CN118376233B

CN118376233B - Power transmission tower posture detection method and system based on space-time-frequency piezoelectric balls

Info

Publication number: CN118376233B
Application number: CN202410815333.3A
Authority: CN
Inventors: 李帆; 卢志学; 梅宇聪; 童超; 华桦; 傅闽豪
Original assignee: Nanchang Kechen Electric Power Test And Research Co ltd; State Grid Corp of China SGCC; Electric Power Research Institute of State Grid Jiangxi Electric Power Co Ltd
Current assignee: Nanchang Kechen Electric Power Test And Research Co ltd; State Grid Corp of China SGCC; Electric Power Research Institute of State Grid Jiangxi Electric Power Co Ltd
Priority date: 2024-06-24
Filing date: 2024-06-24
Publication date: 2024-10-18
Anticipated expiration: 2044-06-24
Also published as: CN118376233A

Abstract

The invention discloses a power transmission tower posture detection method and system based on a space-time-frequency piezoelectric ball, wherein the method comprises the following steps: the method comprises the steps that a plurality of piezoelectric sensing chips are distributed on the spherical surface of the space-time frequency piezoelectric ball and used for sensing three-dimensional different spherical center angular forces and spherical center angular force accelerations, and static postures and dynamic accelerations relative to a gravity line are calculated through space-time frequency signal processing of the ball. The space-time-frequency piezoelectric balls are fixed at all positions of the tower column of the iron tower, and fixed three-dimensional inclination information exists relative to the earth gravitational field during ball installation. Because the iron tower has different local oscillation frequencies everywhere, the type of the vibration of the iron tower is judged by comparing the information of each module of the iron tower. And comparing the real-time data with the original data to obtain the inclination angle and dynamic space-time-frequency historical information of the iron tower, and estimating the fatigue deformation of the iron tower. The magnitude of line sag between iron towers can also be deduced by comparing and analyzing data of adjacent iron towers through MESH network communication.

Description

Power transmission tower posture detection method and system based on space-time-frequency piezoelectric balls

Technical Field

The invention relates to the technical field of power transmission tower attitude detection, in particular to a power transmission tower attitude detection method and system based on a space-time-frequency piezoelectric ball.

Background

The transmission tower is affected by long-term geological changes, wind, rain and snow, and can incline, deform and vibrate. The existing method adopts the Beidou technology to monitor the inclination of the tower body. The Beidou satellite signals are received through a receiver arranged on the iron tower, accurate position information of the iron tower is obtained, and the inclination of the iron tower is calculated. Sag of a power transmission line refers to a slight bending in the power transmission line due to the dead weight of the line, which looks like a catenary. The sag is too large, the height to the ground is reduced, and the safety distance which does not meet the design requirement is greatly influenced on the safety of objects under the line. The prior art relies on Beidou positioning, is relatively effective to the plane position, is insensitive to the vertical height, and is difficult to measure sag.

Disclosure of Invention

Aiming at the defects of the prior art, the invention provides a power transmission tower posture detection method and system based on a space-time-frequency piezoelectric ball, and aims to solve the problems in the background art.

In order to achieve the above purpose, the present invention provides the following technical solutions: a power transmission tower posture detection method based on a space-time-frequency piezoelectric ball comprises the following steps:

step S1: m space time frequency piezoelectric balls are distributed at different positions of the iron tower;

The space time frequency piezoelectric ball consists of an outer ball shell and an inner ball body, an elastic interlayer is arranged between the outer ball shell and the inner ball body for isolation, and N piezoelectric sensing chips are arranged on the inner surface of the outer ball shell; the outer spherical shell is provided with a processing module;

Step S2: calculating to obtain information of the space time frequency piezoelectric ball gesture and dynamic acceleration force relative to the gravity line, and calculating sag change caused by tower inclination according to the calculated information;

information interaction among the plurality of space time frequency piezoelectric balls is realized by adopting an MESH network;

When the space time frequency piezoelectric ball is in a static state, the piezoelectric sensing chip on the inner surface of the outer spherical shell senses the force of the inner sphere on the direction of the spherical center angle generated by the piezoelectric sensing chip, wherein the piezoelectric sensing chip in the direction of the earth gravity line perpendicular to the ground obtains the maximum pressure, and a spherical pressure matrix is generated on the processing module through all piezoelectric information on the information transmission space time frequency piezoelectric ball;

when the space time frequency piezoelectric ball is in a dynamic state, the piezoelectric sensing chip on the inner surface of the outer ball shell senses the acceleration force of the inner ball body on the direction of the ball center angle generated by the piezoelectric sensing chip, the outer ball shell moves, after the elastic interlayer is compressed in the opposite direction, the gap is reduced, the additional acceleration force is obtained by static state, and a spherical additional acceleration force matrix is generated on the processing module through all piezoelectric information on the information transmission space time frequency piezoelectric ball.

Further, the processing module comprises a power supply, a multiplexer, a signal amplifying module, an analog-digital conversion module, a time domain correlation operator, a sphere space-time-frequency synthesizer and an iron tower space-time-frequency synthesizer; the power supply is used for providing power for the multiplexer, the signal amplifying module, the analog-digital conversion module, the time domain correlation operator, the sphere space-time-frequency synthesizer and the iron tower space-time-frequency synthesizer; the system comprises a multiplexer, a signal amplifying module, an analog-digital conversion module, a multipath digital signal recovery module, a time domain correlation operator, a sphere space-time-frequency synthesizer and an iron tower space-time-frequency synthesizer which are sequentially connected.

