四旋翼飞行器在输电线路检测中关键技术的研究
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摘要
本课题研究一种四旋翼飞行器可携带航拍和绝缘子阻值检测设备近距离进行输电线路的巡视和低零绝缘子检测,可以极大减轻人员劳动强度。本文针对四旋翼飞行器在输电线路巡视和检测中的关键技术进行研究。
首先介绍四旋翼飞行器整个系统组成,包括飞行控制系统、飞行动力系统、导航定位系统、超声波测距系统等。
其次分析飞行器姿态控制方法,介绍了姿态传感器——角速度传感器与加速度姿态传感器之间数据修正融合的方法,并利用电机和旋翼的数学模型进行飞行器高度和角度控制的建模和方针分析,得到的姿态控制模型有良好的可控性。
在四旋翼飞行器达到飞行姿态稳定的基础上,将GPS导航信息融合到飞行器的姿态控制环。在此利用卡尔曼滤波技术对GPS数据进行优化,建立了卡尔曼滤波的状态方程和观测方程,并通过仿真显示滤波后的数据有良好的航迹跟踪效果。
为了避免飞行器在巡线检测过程中与线路杆塔、绝缘子等发生碰撞,提出一种基于模糊控制的超声波避障方法,建立了模糊规则,实现了模糊算法,并将模糊控制的输出量转化为飞行器电机转速控制的控制信号。
最后针对飞行器中三相无刷直流电动机控制器逆变桥的拓扑结构,提出一种无刷直流电机控制器故障智能检测的方法,本方法能够准确识别逆变桥中各个功率管的短路故障和开路故障,实现了功率管故障定位的智能化检测。
This research based on a four-rotor aerial vehicle which can carry a low-value insulators resistance testing equipment and nearly fly to the transmission line.this new online detecting the low-value insulators can greatly reduce the labor intensity. The key technology of the four-rotor aerial vehicle for transmission line inspection and testing has been introduced in the study.
First> This article introduced the four-rotor aerial vehicle components throughout the system,which included Flight control systems, flight dynamics systems, navigation and positioning systems, ultrasonic ranging system.
Followed by analysis of four-rotor aerial vehicle attitude control method, it introduced data correction fusion method between angular rate sensor and acceleration sensor, and use the mathematical model of motor and rotor to modeling and policy analysis the height and angle control, the establishment of the attitude control model has a good controllability.
When the four-rotor aerial vehicle can achieve a stable flight attitude, the integration of GPS navigation information was added to the aircraft attitude control loop,which used Kalman filtering techniques to optimize the GPS data,established the Kalman filter state equation and observation equation,.The simulation shows the filtered data has a good trace tracking ability.
In order to avoid detection collision between the aerial vehicle and the transmission line,an ultrasonic obstacle avoidance fuzzy control method was proposed, which established a fuzzy rule, achieved a fuzzy algorithm, and converted the fuzzy control output to the motor speed control signal.
Finally we presented a Self-inspection method which based on the topological structure of the inverter bridge of the Brushless DC Motor Controller. This method can identify the mosfet short circuit characteristic and open-circuit characteristic in the inverter. Thus, it can realize the function of orientated fault diagnosis.
首先介绍四旋翼飞行器整个系统组成,包括飞行控制系统、飞行动力系统、导航定位系统、超声波测距系统等。
其次分析飞行器姿态控制方法,介绍了姿态传感器——角速度传感器与加速度姿态传感器之间数据修正融合的方法,并利用电机和旋翼的数学模型进行飞行器高度和角度控制的建模和方针分析,得到的姿态控制模型有良好的可控性。
在四旋翼飞行器达到飞行姿态稳定的基础上,将GPS导航信息融合到飞行器的姿态控制环。在此利用卡尔曼滤波技术对GPS数据进行优化,建立了卡尔曼滤波的状态方程和观测方程,并通过仿真显示滤波后的数据有良好的航迹跟踪效果。
为了避免飞行器在巡线检测过程中与线路杆塔、绝缘子等发生碰撞,提出一种基于模糊控制的超声波避障方法,建立了模糊规则,实现了模糊算法,并将模糊控制的输出量转化为飞行器电机转速控制的控制信号。
最后针对飞行器中三相无刷直流电动机控制器逆变桥的拓扑结构,提出一种无刷直流电机控制器故障智能检测的方法,本方法能够准确识别逆变桥中各个功率管的短路故障和开路故障,实现了功率管故障定位的智能化检测。
This research based on a four-rotor aerial vehicle which can carry a low-value insulators resistance testing equipment and nearly fly to the transmission line.this new online detecting the low-value insulators can greatly reduce the labor intensity. The key technology of the four-rotor aerial vehicle for transmission line inspection and testing has been introduced in the study.
