蓝益鹏,薛伟霖.高压巡线四旋翼机器人反步自适应控制的研究[J].电测与仪表,2016,53(16):. LAN Yi-peng,XUE Wei-lin.Adaptive Backstepping Controller for Quadrotor Robot Of High-voltage Trasmission Line Inspection[J].Electrical Measurement & Instrumentation,2016,53(16):.
高压巡线四旋翼机器人反步自适应控制的研究
Adaptive Backstepping Controller for Quadrotor Robot Of High-voltage Trasmission Line Inspection
To ensure the safe and stable operation of high voltage transmission line,designed a Quadrotor robot based on adaptive backstepping control method. The robot can realize autonomous flight inspection by the coordinate in-formations of poles and towers and can take aerial photographies for high voltage transmission line or gather the de-fects and potential safety problems. The Quadrotor can provide information supports for maintening the safe opera-tion. Firstly, build a six-degree-of-freedom mathematical mode by rigid body dynamic equation and newton euler equations for the Quadrotor. Secondly,build a rotor dynamics equation based on the Theorems of Angular Momen-tum and the voltage-equilibrium equation in the armature loop. Thirdly, combine the backstepping control with the self-adaptive control derive the adaptive backstepping controller which can control the Quadrotor’s posture and posi-tion. Finally, establishe a Matlab simulation experiment for the Quadrotor which can realize independent inspection for the high voltage transmission line. The finding indicate that the Quadrotor which is based on the backstepping adaptive can satisfied the requirements of the independent inspection of high voltage transmission lines system.
