CN111638722B - Miniature bionic fish attitude control method for oil immersed transformer - Google Patents
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Abstract
The invention relates to a method for controlling the gesture of a miniature bionic fish of an oil immersed transformer, which is technically characterized in that: establishing a transformer world coordinate system and a miniature bionic fish satellite coordinate system under the attitude control of the miniature bionic fish of the oil immersed transformer; establishing a simplified dynamic model of the miniature bionic fish of the transformer, and constructing a sliding mode variable structure controller of the miniature bionic fish of the transformer according to control requirements; the miniature bionic fish of the transformer moves to the target position according to the control of the sliding mode variable structure controller of the miniature bionic fish of the transformer. According to the invention, the transformer miniature bionic fish sliding mode variable structure controller is constructed, so that the transformer miniature bionic fish can be controlled to accurately move to the target position, the working task requirement of the transformer miniature bionic fish is met, and the problem of fish body shaking caused by sudden change of the propulsion of the miniature bionic fish due to frequent switching control rate of the conventional sliding mode controller is solved.
Description
Technical Field
The invention belongs to the technical field of transformers, and particularly relates to a miniature bionic fish gesture control method for an oil immersed transformer.
Background
Transformers are one of the key devices in power transmission systems. Investigation has shown that the degradation of the insulating properties of electrical equipment is a major cause of its failure. The existing power equipment partial discharge on-line monitoring system cannot effectively combine the characteristic change of a partial discharge signal with the insulator fault of the electrical equipment, and reliable judgment of the type, the position and the severity of discharge inside the transformer is difficult to carry out through partial discharge. However, the miniature bionic fish has the advantages of small volume, energy source, movement, perception, positioning, communication, little maintenance and the like, and the existence and the length of carbon marks on the surfaces of the winding and the insulating paper board can be directly observed by arranging the miniature bionic fish in the transformer, so that the insulation fault position and the insulation degradation degree can be relatively intuitively determined.
The miniature bionic fish of the transformer needs to be patrolled in large transformer oil, and the large transformer is huge in size and complex in internal structure. In the detection process of the miniature bionic fish of the transformer, how to realize the accurate control of the pose of the miniature bionic fish is the key to completing the task of the bionic fish. Because the miniature bionic fish is influenced by transformer oil, the motion of each degree has strong coupling relation and strong nonlinearity, an accurate miniature bionic fish dynamics model is difficult to build, and a large number of experiments are usually required to estimate a plurality of oil power coefficients. However, the oil dynamic performance is different for static oil, flowing oil and fluctuating oil flow, so the control system is required to be strong in robustness and good in dynamic and stability for controlling the position and the posture of the miniature bionic fish in the transformer oil. Typical PID control, although simple in algorithm, is not robust enough, is relatively sensitive to changes in controlled object model parameters, and tuning of the PID control is time consuming. Although neural network control and fuzzy control have been studied and applied in the motion control of underwater vehicles, the design of the controller has the problems of difficult parameter adjustment, complex structure and the like. The setting of membership functions, reasoning methods and anti-fuzzy methods in the fuzzy controller and the acquisition of fuzzy rules have considerable difficulties. The structural design and parameter setting of the neural network controller are not easy to determine, in addition, the complexity of the transformer oil environment enables the neural network to easily generate obvious hysteresis in the learning process, the controller is easy to oscillate, even the system diverges, and the real-time performance and stability requirements of the controller cannot be met.
Disclosure of Invention
The invention aims to overcome the defects of the prior art, and provides a miniature bionic fish gesture control method for an oil immersed transformer, which solves the problem of fish body shaking caused by sudden change of miniature bionic fish propelling force due to frequent switching control rate of a conventional sliding mode controller.
The invention solves the technical problems by adopting the following technical scheme:
a miniature bionic fish attitude control method of an oil immersed transformer comprises the following steps:
step 1, establishing a transformer world coordinate system and a miniature bionic fish satellite coordinate system under the attitude control of an oil immersed transformer miniature bionic fish;
step 2, a simplified dynamic model of the miniature bionic fish of the transformer is established, and a sliding mode variable structure controller of the miniature bionic fish of the transformer is established according to control requirements;
and 3, the miniature bionic fish of the transformer moves to a target position according to the control of the sliding mode variable structure controller of the miniature bionic fish of the transformer.
