电力巡线四旋翼飞行器自主充电系统的设计与实现

发布时间：2018-01-06 02:18

本文关键词：电力巡线四旋翼飞行器自主充电系统的设计与实现　出处：《浙江大学》2016年硕士论文　论文类型：学位论文

【摘要】：近年来,出现了以四旋翼飞行器为载体的输电线路巡检方法。由于四旋翼飞行器的续航时间短,严重受限于电池容量。常用的方法是增加电池容量,但续航时间随着所携带的电池容量增加而非线性增加,制作成本与电池技术限制着飞行器的续航时间,无法从根本上解决飞行器长时间自主执行巡线任务的问题。因此,本文提出了一种电力巡线四旋翼飞行器自主充电系统。首先对系统的组成和整体方案进行阐述。系统主要由地面监控站、巡线飞行器和充电站网络组成。飞行器在巡线过程中检测到电池需充电时,利用捷联惯性和GPS组合导航系统自主导航至目标充电站,然后通过视觉导航完成与充电站精确对接。最后充电站通过基于E类功率放大器无线电能传输方式给飞行器锂电池组充电,待充电完成后,飞行器返回继续执行巡线任务。其次研究捷联惯性和GPS组合导航的相关内容。结合捷联惯性导航误差连续但发散的特性与GPS导航误差有界但不连续的特性,采用扩展卡尔曼滤波将两者进行数据融合,从而确定了组合导航滤波算法。接着介绍视觉导航对接设计。制定视觉导航对接总体流程,叙述充电站着陆信标设计与视觉导航对接的基础内容。并对着陆信标的特征检测流程和飞行器与着陆信标相对位置解算进行重点阐释。运用Hough变换、Harris角点检测算法实现了对着陆信标的特征检测。之后重点阐述基于E类放大器的无线充电设计。通过对几种无线电能传输方式和逆变电路的说明与比较,从而确定基于电磁感应式传输与功放型逆变电路的充电方案。从理论上对基于E类功放无线电能传输深入分析,提出基于最优负载的参数设计方法,并在Saber中对电路进行仿真,无线电能传输效率高达90.81%。最后,介绍了自主充电系统的硬件实现以及对无线充电的测试,无线充电效率约为75%,实验结果基本和理论与仿真结果一致。并且提出了现有系统存在的问题以及今后改进的方向。
[Abstract]:In recent years, the inspection method of transmission line based on four rotor aircraft. The four rotorhelicopter short life, severely limited by the battery capacity. The common method is to increase the capacity of the battery, but the battery life time with carrying capacity increase nonlinearly with the increase of production cost, and limit the range of aircraft battery technology time can not solve the aircraft long time autonomous execution of the patrol task problem fundamentally. Therefore, this paper proposes a power line patrol four rotor aircraft autonomous charging system. First described the composition and the whole scheme of the system. The system is mainly composed of ground control station, line patrol aircraft and aircraft in the charging station network. The patrol line detected during battery charging, the charging station using strapdown inertial navigation and GPS navigation system of autonomous navigation to the target, and then through the end of visual navigation A charging station charging station through precise docking. At the end of class E power amplifier for radio vehicle lithium battery charging transmission mode based on charging is completed, the aircraft returned to continue to perform the patrol task. Secondly related content of strapdown inertial navigation and GPS. Combined with strapdown inertial navigation error but divergent characteristics and continuous GPS navigation error is bounded but not continuous characteristic, using the extended Calman filter to the data fusion, so as to determine the integrated navigation filtering algorithm. Then it introduces the design of visual navigation for visual navigation of ground docking. The overall flow, the basic content of charging station landing beacon design and visual navigation and docking. The landing target letter feature detection process and aircraft and landing relative position solution of focus of interpretation. By using Hough transform, Harris corner detection algorithm for landing Feature detection beacon. Then the paper focuses on wireless charging based on class E amplifier design. Based on several radio shows and comparison of transmission mode and inverter circuit, so as to determine the charging scheme of electromagnetic induction type transmission and power inverter circuit. Based on the theoretically based on class E power amplifier radio transmission in-depth analysis, put forward the optimal parameter design method based on load, and the simulation of the circuit in Saber, wireless power transmission efficiency is as high as 90.81%. finally introduced the realization of self charging system hardware and test of wireless charging, wireless charging efficiency is about 75%, the experimental results and the simulation results are consistent with the basic theory and put forward the existing system. The problems and future directions.

【学位授予单位】：浙江大学
【学位级别】：硕士
【学位授予年份】：2016
【分类号】：V279;TM910.6

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