无人机在负载突发扰动中的控制技术研究  

Research on UAV Control Technology in Sudden Load Disturbance

作　　者：侯力枫[1] 宋新利[1] 季宁[1] 鲁杰[1] 席海阔 范士清 柴振华[1] 刘明辉[1] 李壮 HOU Lifeng;SONG Xinli;JI Ning;LU Jie;XI Haikuo;FAN Shiqing;CHAI Zhenhua;LIU Minghui;LI Zhuang(Chengde Power Supply Company,State Grid Northern Hebie Electric Power Co.,Ltd.,Chengde Hebei 067000,China)

机构地区：[1]国网冀北电力有限公司承德供电公司,河北承德067000

出　　处：《湖北电力》2021年第6期88-91,共4页Hubei Electric Power

基　　金：国家电网有限公司科技项目资助(项目编号:5201062000RH)。

摘　　要：立足于实际巡检需求出发,考虑无人机和巡线机器人巡检应用场景,结合巡线机器人物理、机械、电气特性,研究适于搭载的多旋翼无人机平台,并结合巡线机器人的放置和回收特征,充分考虑无人机放置与回收巡线机器人时,引起的无人机负载突发扰动,采用自抗扰控制理论(Active Disturbance Rejection Control-ADRC)对飞控系统进行设计,促进巡线机器人巡检技术的应用实践。Based on the actual inspection requirements,this paper considers the application scenarios of drones and line inspection robots,combines the physical,mechanical,and electrical characteristics of the line inspection robots,and also studies the multi-rotor UAV platform suitable for carrying. And then,combined with the placement and recovery characteristics of the patrol robot,the paper fully considers the sudden disturbance of UAV load caused by placing and retrieving the line patrol robot,and uses the Active Disturbance Rejection Control Theory(ADRC)to design the flight control system to promote the application of inspection technology of line patrol robot.

关 键 词：无人机 巡线机器人 负载突发扰动 自抗扰控制理论 

分 类 号：TM63[电气工程—电力系统及自动化]