Further, the specific process of step S2 is as follows:

S2.1, N piezoelectric sensing chips are powered by a power supply, parallel piezoelectric signals acquired by the N piezoelectric sensing chips are sequentially input into a multiplexer and converted into serial piezoelectric signals to be input into a signal amplifying module for amplifying; converting the amplified signal into a 12-bit digital signal through an analog-digital conversion module, and recovering the 12-bit digital signal into a multipath circuit through a multipath digital signal recovery module for output;

s2.2, performing correlation operation on the time domain signals, namely multipath circuit outputs recovered by the multipath digital signal recovery module through a time domain correlation operator; specifically, to the first Time domain signals of piezoelectric sensor chipsPerforming autocorrelation operation when the space-time-frequency piezoelectric ball is in a static stateTime domain signal autocorrelation operation result of each piezoelectric sensing chipExpressed as impulse response; when the space time frequency piezoelectric ball is in a dynamic condition to generate vibration, the time domain signal is periodic;

the time domain correlation arithmetic device carries out mutual cross-correlation operation on the time domain signals of the two piezoelectric sensing chips by carrying out cross-correlation operation on the time domain signals of different numerical values To obtain the cross-correlation value between the ith piezoelectric sensor chip and the jth piezoelectric sensor chip; When the space-time frequency piezoelectric sphere is in a static state,Expressed as impulse response; when the space time frequency piezoelectric ball is in a dynamic condition, selecting a main mode with a correlation value with the maximum value representing vibration to obtain a time domain operation result;

S2.3, converting a time domain signal, namely a multipath circuit output recovered by a multipath digital signal recovery module, into a frequency domain signal through discrete Fourier transform; the maximum value of the frequency domain signal is taken to reflect the fundamental wave frequency of the space time frequency piezoelectric ball vibration, and a frequency domain operation result is obtained;

Step S2.4, respectively corresponding a time domain operation result, a frequency domain operation result and corresponding space positions through a sphere space-time-frequency synthesizer, and carrying out static and dynamic data analysis:

Static data analysis: when the space time frequency piezoelectric ball is in a static state, the piezoelectric sensing chip on the inner surface of the outer spherical shell senses the force of the inner sphere on the direction of the spherical center angle generated by the piezoelectric sensing chip, wherein the maximum pressure is obtained by the piezoelectric sensing chip in the direction of the earth gravity line perpendicular to the ground, and the inclination angle of the space time frequency piezoelectric ball relative to the gravity line is obtained by judging the direction of the earth gravity line and the inherent direction generated by the installation of the space time frequency piezoelectric ball;

Dynamic data analysis: integrating a time domain type result of time domain correlation obtained by the operation of a sphere space-time-frequency synthesizer on a time domain signal and a frequency domain signal with a frequency domain type result of frequency domain analysis to obtain judgment on the vibration frequency of the space-time-frequency piezoelectric sphere; the obtained time domain signal T, frequency domain signal F and spatial position XYZ are 5-dimensional signals;

s2.5, adopting an iron tower space-time-frequency synthesizer to collect data; specifically, a time domain database and a frequency domain database are arranged in the iron tower space-time-frequency synthesizer; wherein, the time domain database and the frequency domain database comprise static time domain signals and dynamic time domain signals; comprehensively analyzing the static time domain signals and the static frequency domain signals, and comprehensively analyzing the dynamic time domain signals and the dynamic frequency domain signals;

The method comprises the steps that an iron tower space-time-frequency synthesizer receives a time domain signal T, a frequency domain signal F and a 5-dimensional signal of a space position XYZ in a sphere space-time-frequency synthesizer of a space-time-frequency piezoelectric sphere, a time domain database keeps historical information of the time domain signal, a frequency domain database keeps historical information of the frequency domain signal, and the frequency domain database is updated by using new frequency domain data; the data positioning of the time domain database and the frequency domain database is controlled by adopting a space domain coding matrix;

step S2.6: static analysis is carried out in the iron tower space-time frequency synthesizer; specifically, when the iron tower is inclined, the inclination angles of the space time frequency piezoelectric balls are the same, and when M space time frequency piezoelectric balls on the iron tower all meet the preset conditions And is not 0, the iron tower meets the overall inclination condition;

S2.7, carrying out dynamic analysis in an iron tower space-time-frequency synthesizer; specifically, when the inclination angle of each space time frequency piezoelectric ball on the iron tower changes with time, the iron tower generates vibration, the space time frequency piezoelectric ball with the strongest vibration on the iron tower is found, and meanwhile, the points of other space time frequency piezoelectric balls except the space time frequency piezoelectric ball with the strongest vibration represent different types of vibration;

S2.8, analyzing the state of key stress points in combination with the structure of the iron tower in the iron tower space-time-frequency synthesizer according to the results of static analysis and dynamic analysis When (when)Greater than a critical valueWhen the iron tower is in a failure state;

s2.9, in the iron tower space-time-frequency synthesizer, the inclination angle of the iron tower is expressed as a downward inclination angle Plane rotation angle; If the height of the power transmission line on the iron tower is H, the distance variation of the adjacent iron towers caused by the inclination of the iron tower is as followsCalculating sag change caused by tower inclination by comprehensively considering the temperature and the inherent length condition of the transmission line according to the distance change quantity of adjacent towers;

the multiplexer, the multipath digital signal recovery module, the discrete Fourier transform and the time domain correlation arithmetic unit are uniformly controlled by adopting clock synchronous signals;

The frequency of the clock synchronizing signal is more than 5 times of the highest frequency generated by the vibration of the iron tower; the input range and the amplification gain of the signal amplification module are adjusted by adjusting the signal fluctuation range and the working range of the digital signal.

