CN-122025300-A - Control method and system for high-voltage bus bar insulation winding device

CN122025300ACN 122025300 ACN122025300 ACN 122025300ACN-122025300-A

Abstract

The invention discloses a control method and a control system for a high-voltage bus bar insulation winder, which relate to the technical field of insulation molding control and comprise the following steps of obtaining initial equivalent outer diameter parameters of a high-voltage bus bar to be wrapped, setting a target pitch value, collecting rotation angle displacement and axial displacement of the bus bar in real time in the current layer wrapping process, calculating an actual pitch, updating the equivalent outer diameter parameters of the bus bar according to the actual thickness increment of an insulating material of the layer to form an equivalent outer diameter accumulation model containing the number of wrapped layers, reversely solving a rotation angle speed and axial feeding speed matching value required by the next layer wrapping according to a pitch constant constraint relation based on the target pitch value and the updated equivalent outer diameter parameters, executing the next layer wrapping based on the matching value, and repeatedly executing the equivalent outer diameter updating. According to the invention, the problem of accumulated deviation of the screw pitch caused by layer-by-layer change of the equivalent outer diameter in the multi-layer wrapping process is solved by constructing the equivalent outer diameter dynamic update based on the actual thickness increment.

Inventors

ZHAO FENG
SUN RUIPENG
LIU WENTAO
CUI HONGFENG
ZHU MANJUN
ZHOU NINGNING
Ma Yida
LIU JIAN
PAN GAOWEI
DONG CHENCHEN
WANG FENGFENG
CUI CHAOQI
MA CHENG
Cai Ningbo
ZHAO YAO

Assignees

国网安徽省电力有限公司阜阳供电公司

Dates

Publication Date: 20260512
Application Date: 20260303

Claims (10)

