基于事件触发的高压输电线路巡检无人机故障检测  

Event-triggered Based FD for High-voltage Transmission Line Inspection UAVs

作　　者：刘晓林 孙亚鑫 朱子轩 邢可江 韩宝莉 LIU Xiaolin;SUN Yaxin;ZHU Zixuan;XING Kejiang;HAN Baoli(Shandong Electric Power Engineering Consulting Institute Co.,Ltd.,Jinan 250010,China;College of Electrical Engineering and Automation,Shandong University of Science and Technology,Qingdao 266590,China;Jinan Heyuan Engineering Consulting Co.,Ltd.,Jinan 250010,China;State Grid Shandong Electric Power Company Construction Company,Jinan 250010,China;State Grid Corporation of China,Jinan 250010,China)

机构地区：[1]山东电力工程咨询院有限公司,山东济南250010 [2]山东科技大学电气与自动化工程学院,山东青岛266590 [3]济南和源工程咨询有限公司,山东济南250010 [4]国网山东省电力公司建设公司,山东济南250010 [5]国家电网有限公司技术学院分公司,山东济南250010

出　　处：《电工技术》2025年第5期120-124,共5页Electric Engineering

摘　　要：电力系统中高压输电线路常位于复杂恶劣的自然环境中,定期巡视和维护这些线路至关重要。无人机技术的应用,使得输电线路的自动化巡检和监测成为可能,但无人机系统难免会发生故障,且无人机与地面站故障检测单元间持续的通信会耗费有限的网络资源。鉴于此,设计了基于事件触发故障检测方法,针对高压输电线路巡检无人机的变采样周期线性离散时间模型,设计故障检测滤波器,实现了残差信号与事件触发传输误差的解耦。实验平台借助MATLAB的TrueTime仿真工具箱模拟网络传输干扰(丢包、时延)影响,结果表明在一定的网络传输干扰影响下,所提方法可以实现某巡检无人机横侧向系统的故障检测。High-voltage transmission lines in power systems are frequently located in harsh natural environments.Regular inspection and maintenance of these lines is crucial.Automatic inspection and monitoring of transmission lines is becoming possible with the application of unmanned aerial vehicle(UAV)technology.However,UAV system is inevitably prone to fault.And the constant communication between the UAV and the ground station FD element will consume limited network resources.Given this,an eventtriggered based FD scheme is designed.The decoupling of residual signals and eventtriggered transmission errors is implemented by designing FD filters for the variable-sampling-period linear discrete-time model of high-voltage transmission line inspection UAVs.An experimental platform is used to simulate the effect of net-work transmission disturbances(packet loss,delay)with the help of MATLAB TrueTime toolbox.The results show that the method can realize the eventtriggered FD for the transversal lateral system of inspection UAVs in the influence of network transmission interference.

关 键 词：故障检测 事件触发 MATLAB TRUETIME工具箱 

分 类 号：TP273.4[自动化与计算机技术—检测技术与自动化装置]