Design Of A High-voltage Line Foreign Body Cleaning System Based On A Quadcopter

According to the four axis aircraft has the characteristics of light weight,low power consumption,small volume,flexible maneuverability,propose the use of four axis aircraft of the goods on the idea.Four axis aircraft flight controller is the core component of the system.The core uses the modular design thought,design and development of a high performance STM32F405 based on single chip as the core of the flight controller.In order to facilitate the control,four axis aircraft structure with X.This paper analyzes the structure,work principle,software algorithm of four axis aircraft,and the whole system has been designed.Among them,accelerometer,gyroscope and magnetic field sensor data used to calculate the current attitude,uses the algorithm is the four element method,and the incremental PID control method,design of four axis aircraft in hover state attitude control and position control algorithm,adjust the speed of electric machine,so the aircraft were all kinds of action.Ultrasonic sensors are used to lower fixed high pressure sensor for high altitude,high,GPS is used for positioning and navigation.The system consists of power brushless DC motor as the core of the power drive system,and test a variety of motor and propeller with tension,and use with the most efficient,realizes the large load,long life time indicator.Flight controllers by pulse width modulation(PWM:Pulse Width Modulation)signal to control the electronic governor,electronic governor drive brushless motor.The whole system by computer terminal PC and aircraft,both to communicate through the wireless.The aircraft by remote control,and the front end of the vehicle is equipped with a camera,and the image of the camera can be transmitted to the ground station or the mobile phone.The process is controlled by a computer,in which the parameters are transmitted to the computer in time.The carrier platform is equipped with sensors,and the cleaning can be automatically returned after being cleaned by means of a foreign object clamping device or a fire spraying device.The experiment verified the function and reliability of hardware and software and the rationality of the design system.