Research And Design On Control System Of Electric Power Inspection Quadrotor UAV

As the pillar industry of China’s social and economic development,the power grid system requires periodic troubleshooting of high-voltage towers and transmission lines to ensure its safe and stable operation.Traditional troubleshooting is mainly performed by power workers by climbing pole towers or observing with telescopes at the scene.This method is not only inefficient,but also poses a threat to the personal safety of power workers.Therefore,compared with the traditional method,using Four rotor UAV for inspection can meet the dual requirements of safety and efficiency,and its vertical take-off and landing and hovering characteristics are very suitable for power inspection scenarios.The research purpose of this article is to design a set of four-rotor drone control system used in power inspection scenes,so as to improve the efficiency and system stability of the UAV inspection.In order to grasp the industry background and significance of the power inspection,first of all,it expounds its outstanding problems,and then introduces the respective characteristics of the three types of UAVs,and proposes the use of Quadrotor UAVs as inspection solutions.In order to actually verify the flight control system designed in this paper,a hardware platform for electric power inspection Quadrotor UAV is built,including power system,flight control system and ground station command system,and each subsystem is introduced and analyzed.After introducing the four kinds of motion physical processes of the Quadrotor drone in detail,based on the mutual relationship between the body coordinate system and the ground coordinate system,the quadrotor is controlled by the Newton-Euler equation and the Euler-Lagrange equation.Human-machine translation and rotation models are described,and dynamic models are established for them.Based on the mathematical model,the inner loop attitude controller based on the auto-disturbance immunity algorithm and the outer loop position controller based on the genetic algorithm to optimize the fuzzy PID algorithm are designed.The simulation results show that the designed flight control system can meet the application of power inspection environment and achieve good control results.The application of the auto-disturbance immunity algorithm effectively takes real-time estimation compensation for the internal and external disturbances of the control system,which enhances the system’s performance.Adaptive and robust.In order to enable the Quadrotor UAV to achieve autonomous flight control in the application of power inspection,seven flight modes and flight safety strategy systems are designed in this paper,and the designed flight control system is transplanted to the hardware platform.The research and design are carried out from the aspects of autonomous take-off,autonomous patrol flight and autonomous return to landing,etc.,to realize the autonomous flight control of the Quadrotor drone.The analysis of relevant data and specific conditions during actual flight proves that the system meets the requirements of reliability and stability and can be applied to power inspections.