基于反步滑模法的输电线路巡检四旋翼无人机控制器研究
Research on Quadrotor Controller for Transmission Line Inspection Based on Backstepping and Sliding Mode Method
李婷婷 1柳杰伟1
作者信息
- 1. 华电金沙江上游水电开发有限公司巴塘分公司,四川 巴塘 627650
- 折叠
摘要
针对输电线路传统巡检效率低及准确率低的问题,笔者以四旋翼无人机作为研究对象,建立用于电力巡检的四旋翼无人机的数学模型,采用反步滑模控制方法,设计了无人机的位置控制器和姿态控制器,并与普通滑模控制方法作对比,通过MATLAB软件对上述方法进行仿真验证.结果表明,采用反步滑模法设计的无人机位置控制器和姿态控制器具有更强的鲁棒性,面对外界恶劣天气干扰依然能高效对电力线路进行巡检.
Abstract
Aiming at the problem of low efficiency and low accuracy of traditional inspection of transmission lines,the authors take the Quadrotor as the research object,establish the mathematical model of the Quadrotor for power inspection,and use the backstepping and sliding mode control method to design the position controller and attitude controller of the UAV,and compare them with the ordinary sliding mode control method,the above method is simulated and verified by MATLAB software.The results show that the UAV position controller and attitude controller designed by backstepping and sliding mode method have stronger robustness,and can still inspect the power line efficiently in the face of external bad weather interference.
关键词
输电线路/巡检/四旋翼无人机/反步滑模法Key words
transmission line/inspection/Quadrotor/backstepping and sliding mode method引用本文复制引用
出版年
2024
国家科技期刊平台
NSTL
万方数据