The Key Technologies Of The Four-rotor Aerial Vehicle In The Transmission Line Inspection

This research based on a four-rotor aerial vehicle which can carry a low-value insulators resistance testing equipment and nearly fly to the transmission line.this new online detecting the low-value insulators can greatly reduce the labor intensity. The key technology of the four-rotor aerial vehicle for transmission line inspection and testing has been introduced in the study.First> This article introduced the four-rotor aerial vehicle components throughout the system,which included Flight control systems, flight dynamics systems, navigation and positioning systems, ultrasonic ranging system.Followed by analysis of four-rotor aerial vehicle attitude control method, it introduced data correction fusion method between angular rate sensor and acceleration sensor, and use the mathematical model of motor and rotor to modeling and policy analysis the height and angle control, the establishment of the attitude control model has a good controllability.When the four-rotor aerial vehicle can achieve a stable flight attitude, the integration of GPS navigation information was added to the aircraft attitude control loop,which used Kalman filtering techniques to optimize the GPS data,established the Kalman filter state equation and observation equation,.The simulation shows the filtered data has a good trace tracking ability.In order to avoid detection collision between the aerial vehicle and the transmission line,an ultrasonic obstacle avoidance fuzzy control method was proposed, which established a fuzzy rule, achieved a fuzzy algorithm, and converted the fuzzy control output to the motor speed control signal.Finally we presented a Self-inspection method which based on the topological structure of the inverter bridge of the Brushless DC Motor Controller. This method can identify the mosfet short circuit characteristic and open-circuit characteristic in the inverter. Thus, it can realize the function of orientated fault diagnosis.