Research On Attitude Control Algorithm Of Patrol Line Self-Rotating Rotor UAV

In recent years,China's ultra-high pressure and high pressure in the field of continuous technological breakthroughs,making ultra-high voltage and UHV transmission has become a modern mainstream transmission.UHV line of economic transmission distance can reach thousands of kilometers,this long-distance transmission mode makes the transmission line to go through extremely complex geographical environment,which makes the traditional manual inspection line has not adapted to the development of modern power grid.With the unmanned aerial vehicle technology matures,the inspection line equipment installed on the unmanned aerial vehicle,the using of unmanned aerial vehicle for transmission line inspection can greatly improve work efficiency,you can gradually replace the artificial inspection line to become a modern mainstream inspection line.In this paper,from the aspects of engineering applications,the attitude control algorithm of the power line inspection self-rotating rotor unmanned aerial vehicle.The design of the whole scheme,the design of the flight control system,the design of the hardware and the design of the flight attitude and the design of the flight attitude are carried out by using the single rotary rotor unmanned aerial vehicle as the research and development platform.Secondly,this paper analyzes the spin characteristics of the self-rotating rotor unmanned aerial vehicle,analyzes the flight characteristics of the vertical flight and the forward flight,and then establishes the mathematical model of each channel according to the result of the mechanical analysis.According to the design,based on the traditional PID control strategy,the longitudinal control channel,the transverse direction control channel and the speed control channel of the self-rotating rotor unmanned aerial vehicle are designed.The simulation of each channel through simulink software,according to the simulation results to determine whether the design of the channel to meet the requirements.Finally,under the condition of reasonable simulation,the flight test data of the unmanned aerial vehicle are verified by the ground station.The flight attitude control law of the self-rotating rotor unmanned aerial vehicle is designed to meet the design requirements and ensure its flight inspection flight stability.