Realization Of A Quadrotor System For Contact Line Inspection

Based on the background of contact line inspection, A quadrotor used to inspect a small area of contact line quickly and automatically. With advantages of low price, highly automation, multipurpose, convenient maintain and convenient carrying. using quadrotor to inspect contact line will reduce costs and improve the efficiency and flexibility of inspection.Thesis focus on design and realization of quadrotor system, which allows to inspect contact line automatically and free flight without manipulators. First of all, thesis analyzes the performance requirements of contact line inspection. Secondly, based on the quadrotor control board, a intergrated platform with Inertial measurement unit_IMU, altitude sensor, GPS, digital wireless transmission units and wireless image transmission units is completed. Using complementary filter algorithm for attitude, inertial navigation coordinates is established to get stable attitude angle ensure the quadrotor flight smoothly. Based on inertial navigation coordinates, navigation coordinates is established with given external reference signal, guiding quadrotor to complete the mission of contact line inspection. In order to promote performance of the quadrotor system for contact line inspection, electronic speed controller_ESC is designed for the brushless direct current motor_BLDCM, and based on attitude feedback, a brushless gimbal controller is designed to avoid unevenness in quality of quadrotor.System module testing experiments and simulation on contact line inspection experiment are conducted, and the results show that the system for four rotor unmanned spacecraft platform can effectively eliminate the effects of the spacecraft attitude change, automaticly cruise in accordance with the established route, and meet the performance requirements of contact line inspection.