Moreover, the world coordinate system O of the transformer w X w Y w Z w The method for describing the space environment of the transformer is as follows: origin of coordinate system O w Taking the vertex of one angle of the transformer as the origin, O w X w The axis being in the horizontal plane, the direction being along the broadside of the transformer and outwardly, O w Y w The axis is located in the horizontal plane, the direction is along the long side of the transformer and to the right, O w Z w The axis is determined according to the right hand rule of the coordinate system.
Furthermore, the miniature bionic fish satellite coordinate system O f X f Y f Z f The method for describing the motion of the miniature bionic fish relative to the transformer coordinate system comprises the following steps: origin O of coordinate system f Is positioned in the center of the fish body, O f Y f The axis coincides with the horizontal central axis of the fish body, the direction points to the swimming direction, O f Z f The shaft coincides with the vertical axis of the fish body, the direction is upward, O f X f The axis is determined according to the right hand rule of the coordinate system.
Moreover, the transformer miniature bionic fish simplified dynamics model is as follows:
wherein: ρ is the state quantity of the current transformer miniature bionic fish [ Lθh ]] T L is the advancing distance of the miniature bionic fish of the transformer, theta is the deflection angle of the miniature bionic fish around the Z axis, and h is the vertical moving distance of the miniature bionic fish;
to differentiate the components of ρ, +.>
For->
Differentiation of the components>
U＝[u 1 u 2 u 3 ] T For kinetic model input quantity, u 1 Thrust force for advancing and moving miniature bionic fish, u 2 Is the thrust force of the miniature bionic fish during autorotation, u 3 Is the thrust of the miniature bionic fish in the vertical direction;
The miniature bionic fish sliding mode variable structure controller of the transformer comprises: switching the function S (x) and the control law U of the synovial membrane controller, namely the input quantity of the miniature bionic fish dynamics model, wherein:
the switching function S (x) is expressed as follows:
in the formula, ζ is a positive and fixed symmetric constant matrix of 3 multiplied by 3, and the current state quantity ρ= [ Lθh ] of the e-miniature bionic fish] T And a target state quantity ρ * ＝[L g θ g h g ] T Real-time deviation of (2);
the control law U of the synovial controller is expressed as follows:
wherein lambda and K are both three-order positive definite diagonal arrays.
Moreover, the control requirements in the step 2 comprise heading control, forward moving distance control and vertical depth control of the transformer miniature bionic fish.
The invention has the advantages and positive effects that:
1. according to the invention, the transformer miniature bionic fish sliding mode variable structure controller is constructed by establishing the transformer miniature bionic fish simplified dynamic model and according to the requirements of the course control, the advancing distance control and the vertical depth control of the transformer miniature bionic fish, so that the problem of fish body shaking caused by sudden change of the propulsion of the miniature bionic fish due to frequent switching control rate of a conventional sliding mode controller is solved.
2. The invention utilizes the sliding mode variable structure controller of the miniature bionic fish of the transformer to accurately move the miniature bionic fish of the transformer to the target position through course control, forward moving distance and vertical depth control, and has better robustness and stability.
Drawings
FIG. 1 is a schematic diagram of a transformer space rectangular coordinate system established by the present invention;
fig. 2 is a diagram of the motion process of the miniature bionic fish of the transformer.
Detailed Description
The present invention will be described in further detail with reference to the accompanying drawings.
