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

为了研究无人机在输电线路走廊巡检的应用,以小型固定翼无人机为研究对象,根据巡检任务要求,提出了一种基于全球定位系统(global positioning system,GPS)导航的输电线路走廊自主巡检无人机控制逻辑。首先结合输电线路走廊巡检环境,搭建无人机的6自由度非线性模型,并对其控制律进行研究;然后使用Stateflow模块仿真模拟巡检阶段和返航复检阶段的控制逻辑,实现巡检过程中无人机多模态之间的转换。仿真结果显示,无人机能够跟随巡检管理器给出的指令并完成指定的巡检任务,验证了无人机控制逻辑的合理性和有效性。

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 trans- mission 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 re- sults 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.