Further, the 12-bit digital signals converted by the analog-digital conversion module are serially connected together according to a specified beat, and the multi-channel digital signal recovery module recovers the 12-bit digital signals serially connected into one channel into multi-channel circuit output to be respectively decomposed into a 1-bit digital signal and a 2-bit digital signal until an N-th digital signal;

obtaining a time domain signal T, a frequency domain signal F and a spatial position XYZ as 5-dimensional signals, expressed as:

（1）；

In the method, in the process of the invention, Represent the firstFive-dimensional space of the piezoelectric balls with the spatial time frequency; representing the corresponding space-time-frequency piezoelectric ball Five parameters are determined;

time domain signals of each point Expressed as:

（2）；

In the method, in the process of the invention, Representing the spatial coordinates of the point;

Frequency domain signal for each point Expressed as:

（3）。

further, the specific process of step S2.2 is as follows:

For the first Time domain signals of piezoelectric sensor chipsPerforming autocorrelation operation:

（4）；

In the method, in the process of the invention, Representing a time interval; representing the time domain signal after a certain time interval of movement; in the case of a static state, the device, Expressed as impulse response;

when the piezoelectric ball is in dynamic state to generate vibration, the time domain signal collected by the piezoelectric sensing chip is periodic, ，A value representing a time period, at which:

（5）；

In the method, in the process of the invention, A value representing a correlation operation;

and performing mutual cross-correlation operation on time domain signals of the two piezoelectric sensing chips in a time domain correlation operator:

（6）；

In the method, in the process of the invention, Respectively the firstPiezoelectric sensor chip and the firstThe labels of the piezoelectric sensing chips are obtained by the method that the lengths of the values are differentObtaining the correlation between the mounting points of different piezoelectric sensing chips; representing time movement A post-time domain signal; in the static state, the correlation valueExpressed as impulse response;

in the dynamic case, the correlation value with the largest value is selected:

（7）；

In the method, in the process of the invention, Representing the maximum value of the correlation; is shown in Taking the maximum value;

The period of vibration is defined by Determining the main mold and the vibration direction as the firstPiezoelectric sensor chip and the firstCoordinates corresponding to each piezoelectric sensing chipA space vector composed of two points represented;

The specific process of the step S2.3 is as follows: converting a time domain signal into a frequency domain signal by discrete fourier transformation ：

（8）；

In the method, in the process of the invention,Representing an nth time domain signal;

Taking the frequency domain signal Maximum value of (2)：

（9）；

In the method, in the process of the invention,Representation ofMaximum value of (2);

time domain correlation results obtained from the time domain Results of the frequency domain analysisAnd (3) performing further merging operation:

（10）；

Where F is the finally obtained space-time frequency piezoelectric ball vibration frequency and a, b are adjustable coefficients.

Further, each iron tower space-time-frequency synthesizer receives a time domain signal T, a frequency domain signal F and a 5-dimensional signal of a space position XYZ of the corresponding space-time-frequency piezoelectric sphere; M space time frequency piezoelectric balls are distributed at different positions of the iron tower, a time domain signal T, a frequency domain signal F and a 5-dimensional signal of a space position XYZ of the M-1 space time frequency piezoelectric balls are received through MESH network communication, and the signals of the M space time frequency piezoelectric balls and the M-1 space time frequency piezoelectric balls are uniformly numbered:

（11）；

In the method, in the process of the invention, A 5-dimensional signal representing the obtained time domain signal T, frequency domain signal F and spatial position XYZ,A number indicating the piezoelectric sensor chip; the time domain signal of each space time frequency piezoelectric ball isThe frequency domain signal of each space time frequency piezoelectric sphere is。

Further, the specific process of step S2.6 is as follows: static analysis is carried out in the iron tower space-time frequency synthesizer, and the result of comprehensive analysis of the static time domain signal and the static frequency domain signal is adopted to judge the inclination, the local deformation and the overall distortion of the iron tower;

The inclination of the iron tower is caused by foundation change, thereby representing that the inclination angles of the piezoelectric balls of each space time frequency installed on the iron tower are the same, and setting the first The initial gravity line direction of each space time frequency piezoelectric ball is as follows:

（12）；

In the method, in the process of the invention, Representing an initial gravity line direction vector; representing the component of the gravity line direction vector on the x-axis; Representing the component of the gravity line direction vector on the y-axis; representing the component of the gravity line direction vector in the z-axis;

When the first is The change after the piezoelectric balls are inclined is as follows:

（13）；

In the method, in the process of the invention, Representing the direction vector of the gravity line after tilting; representing the component of the tilted gravity line direction vector on the x-axis; representing the component of the tilted gravity line direction vector on the y-axis; representing the component of the tilted gravity line direction vector in the z-axis;

First, the Offset of direction due to inclination of piezoelectric ballThe method comprises the following steps:

（14）；

when M space time frequency piezoelectric balls installed on the iron tower all meet preset conditions Is constant and is not 0, the iron tower meets the overall inclination condition.

Further, the specific process of step S2.7 is as follows: carrying out dynamic analysis in an iron tower space-time frequency synthesizer; in the case of a dynamic state of the system,Time domain correlation operation is carried out within a specified time range as a function of time:

（15）；

In the method, in the process of the invention, A value representing a time domain correlation operation; Representation of Over time intervalsAnd a value that changes;

At the position of A correlation value of the maximum value is selected:

（16）；

In the method, in the process of the invention, Representing the maximum value of the time domain correlation operation; representing that the maximum value is taken in the time domain correlation operation result; then The vibration period of the iron tower is reflected;

For a pair of Performing discrete Fourier transform to obtain a dynamic power spectrum of the space time frequency piezoelectric sphere:

（17）；

In the method, in the process of the invention, Representing a dynamic power spectrum of the space-time frequency piezoelectric sphere; Representing a discrete fourier transform;

At the position of The frequency point with the largest amplitude is obtained：

（18）；

In the method, in the process of the invention,The maximum value is taken in the dynamic power spectrum of the piezoelectric sphere representing the space time frequency;

the dynamic power spectrums of the space-time frequency piezoelectric balls are M, respectively Wherein, the method comprises the steps of, wherein,The 1 st dynamic power spectrum of the space-time-frequency piezoelectric sphere,The 2 nd dynamic power spectrum of the space-time-frequency piezoelectric sphere,Taking the p-th space-time-frequency piezoelectric ball with the largest amplitude of the dynamic power spectrum as the M-th dynamic power spectrum of the space-time-frequency piezoelectric ball:

（19）；

In the method, in the process of the invention, The dynamic power spectrum of the p-th space time frequency piezoelectric ball is maximum, namely the installation position of the p-th space time frequency piezoelectric ball is the point with the strongest vibration generated by the iron tower; representing a space-time-frequency piezoelectric sphere taking the maximum value in the dynamic power spectrum.

