小型无人直升机电力巡检仿真环境设计与实现

Design and Implementation of Inspection Simulation Environment for Small Unmanned Helicopter Power Patrol

无人机巡检具有安全、经济、高效等优势,利用无人机巡检代替人工巡检已经成为电力巡检的一大趋势。但采用实物进行研究成本过高。论文针对这个问题,探索研究无人直升机电力巡检仿真平台:通过无人直升机的运动学模型,设计其控制系统;搭建无人直升机机械结构模型和电力杆塔模型以及环境模型,以逼近真实情况。最后,在simulink仿真软件下实现无人直升机的电力巡检,并分析相关参数。为更低成本、高效率开发无人直升机电力巡检系统提供一定的技术支撑。

UAV inspection has the advantages of safety,economy,and high efficiency. Utilizing drone inspection instead of manual inspection has become a major trend in power inspection. However,the cost of research using physical objects is too high.This article aims at this issue,explores and studies simulation platform of power patrol for unmanned helicopter. Through the kinematics model of unmanned helicopter,design its control system;Set up unmanned helicopter mechanical structure model and power tower model and environmental model,in order to approach the real situation. Finally,the power patrol of the unmanned helicopter is realized under the simulink simulation software,and the related parameters are analyzed. It provides a certain amount of technical support for the development of unmanned helicopter power inspection systems at a lower cost and with higher efficiency.