Research And Development Of Intelligent Partial Discharge Inspection System

With the continuous development of China’s electric power industry and the constant adjustment of energy strategy,the voltage level of substations has also been continuously improved.In order to guarantee the power supply quality of some remote areas or unattended substations,the inspection work of substations is also becoming more and more intelligent and autonomous.In the inspection of substations,the detection of partial discharge faults is a very important task.Partial discharge faults are often the manifestation of equipment aging or insulation deterioration in substations,and also the cause of further exacerbating equipment damage.This paper refers to the process of detecting a partial discharge fault point by using a hand-held device,and combines the ultrasonic signal detection device with an intelligent inspection vehicle to carry out the research and development of an intelligent vehicle partial discharge detection system.Firstly,according to the design requirements of the intelligent vehicle partial discharge detection system,the design goals of the system are drawn up,and the design structure of the system and the main application technologies of each part are explained and the detection process of the system is analyzed and generalized.The hardware composition of the system is built in a modular manner,and the software structure and functional design are briefly summarized.Secondly,the path planning of the inspection system is modeled and analyzed.In order to improve the efficiency of inspection,based on the A~*algorithm combined with the ant colony algorithm to solve the path planning problem,this paper improves the traditional algorithm by increasing the repeated list of paths and increasing the step cost of the nodes in the repeated paths using an iterative strategy.The improved algorithm significantly reduces the occurrence of repeated paths,enabling inspection vehicles to detect more equipment and lines at a certain range of costs.Then,the key technologies in the positioning and navigation of the inspection system are studied.The RFID(Radio Frequency Identification)is selected as the main technical method to analyze the signal loss model.The least square method is used to obtain the RSSI-based ranging function and the trilateral positioning method is used to obtain the positioning information of the vehicle.The navigation method of the vehicle uses the more reliable visual line-tracking technology,combined with the algorithm to follow the guide line.On this basis,this paper also proposes a method of turning decision based on the detection of road markings on the ground,so that the vehicle can accurately turn when the vehicle follows the line.Different detection strategies are adopted for inspection points and partial discharge detection between inspection points,which improves the detection quality.Finally,the entire system is tested by simulation,and observations and records of key operations such as software operation of the host computer,establishment and monitoring of inspection tasks,and partial discharge detection are performed.The technical completion results of each key part are evaluated.The results show that the intelligent vehicle partial discharge detection system developed in this paper can reliably detect and locate partial discharge faults.