广东电力2017，Vol.30Issue(3)：100-105,121,7.DOI:10.3969/j.issn.1007-290X.2017.03.019
无人直升机巡线多传感器吊舱稳定平台设计
Design on Multi-sensor Pod Stabilized Platform for Unmanned Helicopter-based Power Line Inspection
摘要
Abstract
In allusion to the characteristic of multi-task and multi-objective composite remote sensing inspection in unmanned helicopter-based electric power line inspection and in order to solve the contradiction between requirement for multi-sensor carrying and weight and size of the pod, a kind of large-load, two-axle double-frame stabilized platform structure for multi-sensor pod was designed, and a high-precision control method based on large inertia and fast response was proposed.According to characteristic of low speed flight of the unmanned helicopter in power line inspection, an optimal strategy of unbalanced torque and feedforward compensation focusing on pod eccentric distance was adopted.Laboratory and flight tests both verified control effects of this stabilized platform which could meet requirements for inspection data quality in electric power line inspection by the unmanned aerial vehicle.关键词
无人直升机/电力巡线/吊舱稳定平台/结构设计/控制方法Key words
unmanned helicopter/electric power line inspection/pod stabilized platform/structure design/control method分类
信息技术与安全科学引用本文复制引用
王柯,彭向阳,周向阳,张宏燕,麦晓明,郑晓光..无人直升机巡线多传感器吊舱稳定平台设计[J].广东电力,2017,30(3):100-105,121,7.基金项目
中国南方电网有限责任公司科研项目(GD-KJXM20150903) （GD-KJXM20150903）
