电力系统中的输电线路具有分布广和跨越大等特点，确保其安全和稳定运行尤为重要。现有的输电线路断股修复任务通过人工或爬线机器人完成，存在作业风险高，机器人上线难度大等问题。针对此文章提出一种可以通过飞行挂线完成输电线路断股修复任务的飞行机器人，设计自适应模糊自抗扰（Adaptive Fuzzy Active Disturbance Rejection Control, AFADRC）控制器，确保机器人能够实现自动飞行上/下线。仿真结果表明，该机器人在提高输电线路断股修复效率和降低人工成本方面表现出色，同时也提高了作业的安全性。
英文摘要:
The power transmission lines in the electrical power system are characterized by their widespread distribution and extensive spanning, making their safe and stable operation of paramount importance. The existing powerline break repair tasks are completed through manual labor or by climbing robots, presenting significant operational risks and difficulties in robot deployment. To address these issues, this paper proposes a flying robot capable of performing powerline break repairs through aerial line attachment. An Adaptive Fuzzy Active Disturbance Rejection Control (AFADRC) system is designed to ensure the robot''s capability of automatic flight for engagement and disengagement. Simulation results indicate that this robot excels in enhancing the efficiency of powerline break repairs and reducing manual labor costs, while also improving the safety of the operation.
