| Power inspection is essential for the safe operation of the national electricity system,but the traditional manual power inspection can not achieve the requirements of security and efficiency, so power inspection desiderates a better way. Compared to manual power inspection, UAV power inspection mode is able to meet these requirements, and because of in situ takeoff-landing and hovering characteristics,the multi-rotor UAV had been used most widely. The purpose of this paper is to design a set of autonomous flight control system fo quad-rotor UAV,which will be used on power inspection,includeing the research of basic control algorithms implement and the upper autonomous flight strategies,to improve UAV electrical inspection Autonomy and efficiency.In order to have a comprehensive understanding of the background, it describes the meaning of power inspection and the problems encountered, then described the difference and advantages, disadvantages between three types of UAV. Detailedly explained the working principle of Attitude and Heading Reference System and ESCs, on this basis, divided into three parts: power systems, airborne flight control system and ground remote flight control system for the quad-rotor design of the hardware platform.Based on the inertial coordinate system and the body’s coordinate system of quadrotor and the relationship matrix between them, respectively established the mathematical model for quad-rotor by Lagrangian mechanics and Newtonian mechanics. On the basis of the Lagrangian type mathematical model by adding two virtual control amount manner decoupled model into the position and attitude subsystem subsystem in two parts, combined with the actual flight patterns in power inspection to make two necessary assumption, based on the two assumptions to simplify its posture subsystem purpose, to simplify the final gesture subsystems and subsystem design position corresponding PID control algorithm, which uses a dual-loop subsystem gesture string level control model to improve the dynamic performance of the control system.In order to achieve the purpose of autonomous flight control for Quadrotor,this paper research upper autonomous flight control systems from flight control strategy design, route planning, obstacle avoidance and autonomous hovering control, flight safety policies four areas expanded. Finally, autonomous control system designed in this paper mounted on a quad-rotor hardware platform, by analyzing actual data verified this autonomous flight control system has a certain degree of stability and reliability, it can be used for electrical inspection work. |
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