The present embodiment is implemented on a micro-robot fish device (patent document CN110793969 a) for detecting internal defects of a large transformer, the whole structure of which includes three parts of a head part, a middle part and a tail part. The head of the bionic fish is a detection probe (such as a camera, a ranging ultrasonic sensor array and the like) of a transformer, the upper end part of the middle part of the bionic fish is a non-sealing part, an air bag is arranged at the upper end part of the middle part of the bionic fish to provide upward buoyancy for the miniature bionic fish, and equipment such as an optical fiber gyroscope, a depth gauge and the like are additionally arranged at the upper end part of the miniature bionic fish except the air bag so as to realize closed-loop control of the bionic fish; the lower end part at the middle part of the bionic fish is a sealing part, equipment such as a battery, a control system, an oil pump, a steering engine, a stepping motor and the like are installed in the sealing part, a pair of pectoral fins are respectively installed on two sides of the middle part, and the movement of the transformer in different directions of the bionic fish is realized by controlling the rotation direction and the angle of the pectoral fins. The bionic fish tail is provided with 3 bionic nozzles, wherein the nozzles at the end part of the bionic fish provide thrust for the advancing and retreating of the bionic fish, and the nozzles at the side surface of the bionic fish provide rotation moment for the turning of the bionic fish.
The sliding mode variable structure control is a special nonlinear control aiming at the problem of pose control of the miniature bionic fish in the transformer oil in the moving process, and has the advantages of small calculated amount, simple physical realization and the like, and is widely applied to engineering practice because the sliding mode in a control system can be designed and is irrelevant to the parameters of a controlled object and external disturbance, so that the sliding film control has stronger robustness, the system is not required to be identified on line, and the method is suitable for the field of the engineering practice.
The design idea of the invention is as follows: the transformer miniature bionic fish sliding mode variable structure controller is designed by establishing a transformer miniature bionic fish simplified dynamic model and according to the requirements of course control, advancing distance control and vertical depth control of the transformer miniature bionic fish. The method reduces and improves the sliding film controller, and solves the problem of fish shaking caused by sudden change of the propulsion force of the miniature bionic fish due to frequent switching control rate of the conventional sliding film controller; under the control of the improved sliding mode controller, the miniature bionic fish of the transformer can accurately move to a target position under the control of navigation direction control, forward moving distance and vertical depth, and has better robustness and stability.
Based on the design concept, the invention provides a miniature bionic fish gesture control method of an oil immersed transformer, which comprises the following steps:
step 1, in order to describe the pose of the miniature bionic fish of the transformer conveniently, a space rectangular coordinate system is established, and as shown in fig. 1, the definition of each coordinate system is as follows:
1. world coordinate system O of transformer w X w Y w Z w : origin of coordinate system O w Taking the vertex of one angle of the transformer as the origin, O w X w The axis being in the horizontal plane, the direction being along the broadside of the transformer and outwardly, O w Y w The axis is located in the horizontal plane, the direction is along the long side of the transformer and to the right, O w Z w The axis is determined according to the right hand rule of the coordinate system used to describe the spatial environment of the transformer.
2. Miniature bionic fish satellite coordinate system O f X f Y f Z f : origin O of coordinate system f Is positioned in the center of the fish body, O f Y f The axis coincides with the horizontal central axis of the fish body, the direction points to the swimming direction, O f Z f The shaft coincides with the vertical axis of the fish body, the direction is upward, O f X f The axis is determined according to the right hand rule of the coordinate system used to describe the motion of the miniature bionic fish relative to the transformer coordinate system.
How to effectively control the pose of the miniature bionic fish in the process of executing the monitoring task is an important condition that the miniature bionic fish accurately reaches a designated position. Because the volume of the transformer miniature bionic fish is smaller, the configured in-oil propulsion mechanism is fewer, and the transformer miniature bionic fish comprises a main pushing nozzle for providing thrust for the advancing of the miniature bionic fish; the two side nozzles provide thrust for the yaw of the miniature bionic fish; and the volume-variable air bag provides upward floating and sinking thrust for the vertical movement of the miniature bionic fish. The motion of the miniature bionic fish of the transformer is in a degree of freedom and cannot realize horizontal transverse movement.
Assume that the position of a set target point in a world coordinate system of a transformer is P g ＝[x g ,y g ,z g ]The method comprises the steps of carrying out a first treatment on the surface of the The current position of the miniature bionic fish is P f ＝[x f ,y f ,z f ]The method comprises the steps of carrying out a first treatment on the surface of the Miniature bionic fish slave P f Move to P g The process is shown in fig. 2. The moving process is as follows: the transformer micro-bionic fish deflects by θ degrees around the Z axis at first so that the advancing direction of the micro-bionic fish is opposite to the projection point of the target point on the horizontal plane, and then the micro-bionic fish main pushing mechanism and the vertical pushing force respectively push the micro-bionic fish to enable the micro-bionic fish to move by a distance L in the horizontal direction and to reach the target point after moving by a distance h in the vertical direction.
