电测与仪表2016，Vol.53Issue(16)：62-67,6.
高压巡线四旋翼机器人反步自适应控制的研究
Adaptive back-stepping controller for quadrotor robot of high-voltage transmission line inspection
蓝益鹏 1薛伟霖1
作者信息
- 1. 沈阳工业大学 电气学院，沈阳 110870
- 折叠
摘要
Abstract
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.关键词
高压巡线/四旋翼机器人/反步自适应控制Key words
high-voltage transmission line inspection/quadrotor robot/adaptive back-stepping分类
信息技术与安全科学引用本文复制引用
蓝益鹏,薛伟霖..高压巡线四旋翼机器人反步自适应控制的研究[J].电测与仪表,2016,53(16):62-67,6.
