| With the rapid development of solar photovoltaic power generation,the whole power generation efficiency is often affected by various faults in large-scale photovoltaic power generation.The most common problem is the phenomenon of hot spot.In the photovoltaic inspection system,the whole PV array is inspected regularly.In the photovoltaic inspection system,the four-axis aircraft control system appears to be particularly critical,so the work of this dissertation can be summarized in the following aspects.(1)According to the basic structure of the four-axis vehicle,the relationship between the basic motion and the force of the four-axis vehicle is analyzed,and the geographical coordinate system and the airframe coordinate system are established,then the mathematical model of the four-axis aircraft is obtained by Euler equation and Newton's second law.(2)The method of quaternion attitude fusion based on Mahony filter is introduced,and the validity of the method is verified by the attitude calculation experiment,and a four-axis aircraft controller based on differential antecedent and incomplete differential is designed to enhance its stability and immunity.The simulation model of simulink four-axis vehicle motion is built in matlab environment,and the effectiveness of the four-axis vehicle controller for motion control is verified.(3)The hardware platform of the four-axis vehicle system is built,and the software design of the control system is completed under the platform,mainly including the realization of the attitude calculation and control algorithm.Finally,the self-stability,follow expectations and immunity ability of the four-axis vehicle is verified by flight experiments.(4)The working process of the photovoltaic inspection system is briefly described,and the principle and software implementation of the ground station image processing algorithm are described.Finally,the effectiveness of image mosaic algorithm is verified by the mosaic experiment of photovoltaic infrared images. |
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