And 2, establishing a simplified dynamic model of the miniature bionic fish of the transformer, and constructing a sliding mode variable structure controller of the miniature bionic fish of the transformer according to the requirements of course control, forward distance control and vertical depth control of the miniature bionic fish of the transformer.
The invention adopts a sliding film variable structure to realize the pose control of the miniature bionic fish. Synovial control (SMC) is a variable structure control with a sliding mode. When the system state reaches a specific state plane, i.e., a sliding plane, the system state is maintained at the sliding plane by switching the control amount, and asymptotically approaches the equilibrium point. Therefore, by designing the sliding mode, the dynamic quality of the controlled object can be obtained more satisfactorily.
Motion parameter vector of miniature bionic fish in transformer oil
Definition, wherein L is the advancing distance of the miniature bionic fish of the transformer, < + >>
Is the advancing speed of the miniature bionic fish of the transformer, theta is the deflection angle of the miniature bionic fish around the Z axis,
the yaw angle speed of the miniature bionic fish is h is the vertical moving distance of the miniature bionic fish, and the miniature bionic fish is a +.>
Is the vertical moving speed of the miniature bionic fish.
The simplified kinetic equation of the miniature bionic fish in the transformer oil is as follows:
wherein m is the mass of the miniature bionic fish, C 1 Is the resistance coefficient when the miniature bionic fish moves forward in the transformer oil, C 2 Is the viscosity coefficient of the miniature bionic fish during autorotation, C 3 Is the resistance coefficient of the bionic fish when moving vertically, I is the moment of inertia of the miniature bionic fish around the Z axis, d 1 Is the radius of the fish body, u 1 Thrust force for advancing and moving miniature bionic fish, u 2 Is the thrust force of the miniature bionic fish during autorotation, u 3 Is the thrust of the miniature bionic fish in the vertical direction.
Will be
As a state variable, u= [ U ] 1 ,u 2 ,u 3 ] T As an input amount, y= [ L, θ, h] T As output quantity, in combination with formula (1), the relative motion model of the miniature bionic fish in the transformer oil can be written as:
wherein, the liquid crystal display device comprises a liquid crystal display device,
to facilitate description of the problems associated with the design of a slip-form controller, A, B, C described above is written as follows:
B＝[0 3×3 B 1 ] T
C＝[I 3×3 0 3×3 ]。
wherein, the liquid crystal display device comprises a liquid crystal display device,
the kinetic equation of the miniature bionic fish of the transformer is then formed into:
wherein ρ is the state quantity [ Lθh ] of the current transformer miniature bionic fish] T . To complete the design and validation of the sliding mode controller, the target state is set to be represented by ρ * ＝[L g θ g h g ] T The real-time deviation is represented by e, ρ * The relation between the three parts is as follows:
e＝ρ-ρ * (5)
then there is
Then
In the invention, the transformer miniature bionic fish sliding mode variable structure controller comprises two parts, wherein one part is a switching function S (x), and the switching function has a decision function and can measure the motion state of the current system; another part is the feedback control law that determines the instantaneous system should take. The sliding mode control system consists of several subsystems, and has the advantages that each subsystem has its fixed control structure and acts only in specific area. Therefore, the miniature bionic fish sliding mode variable structure controller of the transformer can be independently designed and is completed in two steps:
(1) Constructing a switching function S (x);
the sliding mode surface (switching function) can be designed as follows:
where ζ is a 3×3 positive definite symmetric constant matrix.
(2) And designing a sliding mode controller according to the arrival condition of the sliding mode.
In order to ensure the arrival condition, the invention adopts an approach law method, and an index approach law is selected as follows:
wherein lambda and K are three-order positive definite diagonal arrays.
