调参策略[J]. 电工技术学报, 2021, 36(22): 4837-4848.
Lü Fangcheng, Niu Leilei, Wang Shenghui, et al.Intelligent detection and parameter adjustment strategy of major electrical equipment based on optimized YOLOv4[J]. Transactions of China Electrotechnical Society, 2021, 36(22): 4837-4848.
[8] 程书灿, 赵彦普, 张军飞, 等. 电力设备多物理场仿真技术及软件发展现状[J]. 电力系统自动化, 2022, 46(10): 121-137.
Cheng Shucan, Zhao Yanpu, Zhang Junfei, et al.State of the art of multiphysics simulation technology and software development for power equipment[J]. Automation of Electric Power Systems, 2022, 46(10): 121-137.
[9] 齐磊, 王星星, 李超, 等. ±1100kV特高压直流换流阀绝缘型式试验下的电场仿真及优化[J]. 高电压技术, 2015, 41(4): 1262-1271.
Qi Lei, Wang Xingxing, Li Chao, et al.Electric field simulation and optimization of ±1100kV HVDC converter valve in insulation type test[J]. High Voltage Engineering, 2015, 41(4): 1262-1271.
[10] 李乃一, 彭宗仁, 杜进桥, 等. 特高压变电站工频电场模拟计算及其分布规律[J]. 高电压技术, 2012, 38(9): 2178-2188.
Li Naiyi, Peng Zongren, Du Jinqiao, et al.Simulate calculation and distribution of power frequency electric filed in UHV substations[J]. High Voltage Engineering, 2012, 38(9): 2178-2188.
[11] 杜志叶, 阮江军, 干喆渊, 等. 变电站内工频电磁场三维数值仿真研究[J]. 电网技术, 2012, 36(4): 229-235.
Du Zhiye, Ruan Jiangjun, Gan Zheyuan, et al.Three-dimensional numerical simulation of power frequency electromagnetic field inside and outside substation[J]. Power System Technology, 2012, 36(4): 229-235.
[12] 刘国嵩, 贾继强. 无人机在电力系统中的应用及发展方向[J]. 东北电力大学学报, 2012, 32(1): 53-56.
Liu Guosong, Jia Jiqiang.UAV applications and development in the power system[J]. Journal of Northeast Dianli University, 2012, 32(1): 53-56.
[13] 郑含博, 李金恒, 刘洋, 等. 基于改进YOLOv3的电力设备红外目标检测模型[J]. 电工技术学报, 2021, 36(7): 1389-1398.
Zheng Hanbo, Li Jinheng, Liu Yang, et al.Infrared object detection model for power equipment based on improved YOLOv3[J]. Transactions of China Electrotechnical Society, 2021, 36(7): 1389-1398.
[14] 郑中原, 刘桂华, 姜玲, 等. 采用周期边界条件计算高压交流输电线路附近的空间电场[J]. 高压电器, 2023, 59(1): 58-63.
Zheng Zhongyuan, Liu Guihua, Jiang Ling, et al.Calculating the spatial electric field beneath a high voltage AC transmission line by using the periodic boundary condition[J]. High Voltage Apparatus, 2023, 59(1): 58-63.
[15] 王旭红, 李浩, 樊绍胜, 等. 基于改进SSD的电力设备红外图像异常自动检测方法[J]. 电工技术学报, 2020, 35(增刊1): 302-310.
Wang Xuhong, Li Hao, Fan Shaosheng, et al.Infrared image anomaly automatic detection method for power equipment based on improved single shot multi box detection[J]. Transactions of China Electrotechnical Society, 2020, 35(S1): 302-310.
[16] 施孟佶, 秦开宇, 李凯, 等. 高压输电线路多无人机自主协同巡线设计与测试[J]. 电力系统自动化, 2017, 41(10): 117-122.
Shi Mengji, Qin Kaiyu, Li Kai, et al.Design and testing on autonomous multi-UAV cooperation for high-voltage transmission line inspection[J]. Automation of Electric Power Systems, 2017, 41(10): 117-122.
[17] 程书灿, 赵彦普, 张军飞, 等. 电力设备多物理场仿真技术及软件发展现状[J]. 电力系统自动化, 2022, 46(10): 121-137.
Cheng Shucan, Zhao Yanpu, Zhang Junfei, et al.State of the art of multiphysics simulation technology and software development for power equipment[J]. Automation of Electric Power Systems, 2022, 46(10): 121-137.
[18] 冯健, 罗日成, 王凤, 等. 110kV输电线路巡检无人机电磁环境效应分析[J]. 电力学报, 2021, 36(6): 498-504.
Feng Jian, Luo Richeng, Wang Feng, et al.Electromagnetic environment effect analysis of 110kV transmission line patrol UAV[J]. Journal of Electric Power, 2021, 36(6): 498-504.
[19] 高旭东. 无人机线路巡检安全距离的分析与测量[D]. 太原: 太原理工大学, 2019.
[20] 刘壮, 杜勇, 陈怡, 等. ±500kV直流输电线路直线塔无人机巡检安全距离仿真与试验[J]. 高电压技术, 2019, 45(2): 426-432.
Liu Zhuang, Du Yong, Chen Yi, et al.Simulation and experiment on the safety distance of typical ±500kV DC transmission lines and towers for UAV inspection[J]. High Voltage Engineering, 2019, 45(2): 426-432.
[21] 隋宇, 宁平凡, 牛萍娟, 等. 面向架空输电线路的挂载无人机电力巡检技术研究综述[J]. 电网技术, 2021, 45(9): 3636-3648.
Sui Yu, Ning Pingfan, Niu Pingjuan, et al.Review on mounted UAV for transmission line inspection[J]. Power System Technology, 2021, 45(9): 3636-3648.
[22] 武帅, 蔡春伟, 陈轶, 等. 多旋翼无人机无线充电技术研究进展与发展趋势[J]. 电工技术学报, 2022, 37(3): 555-565.
Wu Shuai, Cai Chunwei, Chen Yi, et al.Research progress and development trend of multi-rotor unmanned aerial vehicles wireless charging technology[J]. Transactions of China Electrotechnical Society, 2022, 37(3): 555-565.
[23] 方旭, 刘金琨. 四旋翼无人机三维航迹规划及跟踪控制[J]. 控制理论与应用, 2015, 32(8): 1120-1128.
Fang Xu, Liu Jinkun.Three-dimension path planning and trajectory tracking control for quadrotor unmanned aerial vehicle[J]. Control Theory & Applications, 2015, 32(8): 1120-1128.
[24] 曾懿辉, 何通, 郭圣, 等. 基于差分定位的输电线路多旋翼无人机智能巡检[J]. 中国电力, 2019, 52(7): 24-30.
Zeng Yihui, He Tong, Guo Sheng, et al.Research on multi-rotor UAV intelligent power line inspection based on differential positioning[J]. Electric Power, 2019, 52(7): 24-30.
[25] 郑涛, 何瑞, 潘志远, 等. MMC-HVDC换流变压器复杂性涌流产生机理及其影响分析[J]. 电力系统自动化, 2022, 46(23): 102-108.
Zheng Tao, He Rui, Pan Zhiyuan, et al.Analysis on generation mechanism and influence of complex inrush current in MMC-HVDC converter transformer[J]. Automation of Electric Power Systems, 2022, 46(23): 102-108. |
|
|
|
2023, Vol. 38 
