基于卡尔曼滤波的液压升塔控制方法研究  

Research on the Control Method of Hydraulic Tower Lift Based on Kalman Filter

作　　者：胡燃 萧定辉 卞佳音 何泽斌 陈建强 林新生 曾庆华 郑子杰 HU Ran;XIAO Dinghui;BIAN Jiayin;HE Zebin;CHEN Jianqiang;LIN Xinsheng;ZENG Qinghua;ZHENG Zijie(Guangzhou Power Supply Bureau,Guangdong Power Grid Co.,Ltd.,Guangzhou Guangdong 510000,China;School of Automation Science and Engineering,South China University of Technology,Guangzhou Guangdong 510000,China)

机构地区：[1]广东电网有限责任公司广州供电局,广东广州510000 [2]华南理工大学自动化科学与工程学院,广东广州510000

出　　处：《电子器件》2023年第5期1436-1441,共6页Chinese Journal of Electron Devices

基　　金：南方电网广东电网有限责任公司科技项目(GZHKJXM20180107)。

摘　　要：针对输电线路杆塔在周围环境发展的情况下导致杆塔基础被埋或者导线跨越下方物体距离不足的情况,提出利用液压杆提升输电塔的作业方案,其过程中需要时刻监测塔的倾斜角度与状态,而传统的目视方法不够精确。提出一种通过毫米级载波相位差分技术(RTK)和惯性测量单元(IMU)作为传感器来测量倾角并控制液压升塔的方法,对于传感器采集数据采用卡尔曼滤波算法进行去噪和更新,后用于辅助检测虚撑、风偏以及地基沉降等可能造成的偏转问题,并采用PID控制算法来控制液压杆上升。经过模型仿真数据检测证明,对数据采用卡尔曼滤波后可以使数据更加精确,其控制算法能够有效安全地使杆塔提升,从而提高升塔过程的安全性。In view of the situation that the transmission line tower foundation is buried or the distances from the wires to the objects below are not far enough due to the development of the surrounding environment,the operation scheme of lifting the transmission tower with hydraulic rods is proposed.In the process,the tilt angle and state of the tower need to be monitored at all times,while the traditional visual method is not accurate enough.Millimeter level real time kinematic(RTK)and inertial measurement unit(IMU)are proposesd to be used as sensor to measure the inclination control hydraulic litres of tower,Kalman filtering algorithm is used for sensor data to filter and update the noise,facilitating the auxiliary detection of the deflection problem caused by underbraced,monsoon and foundation settlement,and the PID control algorithm is adopted to control the hydraulic lever up.Through the data detection of model simulation,it is proved that the Kalman filter can make the data more accurate,and the control algorithm can effectively and safely lift the tower,so as to improve the security of the tower lifting process.

关 键 词：液压升塔 卡尔曼滤波 PID控制算法 载波相位差分技术 

分 类 号：TN911.72[电子电信—通信与信息系统] TP212.9[电子电信—信息与通信工程]