500 kV换流变压器无人机巡检路径规划  

Route Planning of Unmanned Aerial Vehicle Patrol Inspection for 500 kV Converter Transformer

作　　者：普子恒[1,2] 张隆 余欣芸 陈建宝 万泉 Pu Ziheng;Zhang Long;Yu Xinyun;Chen Jianbao;Wan Quan(Hubei Provincial Engineering Technology Research Center for Power Transmission Line China Three Gorges University Yichang 443002,China;College of Electrical Engineering&New Energy China Three Gorges University Yichang 443002,China;State Grid Hubei DC Transport and Inspection Company Yichang 443002,China)

机构地区：[1]湖北省输电线路工程技术研究中心(三峡大学),宜昌443002 [2]三峡大学电气与新能源学院,宜昌443002 [3]国网湖北直流运检公司,宜昌443002

出　　处：《电工技术学报》2023年第S01期204-213,共10页Transactions of China Electrotechnical Society

基　　金：国家自然科学基金资助项目(51807110)。

摘　　要：针对换流变压器上层存在巡视盲区的问题,拟采用无人机进行巡检,但换流变压器区域复杂的电磁环境可能使无人机受到干扰而失控,需规划安全的巡检路径。为此,该文根据某换流站实际布置和设备尺寸建立换流变压器广场区域三维模型,利用有限元法计算空间电磁场分布。基于无人机可承受的安全阈值,并结合盲区需要巡检的部位,规划路径如下:无人机由隔离墙外起飞,在靠近阀厅侧的小电场强度区域进入变压器巡检区域,下降至巡检高度后依次对大储油柜、高压套管、小储油柜、压力释放阀和在线滤油机进行巡检。路径上的最大电场强度为27kV/m,最大磁感应强度为60μT,均小于安全阈值。最后,根据规划路径进行实地飞行测试,可安全稳定地完成巡检作业。Converter transformers are important equipment in DC systems,and they need to be regularly inspected.However,due to the large volume of converter transformers,there are blind spots in both manual inspections and fixed camera inspections.Unmanned aerial vehicle(UAV)can conduct aerial patrols with high operability and flexibility,which can effectively compensate for the shortcomings of manual patrols,solve the blind spots of high-level equipment patrols,and significantly improve the quality and efficiency of patrols.However,the complex electromagnetic environment in the converter transformer area may cause UAV to be interfered and lose control,and a safe inspection path needs to be planned.Firstly,a three-dimensional simulation model is established based on the actual layout and equipment size of the converter transformer square area of a 500 kV converter station.The spatial electromagnetic field distribution in the converter transformer square area under actual operating conditions is calculated using the finite element method.Then,based on the results of the magnetic field withstand test of the UAV and scholars'research on the ability of the UAV to resist electromagnetic interference,it was determined that it was very safe to fly within an electric field strength of 50 kV/m and a magnetic induction strength of 100μT.Therefore,based on this safety threshold,the safe flight area range of the UAV is determined,and the inspection path of the UAV is planned in combination with the blind area of the converter transformer and the parts that need to be inspected.The planned path is as follows:The drone takes off from outside the isolation wall,enters the transformer inspection area in a small field strength area close to the valve hall side,descends to the inspection height,and then successively performs inspection on the large oil conservator,high voltage bushing,small oil conservator,pressure relief valve,and online oil filter.Finally,the electromagnetic field intensity on the planned UAV inspection path was calculate

关 键 词：换流变压器 无人机巡检 电磁场分布 路径规划 

分 类 号：TM85[电气工程—高电压与绝缘技术]