The Control Technology Of The Four-rotor Aerial Vehicle In The Transmission Line Inspection

Using UAVs to perform transmission line inspection is a start-up of new technologies, which is an integration of knowledge and technology in various fields.Compared to manual inspection method, it can improve the efficiency of line inspection, reducing the maintenance costs of electrical equipment. The paper focuses on four-rotor aircraft flight control technology analysis and research, and preliminarily realized the application of transmission line inspection using aircraft.Firstly, this paper analyzes the four-rotor aircraft flight principle, and through the analysis of dynamic characteristics of the four rotor aircraft, the paper establishes a mathematical model of aircraft and deduces a simplified dynamic model.According to the mathematical model of the aircraft, the paper selects PID and fuzzy auto disturbance rejection control(ADRC) algorithm to realize the spacecraft attitude control. Then the two control algorithms are simulated by MATLAB. The simulation results show that, under a given attitude control, fuzzy ADRC algorithm is faster, more accurate, and has stronger ability to resist interference than the PID control algorithm.The paper designs Unscented Kalman Filter to filter the GPS measurement data,which updates the four-rotor position signal optimization. Through the simulation experiments, the results show that after UKF filter the data track effect is more obvious, which achieves the estimate of patrol aircraft navigation required state variables.Finally the paper analyzes the system structure of the four rotor aircraft, selects the hardware platform to build four-rotor aircraft, uses software platform programming to make aircraft attitude control and navigation control, realizes the four rotor aircraft control by mobile terminal station, finally completes specific projects shooting in the inspection process.