Design And Implementation Of Intelligent Line Patrol Drone Control Syste

With the development of UAV technology,the use of UAV for power system inspection has gradually been popularized and applied.However,the existing power inspection UAV is not suitable for the inspection of distribution network lines around the city because of its large size.This paper aims to develop a micro-small line patrol UAV,with the goal of designing a highly integrated hardware control system to achieve fully autonomous intelligent inspection of distribution network lines.To sum up,the full text mainly completed the following work:(1)According to the characteristics of line patrol around urban areas,the overall scheme of the hardware circuit board of the UAV is designed by using the concept of integrated design.Under the premise of ensuring the realization of the function of the drone,the overall compactness of the electronic system is improved and the weight of the drone is reduced.(2)According to the overall design requirements of the UAV hardware system,the system analyzed the function and performance requirements of each main module and the selection of related components.The schematic diagram of the corresponding circuit and the design of the PCB circuit board are completed,and the designed circuit board is verified through the DRC(Design Rule Check)rule check.(3)In view of the position error that occurs in the process of UAV line patrol,this design directly converts the pixel error of the image processing module and radar data to the error of the actual distance,and makes the UAV as far above the ground line as possible through the correction strategy,so as to realize the intelligent line following function of the UAV.(4)According to the performance requirements of UAV for horizontal correction,the design of position controller and height controller is completed,and the sliding mode control algorithm based on the reference model is used to control the speed,which improves the stability and robustness of autonomous line patrol flight.(5)The overall field test of each component and system of the above design was carried out,and the problems found in electrical performance,communication function,basic flight and intelligent line patrol function were further improved and perfected,and the stability of the entire UAV control system was verified.Through the actual line patrol flight verification test,the intelligent line patrol UAV control system designed in this paper meets the performance index requirements of autonomous power line patrol,and realizes safe and stable fully autonomous power line patrol operation.