电力巡检飞行机器人抗风控制器设计

Wind resistant controller for flying robot of power line inspection

在巡检多风架空电力线路走廊环境下,为了克服气流对飞行机器人的干扰,增加飞行稳定性,应用滑模控制的方法设计了滑模变结构飞行控制器.基于抽象后的系统模型,将控制通道分为全驱动部分和欠驱动部分,选取线性滑模面和指数趋近律分别设计滑模飞行控制器.通过Matlab搭建系统仿真模型,验证了控制器的正确性和有效性,并且与传统PID控制方法相比较,结果表明:该控制器可实现飞行机器人的稳定飞行,并且可以有效抵抗干扰的影响,与传统控制器相比较具有更强的鲁棒性.

To improve flight stability of flying robot in inspecting power line,a sliding mode controller was designed.The control channel was divided into full-actuated part and under-actuated part based on optimized system model.Then the sliding mode controllers were designed by using linear sliding mode surface and exponent reaching law method.At the same time a simulation model was built by Matlab to verify the effectiveness of the controller and compare with PID controller.The simulation result shows that the sliding mode controller is able to robustly stabilize the flying robot in interference environments.