Further, the specific process of step S2.8 is as follows: the external force vibration and the natural frequency obtained by static comprehensive analysis, local deformation, overall distortion and dynamic comprehensive analysis are synthesized, and the existing stress state of the iron tower is analyzed; analyzing the state of key stress points according to the results of static analysis and dynamic analysis and combining the structure of the iron tower; When (when)Greater than a critical valueThe iron tower is in a failure state; further analyzing the static analysis result and the static data analysis result of the adjacent iron towers, which are obtained through MESH network communication, and estimating the sag of the line between the iron tower and the adjacent iron towers;

m space time frequency piezoelectric balls arranged on the iron tower all meet Is constant and is not zero, the tower is inclined as a whole, and the inclination angle is defined byIs determined by the direction of the (2); when M space time frequency piezoelectric balls are arranged on the iron towerAnd if so, the iron tower deforms, and whether the iron tower is inclined or not depends on the average value of the inclination angles of the piezoelectric balls in each space time frequency:

（20）；

Assuming that the direction of the iron tower pointing to the adjacent iron tower is an x-axis and the direction of the vertical ground pointing to the air is a z-axis, in the spherical coordinates formed by the x-axis, the inclination angle of the iron tower is expressed as a downward inclination angle Plane rotation angle; Let the power transmission line be H at the height of iron tower end, then the adjacent iron tower distance variable quantity that the iron tower slope arouses is:

（21）；

and calculating sag change caused by tower inclination by comprehensively considering the temperature and the conditions of the power transmission line according to the change quantity of the distance between adjacent towers.

Power transmission tower posture detection system based on space-time frequency piezoelectric balls, and power transmission tower posture detection method applied to the space-time frequency piezoelectric balls, comprises the following steps: the layout module is used for layout M space time frequency piezoelectric balls at different positions of the iron tower; the operation module is used for calculating and obtaining the information of the space time frequency piezoelectric ball gesture and the dynamic acceleration force relative to the gravity line, and calculating sag change caused by tower inclination according to the calculated information.

Compared with the prior art, the invention has the following beneficial effects: according to the invention, any device related to the electrified part is not required to be installed, the three-dimensional postures and acceleration time-frequency signals of all parts of the iron towers can be utilized to calculate the integral inclination and vibration characteristics of the iron towers, and the three-dimensional postures and acceleration time-frequency signals of all parts of the two adjacent iron towers obtained by the invention can be used to calculate the integral inclination and vibration characteristics of the iron towers, so that the sag of the power transmission line can be further calculated.

Drawings

FIG. 1 is a process flow diagram of a process module according to the present invention.

Fig. 2 is a schematic diagram of the structure of the space-time-frequency piezoelectric ball of the present invention.

Fig. 3 is a schematic diagram of the operation of the space-time-frequency piezoelectric ball of the present invention.

FIG. 4 is a schematic diagram of the arrangement of the MESH network of the present invention on an iron tower.

FIG. 5 is a diagram of MESH network communication links between space-time-frequency piezoelectric spheres according to the present invention.

Detailed Description

As shown in fig. 1, the present invention provides the following technical solutions: a power transmission tower posture detection method based on a space-time-frequency piezoelectric ball comprises the following steps:

The space time frequency piezoelectric ball is an intelligent three-dimensional attitude module with the functions of sensing self static and dynamic states, communication, data analysis and the like; the space time frequency piezoelectric ball consists of an outer ball shell 1 and an inner ball body 2 with certain mass, an elastic interlayer 3 is arranged between the outer ball shell 1 and the inner ball body 2 for isolation, and N piezoelectric sensing chips 4 are arranged on the inner surface of the outer ball shell 1; the outer spherical shell 1 is provided with a processing module 5 as shown in fig. 2; the processing module 5 comprises a power supply, a multiplexer, a signal amplifying module, an analog-digital conversion module, a time domain correlation operator, a sphere space-time-frequency synthesizer and an iron tower space-time-frequency synthesizer; the power supply is used for providing power for the multiplexer, the signal amplifying module, the analog-digital conversion module, the time domain correlation operator, the sphere space-time-frequency synthesizer and the iron tower space-time-frequency synthesizer; the system comprises a multiplexer, a signal amplifying module, an analog-digital conversion module, a multipath digital signal recovery module, a time domain correlation operator, a sphere space-time-frequency synthesizer and an iron tower space-time-frequency synthesizer which are connected in sequence;

Step S2: calculating to obtain the information of the space time frequency piezoelectric ball gesture and the dynamic acceleration force relative to the gravity line; calculating sag change caused by tower inclination according to the information obtained by calculation;

When the space time frequency piezoelectric ball is arranged on the iron tower, three-dimensional inclination information fixed on the iron tower can be obtained relative to the gravitational field of the earth;

The information interaction among the plurality of space time frequency piezoelectric balls is realized through an MESH network, and the MESH network adopts a token form to transmit signals in the same space so as to realize information integration of each point of the iron tower; the MESH network has a degradation mode, individual MESH network terminal faults do not affect overall detection, and because the iron towers have different local oscillation frequencies, the information intercommunication among the modules of the iron towers can judge the type of the oscillation of the iron towers, real-time data is compared with original calibrated data in operation, and real-time inclined static angle and dynamic space-time frequency information in the use process of the iron towers can be obtained. The different signals represent the states of the iron towers, and the line sag condition between the iron towers can be deduced through the comparative analysis of the adjacent iron tower data.

When the space time frequency piezoelectric ball is in a static state, the piezoelectric sensing chip on the inner surface of the outer spherical shell senses the force of the inner sphere on the direction of the spherical center angle generated by the piezoelectric sensing chip, wherein the piezoelectric sensing chip in the direction perpendicular to the earth gravity line of the ground obtains the maximum pressure, and a spherical pressure matrix is generated on the processing module through all piezoelectric information on the information transmission space time frequency piezoelectric ball.

