电力巡检四旋翼无人机自主控制系统设计  

Design of Autonomous Control System of Four-Rotor UAV for Electric Power Inspection

作　　者：张新英 葛增增 王双岭 ZHANG Xin-ying;GE Zeng-zeng;WANG Shuang-ling(College of Smart Manufacturing,Zhengzhou University of Economics and Business,Zhengzhou 451191,China;Sinohydro Engineering Bureau 4 Co.,Ltd.,Xining 450000,China)

机构地区：[1]郑州经贸学院智慧制造学院,河南郑州451191 [2]中国水利水电第四工程局有限公司,青海西宁450000

出　　处：《机械工程与自动化》2021年第6期148-150,共3页Mechanical Engineering & Automation

基　　金：2018年度河南省骨干教师培养计划项目(2018GGJS213);郑州经贸学院2019年骨干教师项目(ggjs1902);郑州经贸学院科研项目(ky1922);2022年度河南省高等学校重点科研项目(22IRTSTHN013)。

摘　　要：针对电力网规模飞速扩大导致其结构愈加错综复杂,输电线路安全问题逐日增多,需要定期排查高压杆塔及其输电线路的故障,保障电网系统安全稳定运行的状况,提出了一种电力巡检四旋翼无人机自主控制系统,用以提升无人机巡检的效率,提高系统的稳定性。本系统的关键点在于自主飞行控制、定点悬停、自主避障以及路径规划。系统采用STM32F303CCT6芯片作为主控制器,采用GPS进行定点悬停,采用超声波测距实现无人机的自主避障。经过调试与验证,该系统能够实现四旋翼无人机的自主飞行控制,系统稳定可靠,具有一定的实用性。The rapid expansion of the scale of the power grid has made its structure more and more complicated,and the safety problems of transmission lines have increased day by day.It is necessary to regularly check the faults of high-voltage towers and their transmission lines to ensure the safe and stable operation of the power grid system.An autonomous control system for electric power inspection four-rotor UAV is proposed.The system is used to improve the efficiency of UAV inspection and improve the stability of the system.The key points of this system are autonomous flight control,fixed-point hovering,autonomous obstacle avoidance and path planning.The system uses the STM32F303CCT6 chip as the main controller,uses GPS for fixed-point hover,and uses ultrasonic ranging to achieve autonomous obstacle avoidance of UAV.After debugging and verification,the system can realize the autonomous flight control of the quad-rotor UAV,the system is stable and reliable,and has certain practicability.

关 键 词：四旋翼无人机 电力巡检 自主控制系统 

分 类 号：TP273[自动化与计算机技术—检测技术与自动化装置] V27[自动化与计算机技术—控制科学与工程]