1. The control method of the high-voltage bus bar insulation winder is characterized by comprising the following steps of: acquiring an initial equivalent outer diameter parameter of a high-voltage busbar to be wrapped, and setting a target pitch value; collecting the rotation angle displacement and the axial displacement of the busbar in real time in the current layer wrapping process, and calculating the actual pitch; after the current layer is wrapped, updating the equivalent outer diameter parameters of the busbar according to the actual thickness increment of the insulating material of the layer to form an equivalent outer diameter accumulation model containing the wrapped layer number; reversely solving a rotation angle speed and axial feeding speed matching value required by next layer of wrap according to a pitch constant constraint relation based on the target pitch value and the updated equivalent outer diameter parameter; And executing the next layer of wrapping based on the matching value, and repeatedly executing the steps of updating the equivalent outer diameter and recalculating the motion parameters after each layer is completed until all the insulating layers are wrapped.
2. The method for controlling a high-voltage bus bar insulation winder according to claim 1, wherein the steps of obtaining an initial equivalent outer diameter parameter of the high-voltage bus bar to be wrapped, and setting a target pitch value include: Acquiring a geometric dimension parameter of a section of the busbar, and calculating the corresponding equivalent cylinder outer diameter based on the geometric dimension; Acquiring initial insulating layer thickness and material characteristic parameters of a bus bar, and correcting the outer diameter of the equivalent cylinder; Mapping the non-circular section into an equivalent cylinder based on the section shape coefficient of the busbar to form an initial equivalent outer diameter parameter for wrapping control; determining a target pitch value based on the effective width of the insulating tape and the target overlapping rate, and setting a pitch allowable deviation range; And inputting the initial equivalent outer diameter parameter and the target pitch value into a control system.
3. The method for controlling a high-voltage busbar insulation winder according to claim 2, wherein the step of collecting the busbar rotation angle displacement and the axial displacement in real time during the current layer wrapping process and calculating the actual pitch comprises the steps of: Setting a fixed angular displacement integral window value at the beginning of current layer wrapping, and synchronously collecting an angular displacement signal output by a rotary encoder and an axial displacement signal output by a feed encoder in the wrapping process so as to accumulate the rotation angle displacement and the axial feed displacement in the integral window; When the accumulated rotation angle displacement reaches the fixed angular displacement integral window value, extracting accumulated axial feeding displacement in a corresponding angular displacement interval, and establishing a displacement matching data pair between the angular displacement and the axial displacement; calculating an actual pitch value of a corresponding angular displacement interval based on the displacement matching data pair; comparing the actual pitch value with a target pitch value to obtain pitch deviation, and adjusting the motion parameter of the next control period according to the pitch deviation; And continuously updating the angular displacement interval along the wrapping direction by taking the fixed angular displacement integral window value as a step length, and repeating the calculation process to form a continuously updated actual pitch sequence.
4. The control method of the high-voltage bus bar insulation winder according to claim 3, wherein the actual thickness increment is obtained by the following specific method: Collecting tension values of an insulating tape in the current layer wrapping process, and segmenting the wrapping circumference according to a preset angular displacement step length to form a plurality of angular displacement intervals; For each angular displacement interval, calculating an average tension value in the corresponding interval, and determining the compression deformation proportion of the interval based on a pre-calibrated tension-compression response model; Performing interval correction on the nominal thickness of the insulating material according to the compression deformation proportion to obtain effective radial thickness corresponding to each angular displacement interval; And carrying out accumulated matching on the effective radial thickness of each angular displacement interval along the wrapping circumferential direction, and determining the actual thickness increment of the current layer.
5. The method for controlling a high-voltage bus bar insulation winder according to claim 4, wherein the step of collecting the tension value of the insulation tape during the current layer wrapping process and segmenting the wrapping circumference according to a preset angular displacement step length to form a plurality of angular displacement intervals comprises the steps of: When the current layer wrapping starts, aligning the zero position of the rotary encoder with the circumferential initial reference position of the busbar, and establishing an angular displacement accumulation reference; continuously acquiring an angular displacement signal output by a rotary encoder in a wrapping process, and dividing intervals according to a preset angular displacement step length to form a plurality of angular displacement intervals; In each angular displacement interval, carrying out statistical processing on the output of the tension sensor in the corresponding time period to obtain an average tension value of the angular displacement interval; And establishing a one-to-one mapping relation between each angular displacement interval and the corresponding average tension value to form tension sequence data distributed according to the circumferential direction.
6. The method for controlling a high-voltage bus bar insulation winder according to claim 5, wherein the performing interval correction on the nominal thickness of the insulation material according to the compression deformation ratio to obtain the effective radial thickness corresponding to each angular displacement interval comprises: establishing a corresponding relation between the nominal thickness of each angular displacement interval and the compression deformation proportion of the corresponding angular displacement interval; Calculating radial compression quantity of each angular displacement section based on the compression deformation proportion, and performing deduction correction on the nominal thickness to obtain effective radial thickness of each angular displacement section; And forming an effective thickness sequence of the effective radial thicknesses of the angular displacement intervals according to a circumferential sequence, and using the effective thickness sequence for subsequent thickness accumulation calculation along the circumferential direction.
7. The control method of the high-voltage busbar insulation winder according to claim 6, wherein the reversely solving the matching value of the rotation angular velocity and the axial feeding velocity required by the next layer of wrapping according to the pitch constant constraint relation based on the target pitch value and the updated equivalent outer diameter parameter comprises: Performing interval superposition correction on the reference radius vector of the upper layer based on the effective thickness sequence to form a dynamic reference radius vector reflecting the circumferential radius distribution of the current busbar; identifying a tension abnormality fluctuation interval corresponding to the radius mutation based on the angular displacement interval-average tension value data sequence, and determining a feedforward speed adjusting factor according to the tension deviation; Introducing a dynamic reference radius vector and a feedforward speed adjusting factor into a pitch constant constraint relation, and respectively and reversely solving a matching value of a rotation angular speed and an axial feeding speed for each angular displacement interval; And combining the matched values of the angular displacement intervals according to the angular displacement sequence to form an angle-dependent speed matching sequence.
8. The method according to claim 7, wherein the identifying a tension abnormality fluctuation section corresponding to a radius mutation based on the angular displacement section-average tension value data sequence comprises: Dividing a wrapping process into a plurality of continuous angular displacement intervals, and carrying out integral averaging on instantaneous tension data acquired in each angular displacement interval to form an angular displacement interval-average tension value data sequence which is arranged according to an angular displacement sequence; based on the angular displacement interval-average tension value data sequence, carrying out differential operation on average tension values of adjacent angular displacement intervals to obtain a tension change gradient sequence; Calculating a whole-cycle gradient mean value and a standard deviation based on the tension change gradient sequence, and constructing a tension abnormality judgment threshold value based on the gradient mean value and the standard deviation; Comparing the tension change gradient sequence with the tension abnormality judgment threshold value, and determining an angular displacement interval with the absolute value of the gradient exceeding the judgment threshold value as a tension abnormality candidate interval; And continuously judging the tension abnormality candidate section, screening out candidate sections with the continuous angle width smaller than the preset minimum angle width, and reserving a section with the continuous angle width meeting the preset minimum angle width condition as a tension abnormality fluctuation section.
9. The method according to claim 8, wherein the step of performing next layer wrapping based on the matching value and repeatedly performing equivalent outer diameter update and motion parameter recalculation after each layer is completed, comprises: performing whole-circumference wrapping control based on the rotation angular velocity and axial feeding velocity matching value obtained by the calculation of the current layer, and obtaining the actual average pitch value, the average tension value and the equivalent outer diameter increment of the layer after the wrapping of the layer is finished; performing difference operation on the actual average pitch value and the target pitch value to obtain the pitch deviation value of the layer, and performing weighted superposition on the pitch deviation value of each completed layer according to layer sequence weight to form a cross-layer error accumulation index; Coupling calculation is carried out on the cross-layer error accumulation index and the equivalent outer diameter increment of the current layer, and an interlayer outer diameter correction weight coefficient is generated; Performing secondary correction on an equivalent outer diameter updating result obtained by a next layer according to a tension-compression model based on the interlayer outer diameter correction weight coefficient to obtain a corrected equivalent outer diameter parameter containing a cross-layer error compensation term; And reversely solving a matching value of the rotation angular velocity and the axial feeding velocity of the next layer according to the pitch constant constraint relation based on the corrected equivalent outer diameter parameter.
10. A system using the high voltage bus bar insulation winder control method of any of claims 1-9, comprising the following modules: The pitch target setting module is used for obtaining initial equivalent outer diameter parameters of the high-voltage busbar to be wrapped and setting a target pitch value; the pitch real-time measuring and calculating module is used for collecting the rotation angle displacement and the axial displacement of the busbar in real time in the current layer wrapping process and calculating the actual pitch; the equivalent outer diameter accumulation updating module is used for updating the equivalent outer diameter parameters of the busbar according to the actual thickness increment of the insulating material of the current layer after the wrapping of the current layer is completed, and forming an equivalent outer diameter accumulation model containing the wrapped layer number; the reverse speed resolving module is used for reversely resolving a rotation angular speed and axial feeding speed matching value required by the next layer of wrapping according to a pitch constant constraint relation based on the target pitch value and the updated equivalent outer diameter parameter; and the closed-loop control module is used for executing the next layer of wrapping based on the matching value, and repeatedly executing the steps of updating the equivalent outer diameter and recalculating the motion parameters after each layer is completed until all the insulating layers are wrapped.

