油浸式变压器微型机器鱼姿态定位

为有效检测大型变压器内部的故障位置和故障类型,利用微型机器鱼对变压器内部进行视觉观测,可较直观地检查变压器内部器件有无异常等。在微型机器鱼检测过程中,如何实现微型机器鱼位姿的准确定位是机器鱼任务完成的关键。针对金属封闭空间内变压器油中微型机器鱼位姿检测的问题,提出了基于声-电位姿定位和惯性导航相结合的联合位姿检测方法。通过分析超声信号在变压器内部及外壳上的传播特性提出了声-电联合定位装置安装方式;基于内嵌式的安装方式设计了声-电联合定位传感器,构建了变压器机器鱼姿态计算数学模型,并对变压器机器鱼姿态定位进行了仿真测试,测试结果表明:基于声-电位姿定位方法并结合构建的变压器机器鱼姿态计算模型,可以实现机器鱼在变压器内的同步定位。

The Location of Position and Posture of Micro-bionic Fish in Oil-immersed Transformer

In order to effectively identify the fault type and locate the fault position in the large transformer, the micro-bionic fish is used for visual observation to inspect the internal transformer faults. The location of position and posture of miniature bionic fish is the key task in the process of detection. Aiming at the detection problem of position and posture of micro-bionic fish in metal enclosed space filled with transformer oil, a joint posture detection method based on acoustic-electric posture location and interial navigation is proposed in this study. Based on the analysis of the propagation characteristics of ultrasonic signals in transformer internal and shell, the installation mode of acoustic-electric position location device is put forward. Based on the embedded installation mode, the acoustic-electric positioning sensor is designed, the mathematical mode of transformer bionic fish posture calculation is constructed, and the simulation test of transformer bionic fish posture positioning is carried out. The test result shows that the simultaneous positioning of micro-bionic fish in transformer internal can be realized based on the acoustic-electric posture location and the calculation model of micro-bionic fish posture.