文章摘要
周风余,李贻斌,李峰,王常顺.高压输电线巡检机器人在线断股检测与诊断系统[J].电力系统自动化,2008,32(14):77-81. DOI: .
ZHOU Fengyu, LI Yibin, LI Feng, WANG Changshun.An On-line Broken Strand Detection and Diagnosis System for High-voltage Transmission Line Inspection Robots[J].Automation of Electric Power Systems,2008,32(14):77-81. DOI: .
高压输电线巡检机器人在线断股检测与诊断系统
An On-line Broken Strand Detection and Diagnosis System for High-voltage Transmission Line Inspection Robots
DOI:
关键词: 高压输电线  小波能量熵  断股在线检测
KeyWords: high voltage power transmission line  wavelet energy entropy  on-line detection of broken strand
上网日期:2008-07-16
基金项目:国家高技术研究发展计划(863计划)
作者单位
周风余,李贻斌,李峰,王常顺 山东大学控制科学与工程学院山东省济南市 250061 
摘要:
      介绍了高压输电线自动巡检机器人实时在线断股检测与诊断系统。根据高压输电线断股引起的辐射场变化和机器人运行环境状况,选择合适的传感器,并对传感器信号调理和采集电路进行高可靠性设计。描述了检测信号分析过程。针对断股信号的非平稳性质和小波基的时频特征,选用db4小波基对断股信号进行了6层小波分解。通过引入小波能量熵的概念,较好地解决了单纯采用小波变换带来的分解信息量大、故障特征值数目多、提取需要人工干预、难以实现在线检测和诊断等问题,使其能够利用较小规模的反向传播(BP)网络就可实现对铝绞导线断股损伤的在线精确诊断。系统实验进一步表明了该断股检测和诊断系统的可行性及有效性。
Abstract:
      A real-time on-line broken strand detection and diagnosis system is introduced for high-voltage transmission line automatic inspection robots. Based on the radiation field changes caused by the transmission line strand breaking and the operating environments of the robot, an appropriate sensor is selected with fine tuned sensor signals and highly reliable collecting circuits. Then, the signal analysis process is described in detail. Given the instable nature of broken strand signal and the time-frequency characteristics of wavelet base, the broken signal is decomposed into six level wavelets using db4 wavelet base. By introducing the concept of entropy energy wavelet, the problems caused by simply adopting wavelet transform, such as over-abundant information and eigenvalues, and hard to inspect online are solved. A small BP network can realize on-line precised diagnosis on the strand breaking problem. Experimental results show the feasibility and effectiveness of the proposed system.
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