CN-122017483-A - Live working robot arc discharge transient current test system, method and medium

Abstract

The invention provides a live working robot arc discharge transient current testing system, a method and a medium. The system comprises a high-voltage wire, a lifting insulating platform and a current measuring module, wherein the high-voltage wire is connected with the high-voltage wire, the lifting insulating platform is arranged right below the high-voltage wire, and the current measuring module is arranged on the lifting insulating platform and isolated from the ground to form a floating ground measuring structure. The invention forms a floating ground measurement structure through the whole electric isolation of the current measurement module and the earth, so that the potential reference and the potential of the discharge point of the measurement system synchronously float, thereby fundamentally breaking the path of the ground loop conduction interference, actively identifying and counteracting the radiation interference component of the common mode through the configuration of the current measurement module by adopting a differential measurement mode, thereby greatly improving the signal-to-noise ratio and the measurement precision under the strong electromagnetic disturbance environment, and forming a complete anti-interference system aiming at the conduction interference and the radiation interference by organically combining the floating ground technology and the differential technology.

Inventors

• LIAO ZHENGHAI
• LIU JIANBEN
• GAN ZHEYUAN
• ZHANG YEMAO
• LIU XINGFA
• ZHANG JIANGONG
• ZHAO JUN
• LIU TING
• YU GUANGKAI
• LUO XIAOQING
• WANG YANZHAO
• XIE HUICHUN

Assignees

• 中国电力科学研究院有限公司
• 国网湖北省电力有限公司

Dates

Publication Date

20260512

Application Date

20260119

Claims (12)

1. 1. An arc discharge transient current testing system of a live working robot, comprising: High voltage wire: the high-voltage test module is connected with the high-voltage wire and used for generating adjustable high voltage and applying the adjustable high voltage to the high-voltage wire so as to trigger arc discharge between the robot to be tested and the high-voltage wire; The lifting insulation platform is arranged under the high-voltage lead and used for insulating and supporting the robot to be tested and the current measurement module so as to realize the electrical isolation between the measurement system and the ground and synchronize the measurement system with the discharge potential; The current measurement module is arranged on the liftable insulating platform and isolated from the ground to form a floating ground measurement structure, and the current measurement module is configured to measure arc discharge transient current generated by the robot to be measured in a differential measurement mode.
2. 2. The live working robot arc discharge transient current testing system of claim 1, wherein the current measurement module comprises: The pulse current sensor is used for collecting the transient current signal; The device comprises an oscilloscope and a double-path coaxial shielding cable, wherein the double-path coaxial shielding cable comprises a main measuring cable and a compensating cable which are arranged in parallel, the main measuring cable is connected with the pulse current sensor and a main signal acquisition channel of the oscilloscope and is used for acquiring a mixed signal of transient current passing through a robot to be tested, one end of the compensating cable is connected with a terminal matching resistor, the other end of the compensating cable is connected with a reference signal acquisition channel of the oscilloscope and is used for acquiring a reference signal reflecting space electromagnetic coupling interference, and the oscilloscope is used for carrying out differential processing on signals of the main signal acquisition channel and the reference signal acquisition channel.
3. 3. The hot-line robot arc discharge transient current test system according to claim 2, wherein, The current measurement module further comprises an electromagnetic shielding box arranged on the liftable insulating platform, wherein the pulse current sensor, the terminal matching resistor, the oscilloscope and the double-path coaxial shielding cable are all arranged in the electromagnetic shielding box, and the electromagnetic shielding box is further used for being fixedly connected with the robot to be measured.
4. 4. The hot-line robot arc discharge transient current test system according to claim 3, The electromagnetic shielding box is internally provided with a lithium battery and an inverter which are connected, and the lithium battery supplies power for the oscilloscope through the inverter so as to maintain the floating state of the oscilloscope.
5. 5. The hot-line robot arc discharge transient current test system according to claim 2, wherein, The oscilloscope is in communication connection with the remote computer through the photoelectric conversion module and the optical fiber, and is also in communication connection with the remote trigger.
6. 6. The live working robot arc discharge transient current testing system of any one of claims 1 to 5, wherein the high voltage test module comprises: The voltage regulator is connected with the low-voltage input end of the transformer and is used for regulating the input voltage of the transformer; The high-voltage output end of the transformer is connected with the high-voltage wire and is used for providing a high-voltage power supply; And the voltage divider is connected to the high-voltage wire in parallel and used for measuring the test voltage on the high-voltage wire and supporting the high-voltage wire, wherein the voltage divider is isolated from the ground through an insulating support.
7. 7. The live working robot arc discharge transient current testing system of claim 6, wherein the high voltage test module further comprises: The control console is respectively connected with the voltage divider and the voltage regulator and used for controlling the output voltage of the voltage regulator according to the voltage data measured by the voltage divider, and the control console is also connected with the liftable insulating platform and used for controlling the lifting of the liftable insulating platform so as to adjust the discharge gap.
8. 8. The method for testing the arc discharge transient current of the live working robot is characterized by comprising the following steps of: building a high-voltage test module, a liftable insulating platform and a current measurement module in a test anechoic chamber, and arranging the current measurement module on the liftable insulating platform to realize a floating ground measurement structure isolated from the ground, wherein the high-voltage test unit is used for generating adjustable high voltage and applying the adjustable high voltage to a high-voltage wire; calibrating the current measurement module; controlling the output voltage of the high-voltage test module to a target test voltage, and controlling the height of the liftable insulating platform to change the discharge gap distance between a high-voltage wire and a robot to be tested arranged on the liftable insulating platform until arc discharge is initiated between the robot to be tested and the high-voltage wire; When discharge is triggered, the current measuring unit is utilized to synchronously acquire a mixed signal of transient current flowing through the robot to be detected and a reference coupling signal for reflecting space electromagnetic coupling interference, and differential processing is carried out on the mixed signal and the reference coupling signal, so that transient current waveform data after common mode interference is eliminated is obtained; Changing at least one test condition, re-controlling the output voltage of the high-voltage test module to a target test voltage, controlling the height of the liftable insulating platform, re-utilizing the current measurement module to acquire a transient current signal and a reference coupling signal, and performing differential processing on the two signals to acquire a plurality of groups of transient current waveform data; and carrying out time domain, frequency domain and statistical rule analysis on the plurality of groups of transient current waveform data.
9. 9. The method according to claim 8, wherein said calibrating the current measurement module comprises: injecting standard surge current into the current measurement unit to calibrate the measurement error of the transient current amplitude by the system; Injecting standard nanosecond pulse current into the current measurement unit to calibrate the measurement error of the system to the transient current wavefront time; and calculating the overall measurement uncertainty of the current measurement unit through an error transfer model based on the known uncertainty parameters of each measurement component in the current measurement unit and the uncertainty of a standard signal source adopted by the standard surge current and the standard nanosecond pulse current.
10. 10. The test method according to claim 8 or 9, wherein, The time domain analysis comprises extracting the wave front time, peak value and oscillation time length of a transient current waveform, the frequency domain analysis comprises performing fast Fourier transform on the waveform to obtain a frequency spectrum, and the statistical rule analysis comprises establishing a correlation model between a discharge current characteristic parameter and the test parameter; The at least one test condition comprises any one or more of a structure of a high-voltage wire, a discharge gap distance between the high-voltage wire and a robot to be tested, a test voltage level output by the high-voltage test unit, namely a target value, and a system ground capacitance which is changed by adjusting the height of the liftable insulating platform or the gesture of the robot to be tested.
11. 11. A computer readable storage medium, characterized in that the storage medium stores a computer program for executing the method according to any one of claims 8 to 10.
12. 12. An electronic device, the electronic device comprising: A processor; a memory for storing the processor-executable instructions; The processor is configured to read the executable instructions from the memory and execute the instructions to implement the method of any one of claims 8 to 10.

