架空送電線の動揺監視のためのセンサシステムの検討―姿勢運動推定カルマンフィルタの考案―

Abstract

In order to prevent the accident of transmission lines, it is effective to analyze the accident cause and to reflect it on maintenances of facilities. In this paper, a method for monitoring of the galloping motion of transmission lines is studied. First of all, survey of Kalman filter techniques which is applied for attitude determination of space satellite is conducted. Secondly, taking these techniques into account, a sensor system to observe the attitude motion of transmission lines which is equipped on phase-to-phase spacer and consists of two angular velocity sensors and a two-axes slant sensor is considered. Then, Euler angles to describe attitude motion between body-fixed coordinate system and inertia coordinate system are defined. Using these angles, an extended Kalman filter algorithm for the estimation of attitude motion is derived and described. In addition to this, several performance experiments are conducted, and it is confirmed that the Kalman filter algorithm can estimate exact attitude motion which cannot measure enough with each sensor. As the result, this system is suggested as the optimal sensor system to observe the attitude motion of transmission lines.