无人机电力巡线系统的设计与仿真

发布时间：2018-04-01 19:07

本文选题：无人机　切入点：电力巡检　出处：《广东工业大学》2017年硕士论文

【摘要】：输电线路部件自身的老化、劣化以及自然环境灾害、外部人为破坏等,均对电网的安全稳定运行提出了严峻的挑战。常规人工电力巡检手段存在低效、不安全、技术难度高等问题。随着无人机技术的发展,多旋翼无人机已经开始应用于电力巡检,但手工操作的无人机巡检的效率和质量依托于无人机操作员的技术水平,还容易出现误操作而出现事故。本文针对电力巡检的应用需求,以四旋翼无人机为载体,根据线路杆塔坐标信息,预设航迹点实现自主飞行,搭载影像采集设备进行航拍巡检,采集杆塔设备缺陷和隐患的影像数据,供巡检人员对电力设备进行故障分析。论文的主要内容如下:⑴开展了巡线系统方案设计,包括系统整体结构及各个功能子系统的实现方法,对主要硬件设备进行选型,搭建了系统的软件开发环境和硬件环境,设定了巡检作业的目标和巡检流程,分析了巡线中的各个技术难点。⑵设计了抗电磁干扰的无人机组合导航方法。为了达到无人机初步定位精度的要求,在差分GPS\INS组合导航的基础上,着重研究提高组合导航的抗电磁干扰能力,详细分析了GPS受高压输电线路电磁干扰的机理,在自适应卡尔曼滤波组合导航的基础上,提出一种根据GPS数据可信度进行加权的自适应卡尔曼滤波导航算法,通过GPS和内部导航系统(INS)的数据偏差幅度反映GPS数据可信度,利用模糊逻辑算法计算加权值,分配GPS在组合导航中的权重,研发出一种结合GPS和INS的模糊组合导航方法,并对导航定位精度和抗电磁干扰能力进行了仿真分析。⑶规划了巡线路径和设计了无人机航点跟踪算法,根据巡检作业的目标,分析了选择最佳巡检拍摄点的原理和方法,计算巡检点的具体坐标,制定了无人机巡检的航线,为了保证无人机能准确的跟踪这些目标点,设计了基于变论域模糊理论的航点跟踪算法,开发了无人机航点跟踪软件,并对航点跟踪效果进行了仿真分析。⑷研究了无人机基于图像识别的自动获取绝缘子图像的方法,包括杆塔的搜索定位方案、绝缘子的识别定位原理和云台的自动控制,并对电力杆塔和绝缘子的定位效果进行了仿真分析。本文设计的无人机自动巡线系统克服了GPS受高压输电线路的电磁干扰,可以保证良好的导航精度,自动获取目标设备的图像信息,具有较高的安全性和可行性,经过仿真验证之后,在试验运行中也获得了初步验证,达到了设计要求和目标。
[Abstract]:The aging, deterioration and natural environment disasters of transmission line components, as well as external man-made damage, all pose a severe challenge to the safe and stable operation of the power grid. With the development of UAV technology, multi-rotor UAV has been applied to electric power inspection, but the efficiency and quality of manual UAV patrol inspection depend on the technical level of UAV operator. According to the application demand of electric power inspection, this paper takes the four-rotor UAV as the carrier, realizes the autonomous flight according to the information of the line tower coordinate, the preset track point, and carries on the aerial photo patrol inspection with the image acquisition equipment. Collecting the image data of the defect and hidden trouble of the pole tower equipment, for the inspector to carry on the fault analysis to the electric power equipment. The main contents of the paper are as follows: 1 carried out the design of the inspection system scheme, Including the overall structure of the system and the realization method of each functional subsystem, the main hardware equipment is selected, the software development environment and hardware environment of the system are built, and the goal and the inspection flow of the patrol operation are set up. In order to meet the requirements of the initial positioning accuracy of UAV, the differential GPS\ INS integrated navigation method is designed based on differential GPS\ INS integrated navigation. Emphasis is placed on improving the anti-electromagnetic interference ability of integrated navigation, and the mechanism of GPS subjected to electromagnetic interference of HV transmission line is analyzed in detail. On the basis of adaptive Kalman filter integrated navigation, An adaptive Kalman filter navigation algorithm weighted by GPS data credibility is proposed, which reflects the reliability of GPS data by the deviation amplitude of GPS and internal navigation system (ins), and calculates the weighted value by using fuzzy logic algorithm. By allocating the weight of GPS in integrated navigation, a fuzzy integrated navigation method combining GPS and INS is developed. The navigation accuracy and the ability to resist EMI are simulated and analyzed. 3. The routing path and the tracking algorithm of UAV are designed. According to the target of patrol and inspection, the principle and method of selecting the best patrol shooting point are analyzed. In order to ensure the UAV can track these target points accurately, a tracking algorithm based on the fuzzy theory of variable theory is designed, and the UAV tracking software is developed. Finally, the simulation analysis of the tracking effect of navigation point is carried out. 4. The method of automatically obtaining insulator image based on image recognition for UAV is studied, including the searching and locating scheme of pole tower, the principle of insulator identification and location, and the automatic control of cloud head. The positioning effect of power tower and insulator is simulated and analyzed. The UAV automatic line patrol system designed in this paper can overcome the electromagnetic interference of GPS by HV transmission line and can guarantee good navigation accuracy. The automatic acquisition of image information of the target equipment has high security and feasibility. After the simulation verification, the preliminary verification is also obtained in the test operation, which meets the design requirements and objectives.
【学位授予单位】：广东工业大学
【学位级别】：硕士
【学位授予年份】：2017
【分类号】：V279;TM755

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