±500kV直流输电线路直线塔无人机巡检安全距离仿真与试验
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摘要
近年来无人机巡检已成为架空输电线路日常运行维护的主要手段之一。由于无人机巡检系统关键部件由电子元器件构成,且依靠数据通信来实现数据链路传输,实际作业过程中复杂电磁场环境对其操控、通信性能影响明显,尤其是在直流线路附近巡检时。因而结合国内对无人机巡检作业安全保障技术,建立了±500kV直流输电线路直线塔无人机巡检作业电磁场仿真模型,分析了无人机不同巡检距离时导线周围电磁场分布,得到直流电磁场对无人机巡检系统影响范围和程度;通过搭建±500k V线路无人机巡检安全距离真型试验平台,开展典型尺寸、结构和材质的小型旋翼无人机巡检安全距离试验研究,得到±500k V直流输电线路直线塔无人机巡检作业最小安全距离为3m(输送电流为3kA时),并结合电流进行了距离修正。该研究成果可为±500k V输电线路小型多旋翼无人机巡检作业提供技术保障。
Nowadays, Unmanned aerial vehicle(UAV) inspection of overhead transmission lines has become one of major means for routine operation and maintenance of electric power system. Since the key components of a UAV inspection system are composed of electronic components and realize data link transmission by communication, the complex electromagnetic field environment has an obvious influence on its control and communication performance during the inspection work, especially nearby the DC lines. On the basis of studies on safety guarantee technology of UAV inspection in China,we established a typical ±500 k V DC transmission line and intermediate tower model to analyze the electromagnetic field distribution around the line when the UAV is at different inspection distances, and obtained the influence range and extent of DC electromagnetic field on UAV inspection system. Furthermore, we established a test platformto carry out safety distance tests of ±500kV DC transmission lines with typical size and structure and material UAV. The minimum safety distance is finally determined to be 3 meter(when the line current is 3 kA) and corrected with the line current. The research results can provide technical supports for the UAV inspection on ±500 k V transmission lines.
Nowadays, Unmanned aerial vehicle(UAV) inspection of overhead transmission lines has become one of major means for routine operation and maintenance of electric power system. Since the key components of a UAV inspection system are composed of electronic components and realize data link transmission by communication, the complex electromagnetic field environment has an obvious influence on its control and communication performance during the inspection work, especially nearby the DC lines. On the basis of studies on safety guarantee technology of UAV inspection in China,we established a typical ±500 k V DC transmission line and intermediate tower model to analyze the electromagnetic field distribution around the line when the UAV is at different inspection distances, and obtained the influence range and extent of DC electromagnetic field on UAV inspection system. Furthermore, we established a test platformto carry out safety distance tests of ±500kV DC transmission lines with typical size and structure and material UAV. The minimum safety distance is finally determined to be 3 meter(when the line current is 3 kA) and corrected with the line current. The research results can provide technical supports for the UAV inspection on ±500 k V transmission lines.
引文
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[15]丁玉剑,孙辉,李军,等.±400kV青藏联网直流输电线路带电作业安全距离[J].电网技术,2014,38(10):2894-2899.DING Yujian,SUN Hui,LI Jun,et al.Safety distance for live working on±400kV DC transmission line interconnecting Qinghai power grid with Tibet grid[J].Power System Technology,2014,38(10):2894-2899.
[16]王力农,胡毅,刘凯,等.特高压输电线路带电作业组合间隙的放电机理[J].高电压技术,2011,37(5):1224-1231.WANG Linong,HU Yi,LIU Kai,et al.Complex gap discharge mechanism of live working on ultra high voltage transmission lines[J].High Voltage Engineering,2011,37(5):1224-1231.
[17]许丹,马星河,王晨辉,等.500kV输电线路电场强度测量与计算分析[J].高压电器,2013,49(7):25-28,34.XU Dan,MA Xinghe,WANG Chenhui,et al.Electric field measurement and computational analysis on 500 k V transmission lines[J].High Voltage Apparatus,2013,49(7):25-28,34.
