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

To expose in the wild long-term, transmission lines and tower components is easy to damage the material aging, contamination and other external factors, so the transmission lines inspection and maintenance are an important guarantee for the safe operation of the power system. Current conventional inspection methods is inefficient, security is not high, and therefore need to study a new inspection method. The paper combines the advantages of four-rotor aircraft and crawling robot, designed a flight-sliding type transmission line inspection robot witch can sitting on transmission lines to patrol it. It has autonomous flight and self-balancing glide on line two functions.Firstly, according to the requirements of patrol line, proposed design specifications of flight-sliding type transmission line inspection robot, and completed the basic mechanical structure design of flight-sliding type transmission line inspection robot. and with the suspension-type flight-sliding type transmission line inspection robot to do a detailed contrast; at the same time, according to the inverted pendulum principle, designed self-balancing control on line of flight-sliding type transmission line inspection robot, while did the detailed planning of its patrol inspection processes.Secondly, it introduces the inertial navigation system; details three attitude count algorithms based on the Euler angles, the direction cosine matrices and the Quaternion Field, comparative analysis of the advantages and disadvantages of the three attitude count algorithms; through stress analysis of flight-sliding type transmission line inspection robot, obtained the equation of rotary motion and The equation of displacement motion, and finally got the nonlinear model of the system and the transfer function as well as six degrees of freedom.Then, this paper analysis the advantages and disadvantages of the conventional PID control and fuzzy PID control, finally selected fuzzy PID control as the flight control algorithm. For on line self-balancing problem, use PID control with dead zone, through the experimental analysis, verify the feasibility of the scheme.Finally, the article gives the hardware circuit components selection and circuit design of flight-sliding type transmission line inspection robot, flight control main chip select ATMEGA2560 micro controller; at the same time, designed the software process, and completed attitude data of each program modules collection written in C ++, the test results show that the static and dynamic characteristics of control system meet the design requirements.