Research On Inspection And Obstacle Avoidance Strategy Of Multi Rotor UAV Based On Transmission Line

With the development of science and technology,more and more researchers pay attention to the obstacle avoidance technology of UAV.Electric energy is an indispensable power resource in people’s daily life.However,with the increasing demand for electric energy,the stability of power system becomes more and more important.The routine inspection of transmission lines is one of the important tasks to ensure the stable operation of power system.Currently,the inspection of transmission lines mainly depends on manual inspection.In the actual inspection work of transmission lines,due to There are many disadvantages in manual inspection,such as more potential safety hazards,low inspection accuracy,too high labor cost and low inspection efficiency.However,UAV has the advantages that can not be replaced by manual inspection when used in transmission line inspection.Therefore,UAV is used in transmission line inspection more and more attention by researchers.It can be expected that UAV will gradually replace manual inspection in the future Line inspection has become a trend.Therefore,this paper will focus on the research of UAV in the inspection and obstacle avoidance technology of transmission line.The main research contents of this paper are as follows:(1)Analyze the current research progress and achievements of UAV inspection at home and abroad.Collect the current status of multi-rotor UAV inspections at home and abroad,analyze the current problems and propose solutions.Introduce the main research content and structural arrangement of this paper.(2)Establish a mathematical model of multi-rotor UAV and complete its attitude control design.The multi-rotor UAV is driven by the rotation of the electrode to generate lift to achieve ascent,and the six attitudes of the multi-rotor UAV are controlled by controlling the rotation speed of multi rotors.After analyzing the drone,the mathematical model is established,and the attitude is linearly designed.(3)The design and implementation of obstacle avoidance control system for multi rotor UAV are completed.The control circuit of the obstacle avoidance system of the multi rotor UAV is designed,and the hardware of the obstacle avoidance system is analyzed and selected.In addition,a set of flight control platform of four rotor UAV is constructed,which is used to test the obstacle avoidance ability of the following UAV obstacle avoidance system.STM32F103 is selected as the control chip of UAV obstacle avoidance system.Because STM32 Series SCM uses library function programming and arm 32-bit Cortex-M3 core,the signal processing calculation and processing speed is fast.At the same time,the selection analysis of UAV flight control system is completed.Finally,by comparing different types of distance sensors,the 360 degree laser scanner is selected as the environment detection equipment of UAV,and the laser scanner is selected as the ranging sensor,which has the advantages of high detection efficiency and high accuracy.Finally,the analysis of communication protocol is studied.(4)The algorithm design and Simulation of obstacle avoidance control system for multi rotor UAV are completed.Taking the multi rotor UAV as the whole research object,this paper studies the force situation in the flight process,and then analyzes the dynamic mathematical model of the UAV in three different motion directions in the flight process.At the same time,based on the built mechanical model of the UAV,the fuzzy control algorithm is introduced as the core algorithm of the UAV obstacle avoidance control system studied in this paper,so as to achieve the goal UAV obstacle avoidance system control has the ability of obstacle avoidance detection.Finally,the simulation modeling and test of the obstacle avoidance system based on fuzzy control are carried out by using Matlab software.(5)Test and analysis of obstacle avoidance control system of multi rotor UAV are completed.This part focuses on the test and analysis of the obstacle avoidance performance of the multi rotor UAV obstacle avoidance system designed in this paper.The outer wall,trees and leaves of the building are selected as the obstacle targets to complete the analysis and test of the obstacle avoidance detection accuracy of the obstacle avoidance control system.Finally,the transmission lines in the external real environment are selected to test,respectively,the tower,insulator and conductor in the transmission line are tested to avoid obstacles,and the test results are analyzed through the test data obtained.