Design Of Quadrotor Flight Controller For Transmission Line Inspection Based On Fractional Order Controller

With the continuous expansion of the scale of China’s power grid,the inspection of transmission lines has ushered in greater challenges.In the face of many problems in inspection by men such as low efficiency,high risk,and poor cost-efficiency,inspection drones which is safer,more efficient,and faster line have begun to enter power line inspection,and gradually replace traditional manual inspection.The main purpose of the transmission line inspection is to improve the safety and stability of the line operation.This requires that the line inspection work must be completed with as little interference as possible on the line itself.The transmission line inspection work is usually processed in the wild field environment,this puts forward higher requirements for the flight control performance of the quadrotor drone.To solve this problem,this article combines the current research status at home and abroad,and carried out the following research work based on the results of previous achievements:First,through the discussion on the key technologies of the line inspection of quadrotor drone,the importance of the quadrotor drone flight control performance to the obstacle avoidance function and automatic distance inspection function.The flight control of quadrotor drone is studied in-depth,and the quadrotor drone attitude control model is established.Then,to solve the slow response speed and low sensitivity problem of the quadrotor drone under the integer-order controller,a solution is proposed: design a fractional order controller to replace the original integer-order controller.Then,design a fractional order controller for each of the four flight attitude(pitch,roll,altitude,yaw)control loops of quadrotor drones,and perform simulation verification in Matlab / Simulink.The comparative analysis of the step response characteristics of the controller verifies the advantages of the fractional-order controller over the traditional integer-order controller: faster response speed,lower overshoot,and better stability,which greatly improves the attitude control of the quadrotor drone system The better control performance is helpful for the quadrotor drone to cope with the complex working environment and achieve better line cruise in the line inspection work..