When the space time frequency piezoelectric ball is in a dynamic state, the piezoelectric sensing chip on the inner surface of the outer ball shell senses the acceleration force of the inner ball body on the direction of the spherical center angle generated by the piezoelectric sensing chip, the outer ball shell moves, the elastic interlayer in the opposite direction is compressed, the gap is reduced, the additional acceleration force is obtained by static state, and a spherical additional acceleration force matrix is generated on the processing module through all piezoelectric information on the information transmission space time frequency piezoelectric ball.

The specific process of step S2 is as follows:

s2.1, N piezoelectric sensing chips are powered by a power supply, parallel piezoelectric signals acquired by the N piezoelectric sensing chips are sequentially input into a multiplexer and converted into serial piezoelectric signals to be input into a signal amplifying module for amplifying; the amplified signals are converted into 12-bit digital signals through an analog-digital conversion module, and the 12-bit digital signals are recovered into multipath circuits through a multipath digital signal recovery module to be output.

Step S2.2, performing correlation operation on the time domain signals (namely 12-bit digital signals converted by the analog-digital conversion module (because the sensing signals of the piezoelectric sensing chip are in the time domain and are subjected to analog-digital conversion or the time domain) through a time domain correlation operator; specifically, to the firstTime domain signals of piezoelectric sensor chipsPerforming autocorrelation operation when the space-time-frequency piezoelectric ball is in a static stateTime domain signal autocorrelation operation result of each piezoelectric sensing chipExpressed as impulse response; when the space time frequency piezoelectric ball is in a dynamic condition to generate vibration, the time domain signal has periodicity, the vibration characteristic of the piezoelectric sensing chip is reflected, and a time domain operation result is obtained.

Step S2.21, performing mutual correlation operation on time domain signals of the two piezoelectric sensing chips in a time domain correlation operator, and performing mutual correlation operation on time domain signals of different numerical value lengthsThe mutual correlation value between the ith piezoelectric sensor chip and the jth piezoelectric sensor chip can be obtained; In the case of a static state, the device,Expressed as impulse response; in the dynamic case, the correlation value with the largest value is selected to represent the dominant mode of vibration.

S2.3, converting a time domain signal of the piezoelectric sensing chip into a frequency domain signal through discrete Fourier transform; taking the maximum value of the frequency domain signal to reflect the fundamental frequency of the space time frequency piezoelectric ball vibration, and obtaining a frequency domain operation result; meanwhile, other harmonic waves except the fundamental wave frequency represent different types of vibration of the space-time frequency piezoelectric ball, and the distribution of the different types of vibration is related to the position of the space-time frequency piezoelectric ball, the strength direction of wind and other factors;

step S2.4, respectively corresponding the time domain operation result and the frequency domain operation result to corresponding space positions on the space time frequency piezoelectric sphere through the sphere space time frequency synthesizer, and carrying out static and dynamic data analysis:

Static data analysis: when the space-time frequency piezoelectric ball is in a static state, the piezoelectric sensing chip on the inner surface of the outer spherical shell senses the force of the inner sphere on the direction of the spherical center angle generated by the inner sphere, wherein the maximum pressure is obtained by the piezoelectric sensing chip in the direction of the earth gravity line perpendicular to the ground, and the inclination angle of the space-time frequency piezoelectric ball relative to the gravity line is obtained by judging the direction of the earth gravity line and the inherent direction generated by the installation of the space-time frequency piezoelectric ball.

Dynamic data analysis: and integrating a time domain type result of time domain correlation obtained by the operation of the time domain signal and the frequency domain signal through the sphere space-time-frequency synthesizer with a frequency domain type result of frequency domain analysis to obtain accurate judgment of the vibration frequency of the space-time-frequency piezoelectric sphere.

The obtained time domain signal T, frequency domain signal F and spatial position XYZ are 5-dimensional signals.

S2.5, adopting an iron tower space-time-frequency synthesizer to collect data; specifically, a time domain database and a frequency domain database are arranged in the iron tower space-time-frequency synthesizer; wherein, the time domain database and the frequency domain database comprise static time domain signals and dynamic time domain signals; and comprehensively analyzing the static time domain signal and the static frequency domain signal, and simultaneously comprehensively analyzing the dynamic time domain signal and the dynamic frequency domain signal. The method comprises the steps that a space-time-frequency synthesizer of an iron tower receives a time domain signal T, a frequency domain signal F and a 5-dimensional signal of a space position XYZ in a sphere space-time-frequency synthesizer of a space-time-frequency piezoelectric sphere, a time domain database keeps historical information of the time domain signal, a time domain database is updated by using new time domain information, the frequency domain database keeps historical information of the frequency domain signal, and the frequency domain database is updated by using new frequency domain data; the data positioning of the time domain database and the frequency domain database is controlled by adopting a space domain coding matrix.

Step S2.6: static analysis is carried out in the iron tower space-time frequency synthesizer; specifically, when the iron tower is inclined, the inclination angles of the space-time frequency piezoelectric balls are the same, and when M space-time frequency piezoelectric balls on the iron tower all meet the preset conditionsAnd is not 0, the iron tower is considered to meet the overall inclination condition.

S2.7, carrying out dynamic analysis in an iron tower space-time-frequency synthesizer; specifically, when the inclination angle of each space time frequency piezoelectric ball on the iron tower changes with time, the iron tower is vibrated, so that the space time frequency piezoelectric ball with the strongest vibration on the iron tower can be found, meanwhile, the points of other space time frequency piezoelectric balls except for the space time frequency piezoelectric ball with the strongest vibration can be embodied, different types of vibration can be embodied, and the distribution of the points is related to the structure of the iron tower, the strength direction of wind and other factors.

S2.8, analyzing the state of key stress points in combination with the structure of the iron tower in the iron tower space-time-frequency synthesizer according to the results of static analysis and dynamic analysisWhen (when)Greater than a critical valueWhen the iron tower is in a failure state, the service life of the iron tower can be predicted, and whether overhaul is needed or not can be predicted.