[18]陈杰,刘洋,周立,等.绝缘护套包覆对500 k V输电线路导线与杆塔间空气间隙击穿特性的影响[J].高电压技术,2015,41(7):2315-2320.CHEN Jie,LIU Yang,ZHOU Li,et al.Electrical breakdown characteristics of air gap between conductor and tower covered by insulation sheath in 500kV transmission line[J].High Voltage Engineering,2015,41(7):2315-2320.
[19]王万昆,蓝磊,安韵竹,等.组合空气间隙放电路径选择性试验[J].高电压技术,2017,43(11):3800-3808.WANG Wankun,LAN Lei,AN Yunzhu,et al.Experiment on selectivity of discharge path of combined air gap[J].High Voltage Engineering,2017,43(11):3800-3808.
[20]薛远奎.小型旋翼无人机姿态融合及导航方法[M].成都:电子科技大学,2016.XUE Yuankui.The attitude estimation fusion method and navigation method of micro-rotor drone[M].Chengdu,China:University of Electronic Science and Technology of China,2016.
[21]架空输电线路无人直升机巡检系统:DL/T 1578-2016[S].北京:国家能源局,2016.Unmanned helicopter inspection system for overhead transmission line:DL/T 1578-2016[S].Beijing,China:National Energy Administration,2016.
[2]彭向阳,钱金菊,麦晓明,等.大型无人直升机电力线路全自动巡检技术及应用[J].南方电网技术,2016,10(2):24-31,76.PENG Xiangyang,QIAN Jinju,MAI Xiaoming,et al.Automatic power line inspection technology of large unmanned helicopter and its application[J].Southern Power System Technology,2016,10(2):24-31,76.
[3]徐云鹏,毛强,李庭坚.架空输电线路直升机、无人机及地面人工巡视互补机制探讨与研究[J].广西电力,2013,36(5):72-75,84.XU Yunpeng,MAO Qiang,LI Tingjian.Discussion on inspection complementary mechanism of overhead transmission line[J].Guangxi Electric Power,2013,36(5):72-75,84.
[4]彭向阳,陈驰,徐晓刚,等.基于无人机激光扫描的输电通道安全距离诊断技术[J].电网技术,2014,38(11):3254-3259.PENG Xiangyang,CHEN Chi,XU Xiaogang,et al.Transmission corridor safety distance diagnosis based on point cloud and unmanned aerial vehicle loaded airborne laser scanning[J].Power System Technology,2014,38(11),3254-3259.
[5]MATIKAINEN L,LEHTOM?KI M,AHOKAS E,et al.Remote sensing methods for power line corridor surveys[J].ISPRS Journal of Photogrammetry and Remote Sensing,2016,119(1):10-31.
[6]王振华,黄宵宁,梁焜,等.基于四旋翼无人机的输电线路巡检系统研究[J].中国电力,2012,45(10):59-62.WANG Zhenhua,HUANG Xiaoning,LIANG Kun,et al.Study on the transmission line inspection system based on quadrotor UAVs[J].Electric Power,2012,45(10):59-62.
[7]李栋,林靖宇,高鹏宇,等.无人机输电线路巡检中安全距离测量方法[J].广西大学学报,2016,41(2):498-505.LI Dong,LIN Jingyu,GAO Pengyu,et al.Safty distance measurement for power transmission line inspection by UAVs[J].Journal of Guangxi University,2016,41(2):498-505.
[8]ZHANG Y,YUAN X,LI W,et al.Automatic power line inspection using UAV images[J].Remote Sensing,2017,824(9):1-19.
[9]谢莉,赵录兴,陆家榆,等.有限长高压直流输电线路无线电干扰电磁场的计算方法研究[J].电工技术学报,2016,31(1):96-102.XIE Li,ZHAO Luxing,LU Jiayu,et al.Study on the calculation method for radio interference electromagnetic field of HVDC transmission line with finite length[J].Transactions of China Electrotechnical Society,2016,31(1):96-102.
