Transmission Line Galloping Localization Algorithm Research Based On The Inertial Sensor

In recent years, the ultra-high voltage transmission project has developed rapidly in ourcountry. The highest level of ultra-high voltage alternating voltage1000kV and special highvoltage direct current±800kV and other large transmission project have achieved success,which laid a solid foundation on the construction of smart grid. However, because thetransmission lines online monitoring technology starts later and monitoring device andmonitoring system is still not mature, transmission lines’ ability against natural disasters arerelatively weak. Especially in recent years, under the influence of extreme weather, claddingice dancing, more and more frequent accident, which seriously restrict the ultra-high voltagegrid security operation. How to effectively monitor the transmission lines dancing andwarning become a problem to be solved.Based on the latest development of on-line monitoring technology, a new monitoringmethod was proposed, which based on micro inertial sensor. The system could calculatedancing node of the amplitude, frequency and space information such as attitude reverse viathe collection of ADIS16365sensor data and the monitoring center dancing algorithm. Thesystem can effectively monitor lines in dancing, which can satisfy the requirement ofintelligent monitoring on transmission lines.The general design of on-line monitoring system was presented in paper, which based oninertial sensor. The System mainly divided into tower monitoring host, wireless inertial sensornode and the monitoring center with dancing algorithm. The design and implementation ofwireless inertia monitoring node which based on TMS320F28335and ADIS16365has beenintroduced. At last, this paper presents hardware circuit design, the main function modulesand software design.The system error analysis and data pretreatment were given in paper. Firstly, the sensorinstallation error, offset error and the initial conditions error have been analyzed, because theinertial sensor vulnerable to outside interference. Secondly, the inertial navigation systemerror models have been briefly introduced. At last, combined with the practical application ofwire dancing monitoring, this paper designed measures to reduce errors, including initialalignment and data pretreatment system.Attitude matrix transformation and acceleration displacement conversion wereresearched which based on strapdown inertial navigation system of theory in paper. Firstly,the geographic coordinate system was adopted in this paper as a navigation calculationreference through the study of common coordinate system. Secondly, the four element methodwhich is used to solve the attitude matrix mathematical and the fourth order Runge-Kutta method which is used to solve the four elements are described detailedly. Lastly, thedisplacement acceleration of conversion method was presented. The system adopted thefrequency domain integral method dealing with relevant data.At last of this paper, dancing localization algorithm was proved and analysed in thelaboratory. The results show that the algorithm precision is high, and can be used in thetransmission wire dancing monitoring through one-dimensional, two-dimensional andthree-dimensional displacement of the test experiments. At present, the transmission linedancing online monitoring system based on this algorithm has been runing in the ShanDonggrid company.