Step S2.9, in the iron tower space-time-frequency synthesizer, the inclination angle of the iron tower can be expressed as a downward inclination anglePlane rotation angle; If the height of the power transmission line on the iron tower is H, the distance variation of the adjacent iron towers caused by the inclination of the iron tower is as followsThe sag change caused by the inclination of the tower body can be calculated by comprehensively considering the conditions of temperature, inherent length of the transmission line and the like according to the distance change of the adjacent towers;

wherein, the multiplexer, the multipath digital signal recovery module, the discrete Fourier transform and the time domain correlation arithmetic unit are uniformly controlled by adopting clock synchronous signals;

As shown in fig. 3, the arrangement principle of the piezoelectric sensing chip is that the same central angle range of the inner surface of the outer spherical shell corresponds to one piezoelectric sensing chip; the piezoelectric sensing chip is composed of piezoelectric materials. Four identical piezoelectric sensing chips can form a bridge type sensing circuit, one important index of the piezoelectric sensing chip is a dynamic range, the dynamic range needs to be matched with the mass and vibration of an inner sphere, and the working range of acceleration can be calculated according to the conventional data statistics of the vibration of an iron tower, so that the resultant force range under the combined action of gravity and vibration acceleration force is determined; the elastic interlayer is used for buffering the force of the inner sphere and then applying the force to the sensing element.

In a stationary state, the space-time-frequency piezoelectric sphere is mounted with fixed three-dimensional inclination information relative to the earth's gravitational field. The piezoelectric sensing chip on the inner surface of the outer spherical shell senses the force of the inner sphere on the direction of the spherical center angle generated by the inner sphere, wherein the piezoelectric sensing chip in the direction of the earth gravity line perpendicular to the ground obtains the maximum pressure, the piezoelectric sensing chip around the piezoelectric sensing chip takes on different gradients, and the pressure is reduced, so that the gap d after elastic compression of the elastic interlayer is changed along with the difference between the force point and the angle theta formed by the spherical center of the space time frequency piezoelectric sphere:

Dmax at θ=0 ^o;

d is minimum at θ=180 ^o;

d is inversely proportional to pressure.

And generating a spherical pressure matrix on the processing module through information conduction of all piezoelectric information.

When the space time frequency piezoelectric ball is in a dynamic state, the piezoelectric sensing chip on the inner surface of the outer ball shell senses the acceleration force of the inner ball body in the direction of the ball center angle generated by the inner ball body, the gap after elastic compression of the interlayer in the opposite direction of the movement of the outer ball shell is reduced, and the gap d _o in the static state is changed into: d=d _o — d, where d is the gap after the change and d is the amount of change; thereby obtaining additional acceleration force, and the additional acceleration force of the piezoelectric sensing chip around the piezoelectric sensing chip is reduced in different gradients; and generating a spherical additional acceleration force matrix on the processing module through all piezoelectric information on the information transmission space time frequency piezoelectric sphere.

Data processing in the processing module;

The frequency of the clock synchronizing signal is more than 5 times of the highest frequency possibly generated by the vibration of the iron tower so as to meet the Nyquist sampling theorem;

the input range and the amplification gain of the signal amplification module are adjusted by adjusting the signal fluctuation range and the working range of the digital signal.

The 12-bit digital signals converted by the analog-digital conversion module are serially connected together according to a specified beat, and the multi-channel digital signal recovery module recovers the 12-bit digital signals serially connected into one channel into multi-channel circuit output, and the multi-channel digital signals are respectively decomposed into a 1-bit digital signal and a 2-bit digital signal until an N-th digital signal.

Static data analysis in a space-time-frequency piezoelectric sphere hollow time-frequency synthesizer;

Wherein, the obtained time domain signal T, frequency domain signal F and spatial position XYZ are 5-dimensional signals, which can be expressed as:

（1）；

time domain signals of each point Expressed as:

（2）；

In the method, in the process of the invention, Representing the spatial coordinates of the point.

Frequency domain signal for each pointExpressed as:

（3）；

The specific process of step S2.2 is as follows: for the first Time domain signals of piezoelectric sensor chipsPerforming autocorrelation operation:

（4）；

when the piezoelectric ball is in dynamic state to generate vibration, the time domain signal collected by the piezoelectric sensing chip will have periodicity, ，A value representing a time period, at which:

（5）；

The periodicity of the time domain signal characterizes the vibration at the sensing element.

（6）；

In the method, in the process of the invention, Respectively the firstPiezoelectric sensor chip and the firstThe labels of the piezoelectric sensing chips are obtained by the method that the lengths of the values are differentThe correlation between the mounting points of different piezoelectric sensing chips can be obtained through the operation of the (a); representing time movement A post-time domain signal; in the static state, the correlation valueRepresenting an impulse response.

In the dynamic case, the correlation value with the largest value is selected:

（7）；

The period of vibration is defined by Determining the main mold and the vibration direction as the firstPiezoelectric sensor chip and the firstCoordinates corresponding to each piezoelectric sensing chipThe space vector composed of the two points represented.

The specific process of the step S2.3 is as follows: converting a time domain signal into a frequency domain signal by discrete fourier transformation：

（8）；

Taking the frequency domain signal Maximum value of (2)：

（9）；

The fundamental wave frequency of the space-time frequency piezoelectric ball vibration is reflected. Meanwhile, other harmonic waves represent different types of vibration of the space-time frequency piezoelectric ball, and the distribution of the different types of vibration is related to the position of the space-time frequency piezoelectric ball, the strength direction of wind and other factors;

（10）；

where F is the finally obtained space-time frequency piezoelectric ball vibration frequency and a, b are adjustable coefficients for optimizing the result.

