飞行巡线机器人悬停控制系统仿真与设计

Simulation and Design of the Hovering Control System of Flying Live-line Inspection Robot based on State Space and Pole Assignment Method

针对通讯线路和电力传输线快速发展的趋势,提出使用旋翼直升机作为飞行式巡线机器人的设想。在刚体、非完整假设和飞行原理基础上,建立了巡线机器人以翻滚、俯仰和偏航角为广义坐标的动力学方程。采用线性化方法得到以三个姿态量为输出,以俯仰、翻滚通道输入量、旋翼升力和尾桨配平力为控制输入的悬停状态空间和控制方程。同时,使用极点配置法得到所需的控制输入,并设计了以TMS320F2812DSP为主控芯片的控制系统。Matlab仿真和实验证实了本方法的可行性和易实现性。

From the viewpoint of the fast development of communication lines and electric power lines, the idea of using the rotary-wing UAV as the flying live-line inspection robot was presented. The dynamic equation using the pitch angle, the rolling angle and the heading angle as the generalized coordinates was deduced on the basis of the rigid-body, the nonholonomic constraints assumptions and the motion principle of the UAV robot. With the linearization method, the hovering space state and corresponding control equation was also obtained with three posture parameters as output, together with the inputs of the pitch and the rolling channels, the hovering force and the tail-wing equilibrium force as the control inputs. At the same time, the control inputs were calculated out by means of the pole assignment method and the TMS320F2812 DSP control system was also designed. The feasibility and reasonability was approved by MATLAB simulation and related 3D test-bed experiments. At last, some conclusions were drawn.