Design And Implementation Of Power Survey Rotor Uav System In Plateau Environment

China is a country that consumes large amounts of electricity.In the big pattern of “West Power Transmission to the East”,the core power lines are distributed in the southwest highlands region.In order to protect the people's normal life,the inspection personnel need to regularly maintain and inspect the power lines.The traditional way of inspection is conducted manually through telescopes,climbing poles,and other methods.This traditional inspection method is inefficient.What's more,the harsh environment of the plateau area will bring many difficulties to the inspection personnel.The cold plateau climate,thin air,and low oxygen content make it very easy for the inspectors to develop altitude sickness.In this environment,the task of high oxygen consumption inspection is a very dangerous task.However,using drones instead of manual inspection can solve many of the difficulties mentioned above.Based on this,this paper launches the design and implementation of the multi rotor power inspection system under the plateau environment,and then puts forward a complete set of solutions.The whole system is divided into two main categories.They are the hardware platform design and the software platform design.The hardware platform is mainly divided into the power subsystem,the central control subsystem and the ground station command subsystem three blocks.The power system uses the TI TMS320F280 x electric tuning solution and the U8-170 KV motor of T-MOTOR company.At the same time,a set of motor testing platform is designed to test the performance of the motor item by item.The central control system mainly uses the SAMV71 of ATMEL company as the main control chip and the MTi-G-710-GNSS of Xsens Technologies company as the posture sensor.The ground station command system is a box mounted PC external data receiving antenna and data processing module.It is used to communicate with UAV and display the flight information of UAV on the screen in real time.The software platform is divided into two parts: driving software and flight control software.To shield the underlying rich complex hardware devices and then provide a unified interface for the upper layer,driver software uses a hierarchical architecture,which not only reduces the cost of software maintenance but also improves the flexibility of the drive software.The flight control software mainly uses the most widely used PID control strategy in the automatic control field to control the UAV attitude for ensuring the stable flight of the UAV.In order to test the flight control software easyly and reduce the drone bombing risk,this paper also designs one system of hardware in loop simulation.It can show the performance of flight control software in the greatest extent and avoid the danger of bombing completely.So that,this system lays the foundation for the success of the final combination test.Finally,after completing all the modules of the system,the whole system is tested from the local to the whole,from simulation to reality and the result of test proves this design meets the basic needs of Power Patrol in plateau environment.