Data collection of the iron tower space-time-frequency synthesizer;

Each iron tower space-time-frequency synthesizer receives the time domain signal T, the frequency domain signal F and the 5-dimensional signal of the space position XYZ of the corresponding space-time-frequency piezoelectric sphere ; M space time frequency piezoelectric balls are distributed at different positions of the iron tower, a time domain signal T, a frequency domain signal F and a 5-dimensional signal of a space position XYZ of the M-1 space time frequency piezoelectric balls are received through MESH network communication, and the signals of the M space time frequency piezoelectric balls and the M-1 space time frequency piezoelectric balls are uniformly numbered:

（11）；

In the method, in the process of the invention, Representing the obtained time domain signal T, frequency domain signal F and 5-dimensional signals such as spatial position XYZ,A number indicating the piezoelectric sensor chip;

wherein, the time domain signal of each space time frequency piezoelectric ball is The frequency domain signal of each space time frequency piezoelectric sphere is。

Static data analysis of the iron tower space-time-frequency synthesizer;

The specific process of step S2.6 is as follows: the result of the comprehensive analysis of the static time domain signal and the static frequency domain signal is used for judging the inclination, the local deformation, the overall distortion and the like of the iron tower.

The inclination of the iron tower is caused by foundation change, so that the inclination angles of the piezoelectric balls installed on the iron tower are the same, and the first is setThe initial gravity line direction of each space time frequency piezoelectric ball is as follows:

（12）；

（13）；

（14）；

If M space time frequency piezoelectric balls installed on the iron tower all meet preset conditions Is constant and is not 0, the pylon is considered to satisfy the overall tilt condition.

The local deformation, the overall distortion and the like of the iron tower are caused by the material change or the structure change of the iron tower, and the inclination angles of the piezoelectric balls installed on the iron tower are different, namelyAccording toDifferent of the iron tower indicates that the iron tower is deformed and distorted. The deformation distortion may be obtained from a spatial deformation matrix operation.

Static data analysis of the iron tower space-time-frequency synthesizer;

the specific process of step S2.7 is as follows: the dynamic analysis is carried out in the iron tower space-time frequency synthesizer, and is used for judging the dynamic state of the iron tower, which is mainly caused by external force such as wind power or impact;

in the case of a dynamic state of the system, Time domain correlation operation is carried out within a certain time range as the time varies:

（15）；

At the position of A correlation value of the maximum value is selected:

（16）；

In the method, in the process of the invention, Representing the maximum value of the time domain correlation operation; representing that the maximum value is taken in the time domain correlation operation result;

Then The vibration cycle of the iron tower is reflected.

For a pair ofPerforming discrete Fourier transform to obtain a dynamic power spectrum:

（17）；

In the method, in the process of the invention, Representing a dynamic power spectrum; Representing a discrete fourier transform;

（18）；

In the method, in the process of the invention,Representing that the dynamic power spectrum takes the maximum value;

The fundamental wave frequency of the j-th space time frequency piezoelectric ball vibration is reflected, meanwhile, other harmonic waves reflect different types of vibration, and the distribution of the fundamental wave frequency is related to the position of the space time frequency piezoelectric ball, the strength direction of wind and other factors.

Further, the dynamic power spectrums of the space-time-frequency piezoelectric balls are M in total and are respectivelyTaking a p-th space time frequency piezoelectric ball with the largest dynamic power spectrum amplitude:

（19）；

In the method, in the process of the invention, Representing that the dynamic power spectrum of the p-th space time frequency piezoelectric sphere is maximum; representing a space time frequency piezoelectric sphere taking the maximum value in the dynamic power spectrum;

The p-th space time frequency piezoelectric ball is the point where the iron tower generates the strongest vibration, and the points where other space time frequency piezoelectric balls are located represent different types of vibration of the iron tower, and the distribution of the different types of vibration of the iron tower is related to the structure of the iron tower, the strength direction of wind and other factors.

Analyzing iron tower stress and line sag in the iron tower space-time frequency synthesizer;

The specific process of step S2.8 is as follows: the external force vibration and the natural frequency obtained by static comprehensive analysis on inclination, local deformation, overall distortion and dynamic comprehensive analysis are integrated, so that the existing stress state of the iron tower can be analyzed; the state of key stress points can be analyzed by combining the structure of the iron tower according to the results of static analysis and dynamic analysis ；

When (when)Greater than a critical valueThe iron tower is in a failure state, so that the service life of the iron tower can be predicted and whether overhaul is needed or not;

Further analyzing the static analysis result and the static data analysis result of the adjacent iron towers, which are obtained through MESH network communication, so as to estimate the sag of the line between the iron tower and the adjacent iron tower;

if M space time frequency piezoelectric balls installed on the iron tower all meet Is constant and is not zero, it is stated that the pylon satisfies the overall tilt. And the inclination angle is defined byIs determined by the direction of the beam. If M space time frequency piezoelectric balls of all-iron towerDifferent from each other, the iron tower is deformed, and whether the whole is inclined depends on the average value of the inclination angles of the piezoelectric balls in each space time frequency:

（20）；

when (when) When the angle is not 0, the iron tower is inclined, and the angle is defined byIs determined by the direction of the beam.

Assuming that the direction of the iron tower pointing to the adjacent iron tower is an x-axis and the direction of the vertical ground pointing to the air is a z-axis, in the spherical coordinates formed by the two, the inclination angle of the iron tower can be expressed as a downward inclination anglePlane rotation angle. Let the power transmission line be H at the height of iron tower end, then the adjacent iron tower distance variable quantity that the iron tower slope arouses is:

（21）；

And the sag change caused by the inclination of the tower body can be calculated by comprehensively considering the conditions of temperature, inherent length of the transmission line and the like according to the change quantity of the distance between adjacent towers.

And the MESH network is used for realizing information interaction among M space time frequency piezoelectric balls installed on the iron towers, and realizing the information intercommunication among the iron towers through a special communication channel.

As shown in fig. 4-5, wherein ABCDE represents the a-th space-time-frequency piezoelectric sphere, the B-th space-time-frequency piezoelectric sphere, the C-th space-time-frequency piezoelectric sphere, the D-th space-time-frequency piezoelectric sphere, and the E-th space-time-frequency piezoelectric sphere, respectively.

