微型四旋翼无人飞行器的自主起降与安全飞行研究

发布时间：2018-05-10 20:01

本文选题：微型四旋翼无人飞行器 + 电力设备巡检　；参考：《华北电力大学》2015年硕士论文

【摘要】：微型四旋翼无人飞行器的气动结构简单,易于控制,成本低廉,其众多的优点使其已经越来越多得被应用于各种工业领域之中,例如军事侦察、边境巡检、工业设备巡检等。特别是在野外电塔和架空线路的巡检中,传统巡检方法需要人工驾驶直升飞机对线路进行巡检,成本高,受自然条件因素影响较大,同时巡检的效率偏低。微型四旋翼无人飞行器克服了传统有人驾驶飞行器的缺点,可以极大得提高巡检的效率,降低巡检的成本,其已经被越来越多得应用于电力设备(电塔、架空线路和绝缘子)的巡检中,成为了该领域的研究热点。本文主要研究微型四旋翼无人飞行器在电力设备(电塔、架空线路和绝缘子)巡检中的应用,如何控制微型四旋翼无人飞行器自主并且安全得完成一个巡检任务周期,即自主起飞、自主安全飞行和自主降落的全过程。本文通过对微型四旋翼无人飞行器进行数学建模,并且改进了传统的微型四旋翼飞行器的PID控制器,设计了一个两级PID控制器,对飞行器的空间位置的位移和速度,空间姿态的角位移和角速度进行了两级反馈控制,增强了控制系统的稳定性。并且,在此基础上完成了对飞行器的自主起飞和自主降落的功能设计。由于微型四旋翼无人飞行器的体积小,重量轻,在对电塔和线路进行巡检时容易受到阵风的影响,再加之导航传感器的误差,容易导致飞行器在巡检过程中与电塔和线路发生碰撞,造成安全事故。为了解决此问题,本文提出了一种安全飞行方法,该方法首先根据飞行器自身的参数和巡检的环境参数,构建了一个安全距离公式,再利用线性拟合算法拟合电塔的分布曲线,结合本文提出的安全距离公式平移曲线构建一个禁飞区域,即飞行器在自主巡检过程中不能进入该区域。其次,本文建立了一个阵风概率公式,实时评估环境阵风对于飞行器巡检的影响,通过将阵风概率公式与人工势场法相结合,实时评估阵风对飞行器的影响,并结合之前建立的禁飞区,规划巡检飞行路线,避免飞行器与电力设备发生碰撞,增强了巡检的鲁棒性。最后,本文自行搭建了一个微型四旋翼无人飞行器平台,设计了飞行控制器和飞行控制软件系统,设计了通讯协议,并编写了飞行控制软件,包含PID控制器模块、通讯协议模块、安全飞行模块、自主起飞和自主降落模块等,完成了飞行器从一个航点自主起飞,利用安全飞行方法自主完成整个巡检路径的飞行,同时在终点自主降落的巡检过程。
[Abstract]:The micro four-rotor unmanned aerial vehicle (UAV) has many advantages such as simple aerodynamic structure, easy control and low cost. It has been widely used in various industrial fields, such as military reconnaissance, border inspection, industrial equipment inspection and so on. Especially in the field electric tower and overhead line inspection, the traditional inspection method needs manual helicopter to patrol the line, the cost is high, affected by the natural conditions, and the efficiency of the inspection is on the low side. The micro four-rotor unmanned aerial vehicle overcomes the shortcoming of the traditional manned aerial vehicle and can greatly improve the efficiency of the inspection and reduce the cost of the inspection. It has been used more and more in power equipment (electric tower, etc.) The inspection of overhead lines and insulators has become a research hotspot in this field. This paper mainly studies the application of micro four rotor unmanned aerial vehicle in power equipment (electric tower, overhead line and insulator), how to control the micro four rotor unmanned aerial vehicle to complete a patrol task cycle safely. The whole process of autonomous take-off, autonomous safe flight and autonomous landing. In this paper, a two-stage PID controller is designed for the displacement and velocity of the space position of the micro four-rotor unmanned aerial vehicle (UAV) by mathematical modeling, and the traditional PID controller is improved. The angular displacement and angular velocity of space attitude are controlled by two-stage feedback, which enhances the stability of the control system. On this basis, the functional design of the autonomous take-off and landing of the aircraft is completed. Because of the small size and light weight of the micro four-rotor unmanned aerial vehicle, it is easy to be affected by the gusts during the inspection of the electric tower and the circuit, and the error of the navigation sensor. It is easy to lead to collision with electric tower and line during the inspection and inspection process, resulting in safety accident. In order to solve this problem, a safe flight method is proposed in this paper. Firstly, a safe distance formula is constructed according to the parameters of the vehicle itself and the environment parameters of the patrol, and then the distribution curve of the electric tower is fitted by the linear fitting algorithm. Based on the translation curve of the safe distance formula proposed in this paper, a no-fly region is constructed, that is, the aircraft cannot enter the region during the autonomous inspection. Secondly, a probability formula of gust is established to evaluate the effect of environmental gust on aircraft inspection in real time. By combining the formula of gust probability with the method of artificial potential field, the effect of gust on aircraft is evaluated in real time. Combined with the established no-fly zone, the cruise flight route is planned to avoid collision between aircraft and power equipment, and the robustness of patrol inspection is enhanced. Finally, a micro four-rotor unmanned aerial vehicle platform is built, flight controller and flight control software system are designed, communication protocol is designed, and flight control software, including PID controller module, is written. The communication protocol module, the safety flight module, the autonomous take-off and autonomous landing module, etc., have completed the autonomous take-off of the aircraft from a single flight point, and the use of safe flight methods to independently complete the flight of the entire patrol path. At the same time at the end of the independent landing of the inspection process.
【学位授予单位】：华北电力大学
【学位级别】：硕士
【学位授予年份】：2015
【分类号】：V279;V32

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