| With the continuous prosperity of the country,the continuous progress of the power grid.UHV and UHV transmission in China are becoming the mainstream transmission mode.The transmission line of this voltage level is far away.It will pass through extremely complex geographical environment such as lakes,mountains and rivers.The challenges of safety operation,the difficulty and workload of line inspection are also increasing.With the development of UAV technology,we can make use of UAVs to conduct efficient and safe patrol work on transmission lines,avoiding the problems of safety and efficiency in manual line inspection.First of all,from the perspective of engineering application,under the condition of clear design objectives,the whole scheme of the navigation and control system of the electric powered patrol rotor UAV is designed.Taking the rotor rotor UAV as the research and development platform,the data acquisition part and navigation control part of the system are designed,and the relevant hardware selection and the design and fabrication of the circuit are completed.Secondly,in this paper,the aerodynamic characteristics of the rotor unmanned aerial vehicle(UAV)are analyzed,and the dynamic model of the UAV is derived.The genetic algorithm is applied to the route planning of the UAV transmission line inspection operation,and the most reasonable route of inspection is obtained.The MATLAB software is used to simulate and verify the path planning algorithm of UAV transmission line,analyze the simulation results and determine whether the path planning algorithm meets the design requirements of the system.Then the corresponding control algorithm is designed for the combination of GPS and inertial navigation,so as to meet the navigation precision requirements of unmanned aerial vehicle navigation control system.The corresponding PID control law is designed to control the pitching angle,roll angle,direction angle and speed of UAV,so as to reduce the error of unmanned aerial vehicle navigation.Finally,the simulation results meet the accuracy requirements of the situation of the UAV to test several debugging,according to the flight data of UAV back to the ground station and verified to meet the navigation control system designed in this paper the overall design requirements,to ensure navigation accuracy,can control the UAV according to a predetermined flight path is safe and stable in the tour destination. |
