摘要
为确保高压输电线路的安全稳定运行,设计了一款基于反步自适应控制方法的四旋翼机器人。该机器人可根据线路杆塔坐标信息实现自主飞行巡检,采集线路缺陷和隐患,对维护线路状态的安全运行等提供信息支持。首先,由刚体动力学和牛顿欧拉方程建立四旋翼机器人的六自由度数学模型。其次,根据动量定理和电枢回路中的电压平衡方程,建立转子的动力学方程。再次,将反步控制与自适应控制相结合,推导出反步自适应控制器,实现对四旋翼机器人姿态与位置的控制。最后,对四旋翼机器人高压输电线路的自主巡检过程进行模拟,并用MATLAB进行仿真实验。研究结果表明基于反步自适应控制的四旋翼机器人能满足高压输电线路自主巡检系统的要求。
In order to ensure the safe and stable operation of high voltage transmission line, a quadrotor robot based on adaptive back-stepping control method is designed. The robot not only realizes autonomous flight inspection by the coordinate information of poles and towers and but also takes aerial photography for high voltage transmission line or gathers the defects and potential safety problems. The information quadrotor provides supports for maintaining the safe operation. Firstly, a six degree of freedom mathematical mode is built by rigid body dynamic equation and Newton Eu- ler equations. Secondly, a rotor dynamics equation is built based on the theorems of angular momentum and the volt- age equilibrium equation in the armature loop. Thirdly, the adaptive back-stepping controller is deduced which can control the posture and position of quadrotor. Finally, a Matlab simulation experiment for the quadrotor is established which can realize independent inspection for the high voltage transmission line.
出处
《电测与仪表》
北大核心
2016年第16期62-67,共6页
Electrical Measurement & Instrumentation
关键词
高压巡线
四旋翼机器人
反步自适应控制
high-voltage transmission line inspection, quadrotor robot, adaptive back-stepping
