Design of Unmanned Aerial Vehicle Inspection Automation Control System for 35 kV AC Transmission Line Straight Tower
To solve the problem of poor adaptive ability of UAV for 35 kV AC transmission line straight tower in-spection,which leads to easy errors and interruptions in inspection operations,a new automation control system is de-signed.This system consists of MPU9250 nine degree of freedom inertial sensors,accelerometers,and magnetometers to collect inspection status data of UAV on transmission line towers.Through integration method,trigonometric func-tion relationship,and tilt compensation method,the attitude,velocity,and position data information of UAV on transmis-sion line towers are calculated and obtained.Using a fuzzy PID based UAV inspection automation controller,calculate the attitude,speed,position deviation and deviation rate of UAV inspection,activate the fuzzy PID controller,automati-cally adjust the UAV rotor speed,control the UAV inspection status,and complete the automation control of UAV in-spection on 35 kV AC transmission line linear tower.In the experiment,under the use of this system,the inspection attitude of the 35 kV AC transmission line straight tower drone was consistent with the specified trajectory,and the deviation values of pitch angle,roll angle,and heading angle were 0°.
35 kV AC transmission linesstraight towerdronesinspection automationcontrol system
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