广东电力2017，Vol.30Issue(3)：94-99,6.DOI:10.3969/j.issn.1007-290X.2017.03.018
输电线路走廊自主巡检无人机控制逻辑设计
Design on Control Logic for Self-inspection Unmanned Aerial Vehicle in Power Transmission Line Corridor
摘要
Abstract
In order to study application of unmanned aerial vehicle (UAV) in inspection for power transmission line corridor, this paper presents a kind of control logic based on global positioning system (GPS)for self-inspection UAV for power transmission line corridor according to inspection requirements and taking small fixed wing UAV for a research object.It firstly combines inspection environment of power transmission line corridor and establishes a nonlinear six-freedom-degree model for UAV so as to study the control rate.Then it uses Stateflow module to simulate control logic in inspection stage, return reinspection stage so as to realize transformation between multiplex modes of the UAV in inspection process.Simulation results indicate that the UAV can follow instructions given by inspection supervisors and finish appointed inspection tasks, which verifies reasonability and validity of UAV control logic.关键词
无人机/自主巡检/输电线路走廊/控制逻辑设计/6自由度建模Key words
unmanned aerial vehicle/self-inspection/power transmission line corridor/control logic design/six freedom-degree modeling分类
信息技术与安全科学引用本文复制引用
薛阳,张晓宇,杨天宇,陈明超,张茂胜..输电线路走廊自主巡检无人机控制逻辑设计[J].广东电力,2017,30(3):94-99,6.基金项目
国家自然科学基金资助项目(51405286) （51405286）
上海市自然科学基金资助项目(13ZR1417800) （13ZR1417800）
上海市科委重点科技攻关计划项目(14110500700) （14110500700）
上海市电站自动化技术重点实验室(13DZ2273800). （13DZ2273800）
