摘要
目前巡检无人机与输电线之间的距离主要依据目视判断,存在巨大的安全隐患,而现有的安全距离判断方法各有优缺点,难以直接应用于无人机巡检。对此,基于有限元算法及Maxwell软件建立了500 kV架空输电线路的仿真模型,并对比分析了二维仿真模型与三维仿真模型的计算结果。计算结果表明,可以利用二维仿真模型代替三维模型进行电场分析。在此基础上提出了直接利用电场有效值、电场有效值与高度相结合2种方法来确定无人机飞行的安全距离范围,并在实际500 kV线路上进行了现场测试。测试结果表明,电磁场测距技术的实际最大误差不超过10%,可以满足工程应用需求。该方法可为输电线路无人机巡检距离控制、航向规划和安全避障提供参考。
At present,the distance between the inspection UAV and the power line is mainly judged by the naked eye,which is a great potential safety hazard.However,the existing methods for judging safe distance have their own advantages and disadvantages,which are difficult to be directly applied to UAV inspection.Therefore,a simulation model of 500 kV overhead transmission line is established based on finite element method and Maxwell,and the calculation results of two-dimensional simulation method and three-dimensional method are compared and analyzed.It shows that the two-dimensional model can replace three-dimensional model for electric field analysis.On this basis,two methods,namely,electric field effective value and electric field effective value combined with height,are proposed to determine the safe distance range of UAV flight,and field tests are carried out on the actual 500 kV line.According to the analysis of the test results,the actual maximum error of the electromagnetic field ranging technology is less than 10%,which can meet the needs of engineering applications.This method can provide a reference for UAV inspection distance control,course planning and obstacle avoidance.
作者
董灵鹏
丁建
汤培良
曹浩楠
邹国平
杨仕友
DONG Lingpeng;DING Jian;TANG Peiliang;CAO Haonan;ZOU Guoping;YANG Shiyou(College of Electrical Engineering,Zhejiang University,Hangzhou 310027,China;State Grid Zhejiang Maintenance Branch Company,Hangzhou 311232,China;Hangzhou Gechuang New Energy Co.,Ltd.,Hangzhou 310019,China)
出处
《浙江电力》
2021年第2期1-6,共6页
Zhejiang Electric Power
基金
国网浙江省电力有限公司科技项目(5211MR170003)。
关键词
无人机
输电线路
电磁场
有限元
避障
路径规划
UAV
transmission line
electromagnetic field
finite element method
obstacle avoidance
path planning