Because each space-time-frequency piezoelectric sphere has the capability of communicating with other space-time-frequency piezoelectric spheres, the communication reliability is higher than that of point-to-point communication. When the individual space time frequency piezoelectric ball MESH network terminal does not work, the work can be degraded, and a network link condition report is distributed, so that the method has robustness.

Although embodiments of the present invention have been shown and described, it will be understood by those skilled in the art that various changes, modifications, substitutions and alterations can be made therein without departing from the principles and spirit of the invention, the scope of which is defined in the appended claims and their equivalents.

Claims

1. The power transmission tower attitude detection method based on the space-time-frequency piezoelectric sphere is characterized by comprising the following steps of:

When the space time frequency piezoelectric ball is in a dynamic state, the piezoelectric sensing chip on the inner surface of the outer ball shell senses the acceleration force of the inner ball body on the direction of the spherical center angle generated by the piezoelectric sensing chip, the outer ball shell moves, after the elastic interlayer is compressed in the opposite direction, the gap is reduced, the additional acceleration force is obtained by static state, and a spherical additional acceleration force matrix is generated on the processing module through all piezoelectric information on the information transmission space time frequency piezoelectric ball;

the processing module comprises a power supply, a multiplexer, a signal amplifying module, an analog-digital conversion module, a time domain correlation operator, a sphere space-time-frequency synthesizer and an iron tower space-time-frequency synthesizer; the power supply is used for providing power for the multiplexer, the signal amplifying module, the analog-digital conversion module, the time domain correlation operator, the sphere space-time-frequency synthesizer and the iron tower space-time-frequency synthesizer; the system comprises a multiplexer, a signal amplifying module, an analog-digital conversion module, a multipath digital signal recovery module, a time domain correlation operator, a sphere space-time-frequency synthesizer and an iron tower space-time-frequency synthesizer which are connected in sequence;

The specific process of step S2 is as follows:

step S2.6: static analysis is carried out in the iron tower space-time frequency synthesizer; specifically, when the iron tower is inclined, the inclination angles of the space time frequency piezoelectric balls are the same, and when M space time frequency piezoelectric balls on the iron tower all meet the preset conditions And is not 0, the pylon satisfies the overall tilt condition, wherein,Represent the firstA shift in direction resulting from tilting of the piezo ball,Is a constant;

2. The method for detecting the posture of the power transmission tower based on the space-time-frequency piezoelectric sphere, which is characterized by comprising the following steps of: the 12-bit digital signals converted by the analog-digital conversion module are serially connected together according to a specified beat, and the multi-channel digital signal recovery module recovers the 12-bit digital signals serially connected into one channel into multi-channel circuit output and respectively decomposes the multi-channel circuit output into a 1-bit digital signal and a 2-bit digital signal until an N-th digital signal;

（1）；

time domain signals of each point Expressed as:

（2）；

Frequency domain signal for each point Expressed as:

（3）。

3. The method for detecting the posture of the power transmission tower based on the space-time-frequency piezoelectric sphere according to claim 2, wherein the method comprises the following steps: the specific process of step S2.2 is as follows:

（4）；

（5）；

（6）；

in the dynamic case, the correlation value with the largest value is selected:

（7）；

（8）；

Taking the frequency domain signal Maximum value of (2)：

（9）；

（10）；

4. The method for detecting the posture of the power transmission tower based on the space-time-frequency piezoelectric sphere according to claim 3, wherein the method comprises the following steps of: each iron tower space-time-frequency synthesizer receives the time domain signal T, the frequency domain signal F and the 5-dimensional signal of the space position XYZ of the corresponding space-time-frequency piezoelectric sphere; M space time frequency piezoelectric balls are distributed at different positions of the iron tower, a time domain signal T, a frequency domain signal F and a 5-dimensional signal of a space position XYZ of the M-1 space time frequency piezoelectric balls are received through MESH network communication, and the signals of the M space time frequency piezoelectric balls and the M-1 space time frequency piezoelectric balls are uniformly numbered:

（11）；

5. The method for detecting the posture of the power transmission tower based on the space-time-frequency piezoelectric sphere, which is characterized by comprising the following steps of: the specific process of step S2.6 is as follows: static analysis is carried out in the iron tower space-time frequency synthesizer, and the result of comprehensive analysis of the static time domain signal and the static frequency domain signal is adopted to judge the inclination, the local deformation and the overall distortion of the iron tower;

（12）；

（13）；

（14）；

6. The method for detecting the posture of the power transmission tower based on the space-time-frequency piezoelectric sphere, which is characterized by comprising the following steps of: the specific process of step S2.7 is as follows: carrying out dynamic analysis in an iron tower space-time frequency synthesizer; in the case of a dynamic state of the system,Time domain correlation operation is carried out within a specified time range as a function of time:

（15）；

At the position of A correlation value of the maximum value is selected:

（16）；

（17）；

（18）；

（19）；

7. The method for detecting the posture of the power transmission tower based on the space-time-frequency piezoelectric sphere, which is characterized by comprising the following steps of: the specific process of step S2.8 is as follows: the external force vibration and the natural frequency obtained by static comprehensive analysis, local deformation, overall distortion and dynamic comprehensive analysis are synthesized, and the existing stress state of the iron tower is analyzed; analyzing the state of key stress points according to the results of static analysis and dynamic analysis and combining the structure of the iron tower; When (when)Greater than a critical valueThe iron tower is in a failure state; further analyzing the static analysis result and the static data analysis result of the adjacent iron towers, which are obtained through MESH network communication, and estimating the sag of the line between the iron tower and the adjacent iron towers;

（20）；

（21）；

8. The utility model provides a transmission tower gesture detecting system based on space-time frequency piezoelectricity ball, is applied to the transmission tower gesture detecting method of space-time frequency piezoelectricity ball of any one of claims 1-7, and is characterized in that includes: the layout module is used for layout M space time frequency piezoelectric balls at different positions of the iron tower; the operation module is used for calculating and obtaining the information of the space time frequency piezoelectric ball gesture and the dynamic acceleration force relative to the gravity line, and calculating sag change caused by tower inclination according to the calculated information.