Design Of Carry Chainsaw Quadrotor UAV System For Tree Obstacle Treatment Based On Power Inspection

With the continuous progress of science and technology,UAV flight control technology is becoming more and more mature,and UAVs have been widely used in the field of electric power inspection.So far,the results of the application of UAVs in electric power systems are mostly focused on the use of UAVs to inspect transmission lines and find line faults,etc.,while relatively little research has been conducted to solve line tree barriers,for which this paper addresses the problem of transmission line tree barrier clearance and designs a Carry Chainsaw Quadrotor UAV(abbreviated as CCQUAV)for power inspection and tree barrier cutting.This paper focuses on two aspects of the system structure and flight control technology of the saw-carrying quadrotor UAV.On the basis of summarizing various clearing techniques,following the cutting operation principle and the UAV inspection operation process,the following work is specifically accomplished:(1)Based on the UAV electric power inspection technology,for the overhead transmission line tree barrier problem,this paper designs a quadrotor UAV system carrying a chainsaw,which consists of two major parts: quadrotor UAV flight platform and chainsaw cutting system;by comparing the flight characteristics of UAVs,the quadrotor UAV suitable for tree barrier cleaning operation is selected as the flight platform,and to meet the demand for tree barrier cleaning,a chainsaw system consisting of circular saw,guide plate In order to meet the demand of tree clearing,the chainsaw system consisting of circular saw,guide plate,motor,battery,rigid connecting rod and counterweight block was designed.(2)The dynamics model of the saw-carrying quadrotor UAV system is established.Based on the dynamics model of the quadrotor UAV,the saw-carrying system was added,and the dynamics model of the saw-carrying quadrotor UAV was established by using the Lagrangian method,which has a complex nonlinear system,and the preliminary analysis of the flight stability disturbance caused by the cutting operation of the chainsaw was carried out.(3)The flight control method of the saw-carrying quadrotor UAV system is studied.Based on the parameter regulation rule of the traditional PID control technology,the position controller and attitude controller of the traditional PID are designed for the saw-carrying quadrotor UAV system,and the stability control simulation of the saw-carrying quadrotor UAV is realized in the Simulink model.At the same time,based on the fuzzy control rules,the fuzzy PID control system of the saw-carrying quadrotor UAV is designed,which solves the shortcomings of traditional PID parameters,such as fixed,and can meet the task requirements of small overshoot and fast steady-state time of the control system.According to the position tracking and attitude tracking simulation experiments of saw carrying quadrotor UAV in Matlab/Simulink,the results of traditional PID control and fuzzy PID control are compared,and the control effect of saw carrying quadrotor UAV under fuzzy PID control is more ideal.At the same time,Matlab is used to clean the tree barrier of the sawing quadrotor UAV.In summary,this paper combines the characteristics of the quadrotor UAV in power inspection,adds a saw-carrying mechanical system to the quadrotor UAV platform,and verifies the feasibility and superiority of the fuzzy PID control system of the saw-carrying quadrotor UAV through the analysis of the dynamics of the saw-carrying quadrotor UAV,the establishment of mathematical models,and the simulation of the flight control system.