[10]罗日成,唐祥盛,李志前,等.500/220kV同塔四回输电线路带电作业电场仿真分析[J].高压电器,2015,51(8):164-170.LUO Richeng,TANG Xiangsheng,LI Zhiqian,et al.Simulation analysis on electric field intensity of 500/220kV four-circuit-on-one-tower transmission line for live working[J].High Voltage Apparatus,2015,51(8):164-170.
[11]王毅,孙成秋,汤涛,等.不同运行方式下特高压直流输电线路的地面电场与离子流分布[J].电网技术,2008,32(2):29-33.WANG Yi,SUN Chengqiu,TANG Tao,et al.Distribution of ground electric field strength and ionic current density under different operating modes of UHVDC transmission lines[J].Power System Technology,2008,32(2):29-33.
[12]吴军,刘壮,吴向东,等.直流输电线路中无人机巡检安全距离电场仿真分析[J].湖北电力,2017,41(4):14-19.WU Jun,LIU Zhuang,WU Xiangdong,et al.Simulation analysis of safe distance of unmanned aerial vehicle in DC transmission line[J].Hubei Electric Power,2017,41(4):14-19.
[13]郑天茹,孙立民,娄婷婷,等.基于电磁场计算的输电线路无人机巡检安全飞行区域确定方法[J].山东电力技术,2018,45(2):27-34.ZHENG Tianru,SUN Limin,LOU Tingting,et al.Determination method of safe flight area for UAV inspection for transmission line based on the electromagnetic field calculation[J].Shandong Electric Power,2018,45(2):27-34.
[14]胡毅,王力农,刘凯,等.750kV输电线路带电作业组合间隙的研究[J].电力设备,2006,7(1):29-32.HU Yi,WANG Linong,LIU Kai,et al.Research on combined gap of live line work for 750 k V power transmission line[J].Electrical Equipment,2006,7(1):29-32.
[15]丁玉剑,孙辉,李军,等.±400kV青藏联网直流输电线路带电作业安全距离[J].电网技术,2014,38(10):2894-2899.DING Yujian,SUN Hui,LI Jun,et al.Safety distance for live working on±400kV DC transmission line interconnecting Qinghai power grid with Tibet grid[J].Power System Technology,2014,38(10):2894-2899.
[16]王力农,胡毅,刘凯,等.特高压输电线路带电作业组合间隙的放电机理[J].高电压技术,2011,37(5):1224-1231.WANG Linong,HU Yi,LIU Kai,et al.Complex gap discharge mechanism of live working on ultra high voltage transmission lines[J].High Voltage Engineering,2011,37(5):1224-1231.
[17]许丹,马星河,王晨辉,等.500kV输电线路电场强度测量与计算分析[J].高压电器,2013,49(7):25-28,34.XU Dan,MA Xinghe,WANG Chenhui,et al.Electric field measurement and computational analysis on 500 k V transmission lines[J].High Voltage Apparatus,2013,49(7):25-28,34.
[18]陈杰,刘洋,周立,等.绝缘护套包覆对500 k V输电线路导线与杆塔间空气间隙击穿特性的影响[J].高电压技术,2015,41(7):2315-2320.CHEN Jie,LIU Yang,ZHOU Li,et al.Electrical breakdown characteristics of air gap between conductor and tower covered by insulation sheath in 500kV transmission line[J].High Voltage Engineering,2015,41(7):2315-2320.
[19]王万昆,蓝磊,安韵竹,等.组合空气间隙放电路径选择性试验[J].高电压技术,2017,43(11):3800-3808.WANG Wankun,LAN Lei,AN Yunzhu,et al.Experiment on selectivity of discharge path of combined air gap[J].High Voltage Engineering,2017,43(11):3800-3808.
[20]薛远奎.小型旋翼无人机姿态融合及导航方法[M].成都:电子科技大学,2016.XUE Yuankui.The attitude estimation fusion method and navigation method of micro-rotor drone[M].Chengdu,China:University of Electronic Science and Technology of China,2016.
[21]架空输电线路无人直升机巡检系统:DL/T 1578-2016[S].北京:国家能源局,2016.Unmanned helicopter inspection system for overhead transmission line:DL/T 1578-2016[S].Beijing,China:National Energy Administration,2016.
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