Description

Control method and system for high-voltage bus bar insulation winding device Technical Field The invention relates to the technical field of insulation forming control, in particular to a control method and a control system of a high-voltage bus bar insulation winding device. Background With the capacity improvement of the power system, the high-voltage bus bar is increasingly widely applied to transformer substations and switching equipment. To ensure operational safety and electrical insulation, it is often necessary to perform a multi-layer insulating tape wrapping process on the exterior of the busbar. In the existing control method and system of the high-voltage busbar insulation winding device, the rotation angular velocity and the axial feeding velocity are generally set based on the initial geometric dimension of the busbar so as to meet the requirement of a target pitch or an overlapping rate. During the actual wrapping process, the control system generally assumes that the busbar outer diameter remains constant within the same layer and corrects the outer diameter between layers by simply stacking the thicknesses. However, under actual working conditions, the busbar is mostly rectangular or special-shaped in section, the circumferential equivalent radius of the busbar is periodically changed, and meanwhile, the insulation belt is affected by tension fluctuation at different wrapping angle positions, so that non-uniform compression deformation can be generated, and the actual thickness of a single layer is different in the circumferential direction. After the factors are overlapped, the equivalent outer diameter of the busbar is in dynamic change trend in the circumferential direction and between layers. In the technical scheme, at least the following technical problems are existed in the existing high-voltage bus bar insulation winding control method, although part of the scheme can carry out simple superposition correction on the outer diameter between layers, the thickness of each layer of insulation material is generally assumed to be uniform and independent of tension, and non-uniform compression deformation of the insulation tape at different circumferential positions caused by tension difference in the wrapping process and periodic change of circumferential radius caused by a bus bar non-circular section structure are not considered. Disclosure of Invention In order to overcome the defects in the prior art, the embodiment of the invention provides a control method and a control system for a high-voltage bus bar insulation winding device, which are used for solving the problems of accumulated deviation of screw pitch and uncontrolled insulation overlapping rate caused by layer-by-layer change of the equivalent outer diameter in a multi-layer wrapping process by constructing an equivalent outer diameter dynamic updating and interlayer recursion closed-loop control mechanism based on actual thickness increment. In order to achieve the above purpose, the present invention provides the following technical solutions: The control method of the high-voltage bus bar insulation winder comprises the steps of obtaining initial equivalent outer diameter parameters of a high-voltage bus bar to be wrapped, setting a target pitch value, collecting rotation angle displacement and axial displacement of the bus bar in real time in the wrapping process of a current layer, calculating actual pitch, updating the equivalent outer diameter parameters of the bus bar according to the actual thickness increment of insulating materials of the current layer after wrapping of the current layer is completed, forming an equivalent outer diameter accumulation model containing the number of wrapped layers, reversely solving a matching value of rotation angle speed and axial feeding speed required by wrapping of the next layer according to a pitch constant constraint relation based on the target pitch value and the updated equivalent outer diameter parameters, executing wrapping of the next layer based on the matching value, and repeatedly executing the steps of updating the equivalent outer diameter and recalculating the motion parameters after each layer is completed until wrapping of all insulating layers is completed. In a preferred embodiment, the method for obtaining the initial equivalent outer diameter parameter of the high-voltage busbar to be wrapped and setting the target pitch value comprises the steps of obtaining the geometric dimension parameter of a section of the busbar and calculating the corresponding equivalent cylindrical outer diameter based on the geometric dimension, obtaining the initial insulation layer thickness and the material characteristic parameter of the busbar and correcting the equivalent cylindrical outer diameter, mapping a non-circular section into an equivalent cylinder based on the section shape coefficient of the busbar to form the initial equivalent outer diameter parameter for wrappi