The control law of the synovial membrane controller can be obtained by the formula (9) and the formula (10):
as can be seen from the formula (11), when the system state reaches the sliding surface, the sliding mode controller is enabled to continuously switch the control law due to the fact that the miniature bionic fish is interfered by some outside in the moving process, so that the system is ensured to be on the sliding plane, but the frequent switching control rate can cause sudden change of the propelling force of the miniature bionic fish to cause shaking of the bionic fish, and in order to solve the shaking problem, the sliding mode control rate is improved, and the improved sliding mode control law is as follows:
and 3, moving the miniature bionic fish of the transformer to a target position under the control of a sliding mode variable structure controller of the miniature bionic fish of the transformer.
It should be emphasized that the examples described herein are illustrative rather than limiting, and therefore the invention includes, but is not limited to, the examples described in the detailed description, as other embodiments derived from the technical solutions of the invention by a person skilled in the art are equally within the scope of the invention.
Claims (4)
1. A miniature bionic fish attitude control method for an oil immersed transformer is characterized by comprising the following steps of: the method comprises the following steps:
step 1, establishing a transformer world coordinate system and a miniature bionic fish satellite coordinate system under the attitude control of an oil immersed transformer miniature bionic fish;
step 2, a simplified dynamic model of the miniature bionic fish of the transformer is established, and a sliding mode variable structure controller of the miniature bionic fish of the transformer is established according to control requirements;
step 3, the miniature bionic fish of the transformer moves to a target position according to the control of the sliding mode variable structure controller of the miniature bionic fish of the transformer;
the transformer miniature bionic fish simplified dynamics model is as follows:
wherein: ρ is the state quantity of the current transformer miniature bionic fish [ Lθh ]] T L is the advancing distance of the miniature bionic fish of the transformer, theta is the deflection angle of the miniature bionic fish around the Z axis, and h is the vertical moving distance of the miniature bionic fish;
to pair(s) ρ The differentiation of the components is carried out,
for->
Differentiation of the components>
U＝[u 1 u 2 u 3 ] T For kinetic model input quantity, u 1 Thrust force for advancing and moving miniature bionic fish, u 2 Is the thrust force of the miniature bionic fish during autorotation, u 3 Is the thrust of the miniature bionic fish in the vertical direction;
the miniature bionic fish sliding mode variable structure controller of the transformer comprises: switching the function S (x) and the control law U of the synovial membrane controller, namely the input quantity of the miniature bionic fish dynamics model, wherein:
the switching function S (x) is expressed as follows:
in the formula, ζ is a positive and fixed symmetric constant matrix of 3 multiplied by 3, and the current state quantity ρ= [ Lθh ] of the e-miniature bionic fish] T And a target state quantity ρ * ＝[L g θ g h g ] T Real-time deviation of (2);
the control law U of the synovial controller is expressed as follows:
wherein lambda and K are both three-order positive definite diagonal arrays.
2. The method for controlling the gesture of the miniature bionic fish of the oil immersed transformer according to claim 1 is characterized in that: the world coordinate system O of the transformer w X w Y w Z w The method for describing the space environment of the transformer is as follows: origin of coordinate system O w Taking the vertex of one angle of the transformer as the origin, O w X w The axis being in the horizontal plane, the direction being along the broadside of the transformer and outwardly, O w Y w The axis is located in the horizontal plane, the direction is along the long side of the transformer and to the right, O w Z w The axis is determined according to the right hand rule of the coordinate system.
3. The method for controlling the gesture of the miniature bionic fish of the oil immersed transformer according to claim 1 is characterized in that: the miniature bionic fish satellite coordinate system O f X f Y f Z f The method for describing the motion of the miniature bionic fish relative to the transformer coordinate system comprises the following steps: origin O of coordinate system f Is positioned in the center of the fish body, O f Y f The axis coincides with the horizontal central axis of the fish body, the direction points to the swimming direction, O f Z f The shaft coincides with the vertical axis of the fish body, the direction is upward, O f X f The axis is determined according to the right hand rule of the coordinate system.
4. The method for controlling the gesture of the miniature bionic fish of the oil immersed transformer according to claim 1 is characterized in that: the control requirements in the step 2 comprise heading control, forward moving distance control and vertical depth control of the transformer miniature bionic fish.
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