Design And Realization Of The Control System For The Power Line Patrol Quadrotor Aircraft

Operating quadrotor aircraft to inspect power line has become a new method of power line patrol in recent years.Control system of quadrotor aircraft is the key to successful complete the task of power line patrol,and most of them based on remote control,can not be autonomous navigation and obstacle avoidance.Therefore,in this thesis,the research on the control system of the quadrotor aircraft is presented,and focus on data fusion algorithm and attitude control algorithm.To be first,this thesis introduces the overall design of control system.The system is mainly composed of three parts,the quadrotor aircraft,patrol control system and host computer.The system uses the remote host computer to send control command,patrol control system controls the quadrotor aircraft to automatically execute the control command of remote host computer.According to the received route point information,the system can autonomously navigate along the route point,avoid the obstacle during the flight,and continuously detect the surplus power,automatically return to home when the power is low.Secondly,focus on sensor data fusion algorithm,and the GPS/SINS combined data fusion which based on strapdown inertial navigation system data fusion algorithm and extended Kalman filter is performed,to obtain the attitude,position and velocity information of the aircraft.The actual test results show that the accurate of the algorithm is about 10,which is enough for attitude control and navigation.Thirdly,the thesis focuses on the attitude control algorithm,makes the PID control flow,and improves the typical single-stage PID controller,which is applied to the aircraft.Then tested by the fixed-point hover,the aircraft's three-axis direction of the position error are within ±0.2m.In addition,the neural network PID controller model and its learning algorithm are theoretical derived and simulated,when the appropriate network is trained,the response of the controller to the input change is very fast and the control effect is stable.Then,the autonomous navigation and autonomous obstacle avoidance flow which executed in the patrol line control system are established.By analyzing the control command of the host computer,the target attitude angle and the target height are calculated according to the target path point,and then send them to the flight control unit where the aircraft attitude control is completed.The system will real-time detect the existence of obstacles in the direction of heading,if there are obstacles,then avoid obstacles in accordance with the designed flow,and then continue to perform inspection tasks.The test results show that the flight process of the aircraft is consistent with the established autonomous navigation and autonomous obstacle avoidance flow.To be next,design the solutions of remote communication and remote control,the system uses GPRS to communicate with remote host computer,designs a control protocol of host computer.Patrol control system automatically analyzes the messages received by GPRS according to the protocol,and extracts the control command,through polling method to automatically execute these control commands and complete the automatic control function.Lastly,summarizes the whole text,lists the result of the research and its innovation,and indicates what the system can improve and expand.