Research On Taxiing Control Technologies Of Unmanned Gyroplane For Power Patrol Line

In recent years,with the continuous development of the national economy,the State Grid is also making progress.In order to make people more convenient to use electricity,the number of transmission lines is increasing day by day.At the same time,considering the problem of excessive power loss on transmission lines,China mainly adopts two transmission modes,namely,ultra-high voltage and UHV.The transmission distance between these two modes is relatively long,so the geographic environment may be more complex,which makes the inspection of transmission lines more difficult and workload.In order to ensure the personal safety and improve the efficiency of transmission line patrol in complex areas,the use of UAV instead of manual patrol will become a mainstream mode of transmission line patrol.At the same time,taxiing control technology is very important for UAV to conduct normal patrol operations.Reasonable taxiing control technology can shorten the run-up distance of UAV and correct the sideslip distance in the process of taxiing.In this paper,from the point of view of engineering application,using ZX100 unmanned gyroplaner as the experimental platform,the taxiing control technology of unmanned gyroplaner used for power transmission line inspection is studied.Before the research,the related software and hardware design of ZX100 unmanned gyroplaner is made.Secondly,the characteristics of the unmanned gyroplaner's rotation are analyzed,and the mathematical model of the taxiing control is established according to the force of the unmanned gyroplaner in the taxiing process.At the same time,a control strategy based on BP neural network is proposed to correct the lateral deviation.In the aspect of longitudinal control,the relationship between forward speed,pitch angle and lift of the rotor is analyzed.On this basis,the longitudinal control law is designed and verified by MATLAB simulation.Finally,under the condition that the simulation results meet the requirement of correcting deviation,the unmanned gyroplaner is tested and debugged.According to the actual flight data transmitted by the unmanned gyroplaner to the ground station through the wireless transmission device,the correcting control strategy designed in this paper can realize the correcting control of the unmanned gyroplaner in the course of taxiing and prevent the deviation from the runway.