高压电缆隧道巡检无人机自适应循线控制研究

Research on adaptive tracking control of UAV for high voltage cable tunnel inspection

在高压电缆隧道中,容易出现信号薄弱的问题,导致无人机需要通过手控的方式完成电缆隧道的巡检工作,无法真正实现电缆隧道巡检的智能化。为此,借助自循线控制手段,增强无人机的自动化巡检功能。从循线试验结果来看,巡检偏航角、偏移距离均在可控的范围之内。证明所设计的无人机自适应循线控制是可行的,能够提高无人机巡检的智能化水平。

In the high-voltage cable tunnel, the problem of weak signal is easy to occur, leading to the fact that inspection work of the cable tunnel needs to be completed by the manual control of the UAV, and the intelligent inspection of the cable tunnel cannot really be realized. Based on this, self-loop control is adopted to enhance the automatic inspection function of UAV control. The line test result shows that the yaw Angle and offset distance of the patrol inspection are within the controllable range. In conclusion, it can be seen that the UAV adaptive tracking control designed in this paper is feasible and can improve the intelligent level of UAV patrol inspection.