Description

Live working robot arc discharge transient current test system, method and medium Technical Field The invention relates to the technical field of high-voltage electric power measurement, in particular to an arc discharge transient current test system, an arc discharge transient current test method and a medium for a live working robot. Background When the live working robot approaches or contacts the high-voltage wire, arc discharge is easily caused if the safety distance is insufficient. The key waveform parameters such as nanosecond wavefront time and the like of the transient discharge current are accurately measured, and the key waveform parameters are very important for evaluating electromagnetic compatibility (EMC) and insulation safety of the robot. However, the existing arc discharge test system has the obvious defects that the first and commonly adopted grounding type measurement scheme causes the discharge current to flow into the ground through a grounding loop, so that the measured waveform is mixed with the conduction interference introduced by the grounding loop to cause serious distortion and error, and the second and traditional coaxial cable transmission modes are easy to couple with extremely strong electromagnetic disturbance generated by arc discharge to influence the capturing precision of pulse waveforms. Therefore, a transient current test scheme capable of effectively suppressing the grounding and the spatial electromagnetic interference is needed to improve the accuracy and the reliability of the arc discharge characteristic evaluation of the live working robot. Disclosure of Invention In view of the above, the invention provides a live working robot arc discharge transient current test system, a method and a medium, which aim to solve the problems of waveform distortion caused by ground loop interference and strong electromagnetic disturbance caused by traditional transmission cable coupling in the existing arc discharge test system. On one hand, the invention provides an arc discharge transient current testing system of a live working robot, which comprises a high-voltage wire, a high-voltage test module, a liftable insulating platform and a current measurement module, wherein the high-voltage test module is connected with the high-voltage wire and used for generating adjustable high voltage and applying the adjustable high voltage to the high-voltage wire so as to trigger arc discharge between the robot to be tested and the high-voltage wire, the liftable insulating platform is arranged under the high-voltage wire and used for insulating and supporting the robot to be tested and the current measurement module so as to realize electrical isolation of the measurement system and the ground and enable the measurement system and the discharge potential to be synchronous, and the current measurement module is arranged on the liftable insulating platform and isolated from the ground so as to form a floating ground measurement structure and is configured to measure arc discharge transient current generated by the robot to be tested in a differential measurement mode. Further, the live working robot arc discharge transient current testing system comprises a pulse current sensor, an oscilloscope and a double-path coaxial shielding cable, wherein the pulse current sensor is used for collecting transient current signals, the double-path coaxial shielding cable comprises a main measuring cable and a compensating cable which are arranged in parallel, the main measuring cable is connected with the pulse current sensor and a main signal collecting channel of the oscilloscope and is used for collecting mixed signals of transient current of a robot to be tested, one end of the compensating cable is connected with a terminal matching resistor, the other end of the compensating cable is connected with a reference signal collecting channel of the oscilloscope and is used for collecting reference signals reflecting space electromagnetic coupling interference, and the oscilloscope is used for carrying out differential processing on signals of the main signal collecting channel and the reference signal collecting channel. Further, the live working robot arc discharge transient current test system comprises an electromagnetic shielding box arranged on the lifting insulation platform, wherein the pulse current sensor, the terminal matching resistor, the oscilloscope and the double-path coaxial shielding cable are all arranged in the electromagnetic shielding box, and the electromagnetic shielding box is further used for being fixedly connected with the robot to be tested. Further, in the live working robot arc discharge transient current testing system, a lithium battery and an inverter which are connected are further arranged in the electromagnetic shielding box, and the lithium battery supplies power for the oscilloscope through the inverter so as to maintain the floating state of the oscilloscope. Furt