The Research And Implementation On Control System Of The Flight-sliding Type Transmission Line Inspection Robot

Power lines,towers and its attachmengts are prolonged exposure to the wild,the inspection and maintenance of transmission lines is a reliable guarantee for thesafe operation of the power system. Research and application of inspection robotcan effectively protect the quality of the transmission line inspection work,whichhas a great significance to improve the level of the management of safe productionfor power enterpriseand and create higher economic. A Flight-Sliding typeinspection robot is researched in this paper, which combines the advantages ofQuadrotor and inspection robot.First, The basic model of Flight-Sliding type inspection robot is designed byusing basic structure of quadrotor and the design of trolley rods and sliding powerdevices.This paper analysis the basic principles about actions (eg.flying back andforth,yaw and rise)of the flight unit in detail. This paper describes inspectionprocess of the Flight-Sliding type inspection robot:the robot fly to nearby powerlines, hanging on power line and then the motor of the inspection equipments isstated, which drive the robot inspecting the line. When there are obstacles, flyingunits is restart for flying around obstacles and the flying back to the line forcontinue online action.Second, according the characteristics of flight demand that the ofFlight-Sliding type inspection robot is flexibility close to the power line, the paperstudied the flight control algorithms. The effects of proportional, integral andderivative part of the PID controller have been studied by matlab simulation. Thetraditional PID and fuzzy PID characteristics have been analysised and compared.The results show that the fuzzy PID can shorten the time of adjusting the system,suppress the overshoot effectively, achieve approaching the target flexibily, andimprove the dynamic performance of the system.Finally, the ARM family processors as the center of the control chip, combinedwith accelerometer, three-axis gyroscope, ultrasonic sensors and infrared sensors tobuild a hardware circuit in the paper, and it designed the circuit in its hardware. Foraction requirements of Flight-Sliding type inspection robot and hardware circuits,the relevant software programming is designed in the paper. The model of robot is completely built, and the rationality of the system is verified under laboratoryconditions.