无人机巡检500 kV典型铁塔的抗干扰路径规划

Anti-interference Path Planning for UAV Inspection of 500 kV Typical Tower

在规划无人机巡检输电铁塔的飞行路径中,考虑无人机所受的电磁干扰对于保证无人机安全高效地完成巡检作业任务具有重要意义。由于不同形状铁塔的巡检目标位置、导线排布方式不一致,造成无人机的最优巡检路径和安全距离存在差异。为此,选择了4种500 kV典型输电铁塔作为研究对象,通过有限元仿真分析了不同形状铁塔对无人机的电磁干扰并确定了无人机巡检各典型铁塔的安全距离;结合巡检对象及常见缺陷出现的位置确定了无人机巡检4种铁塔的高空安全悬停点;通过混合遗传-模拟退火算法寻优得到了4种典型铁塔下无人机最优巡检路径。结果表明,无人机巡检500 kV酒杯塔、猫头塔、干字型耐张塔和双回鼓型塔的最优路径长度分别为190.4、202.6、213、313.7 m;前3种塔型的最小安全距离为1.5 m,最后一种塔型的最小安全距离为2 m。

In planning the flight path of UAV inspecting transmission tower,considering the electromagnetic interference of UAV is of great significance to ensure that UAV can complete the patrol task safely and efficiently.Due to the inconsistency of inspection target location and wire layout of towers with different shapes,the optimal inspection path and safety distance of UAV are different.Therefore,four typical 500 kV transmission towers are selected as the research object,the electromagnetic interference of different shape towers to UAV is analyzed through finite element simulation,and the safety distance of UAV inspecting each typical tower is determined.Combined with the patrol object and the location of common defects,the high-altitude safety hovering points of UAV inspecting four kinds of towers are determined.Four kinds of optimal inspection paths of UAV under the typical tower are obtained through hybrid genetic simulated annealing algorithm.The results show that the optimal path lengths for UAV inspection of 500 kV cup tower,cathead tower,JG type tension tower and double circuit drum tower are 190.4 m,202.6 m,213 m and 313.7 m respectively;the minimum safety distance of the first three tower types is 1.5 m,and the minimum safety distance of the last tower type is 2 m.