Research And Design On The Control System Of Wind Resistance Test Equipment For Powerline-tracking Rotor-wing UAV

With the further development of flight control technology and wireless image transmission technology,the rotor-wing UAV is growing rapidly.It has been widely used in the power transmission line operation and maintenance because of its small size,easy to carry and flexible operation.But in the practical application,the UAV rotorcraft inspection was difficult to complete the task or even has an accident owing to the lack of wind resistance ability.The wind resistance test equipment was designed to test the anti wind capacity of the UAV before it is put into practical application.In the beginning,this paper outlines the design proposal of the wind resistence test equipment,which includes the following contents: the design index of simulating natural wind,the site selection?the layout of the centrifugal fan system and its duct?the control device which can move duct outlet in different directions.Next,this paper focuses on the research of the control system of the wind resistance test equipment,the main contents are as follows:Accomplish the basic task: fan selecting.According to the design index,choose the proper fan type and then determine the specific indexs of air power?outlet area?wind speed and wind pressure.Next,through the CFD simulation method for system simulation to verify the selection rationality of wind turbine equipment.Finally,set up the simple test environment to prove that the equipment can simulate the qualified wind field according the measurement data.Design the wind speed control algorithm.Analyzes the natural wind types and their requirements for response of wind resistance equipment system.In view of the pure delayed behavior of the controlled object,to solove the limitations of the classical control algorithms which include the Smith predictive compensation control and the Dahlin algorithm,analyse the principle of fuzzy PID algorithm.Combined with the simulation results,the wind speed control algorithm for wind resistant test field is determined.Finally,the controller design of wind resistant test field is completed.Selects STM32F103VET6 based on Cortex-M3 kernel as the main control chip.Design the hardware modules which include the wind speed signal acquisition circuit,control command output circuit,TFT-LCD circuit with touch screen,etc.Coordinate the wind speed acquisition task,control algorithm task,control output task and human-computer interaction task and other software modules in an orderly operation by the embedded operating system uC/OS-II.Through the system testing and the analysis of control effect of wind speed,the control system of the the wind resistance test equipment achieves the design goals.The controller is flexible,reliable and with friendly human-computer interface.