First> This article introduced the four-rotor aerial vehicle components throughout the system,which included Flight control systems, flight dynamics systems, navigation and positioning systems, ultrasonic ranging system.
Followed by analysis of four-rotor aerial vehicle attitude control method, it introduced data correction fusion method between angular rate sensor and acceleration sensor, and use the mathematical model of motor and rotor to modeling and policy analysis the height and angle control, the establishment of the attitude control model has a good controllability.
When the four-rotor aerial vehicle can achieve a stable flight attitude, the integration of GPS navigation information was added to the aircraft attitude control loop,which used Kalman filtering techniques to optimize the GPS data,established the Kalman filter state equation and observation equation,.The simulation shows the filtered data has a good trace tracking ability.
In order to avoid detection collision between the aerial vehicle and the transmission line,an ultrasonic obstacle avoidance fuzzy control method was proposed, which established a fuzzy rule, achieved a fuzzy algorithm, and converted the fuzzy control output to the motor speed control signal.
Finally we presented a Self-inspection method which based on the topological structure of the inverter bridge of the Brushless DC Motor Controller. This method can identify the mosfet short circuit characteristic and open-circuit characteristic in the inverter. Thus, it can realize the function of orientated fault diagnosis.
引文
[1]田新民,曾庆立.瓷瓶断裂原因及防护措施[J].东北电力技术,2002,4(19)：43-47
[2]陈晓兵,马玉林,徐祖舰.无人飞机输电线路巡线技术探讨[J].南方电网技术,2008,2(6)：59-61
[3]Sawada J, Kusumoto K, Munakata T. A mobile robot for inspection of power transimission lines [J].IEEE Transactions on Power Delivery,1991,6(1):309-315
[4]Elizondo D, Gentile T, Candia H, Bell G. Overview of robotic applications for energized transmission line work-Technologies, field projects and future developments[C]. IEEE international Conference on Applied Robotics for the Power Industry(CARPI),2010:1-7
[5]S.Bouabdallah, A.Noth, R.Siegwart.PID vs LQ Control Techniques Applied to an Indoor Micro Quadrotor[J].Proceedings of International Conference on Intelligent Robots and Systems, September 2004(3):2451-2456
[6]M.Chen, M.Huzmezan. A Simulation Model and H∞Loop Shaping Control of Quad Rotor Unmanned Air Vehicle[C].Proceedings of the IASTED Conference on Modeling Simulation and Optimization,July2003:320-325
[7]B.S.Kim and A.J.Calise. Nonlinear Flight Control Using Neural Networks[J]. AIAA. Journal of Guidance Control and Dynamics, Volume 20, Number 1, 1997:26-33
[8]方勇纯,卢桂章.非线性控制理论[M].北京：清华大学出版社,2009
[9]T.Madani, A.Henallegue. Backstepping Sliding Mode Control Applied to a Minature Quadrotor Flying Rotor[C]. IEEE Industrial Electronics,April 2006:700-705
[10]Samir Bouabdallall, Roland Siegwart. Backstepping and Sliding-mode Techniques Applied to an indoor Micro Quadrotor[C]. Proceedings of IEEE Intemation Conference on Robotics and Automation,2005:2247-2252
[11]Erik de Vries, Kamesh Subbarao. Backstepping based Nested Multi-Loop Control Laws for a Quadrotor[C]. International Conference on Control Automation Robotics & Vision (ICARCV),2010:1911-1916
[12]文炜.基于MEMS技术的惯性测量器件及系统的发展现状和应用[J].飞航导弹,2006,9(18)：56-59
[13]E.Altug, J.P.Ostrowski, R.Mahony. Control of a Quadrotor Helicopter using Visual Feedback[C]. Proceedings of the 2002 IEEE International Conference on Robotics and Automation,2002,5:72-77
[14]E.Altug, J.P.Ostrowski, Taylor.C. Quadrotor control using dual visual feedback [C].Proceedings of the IEEE International Conference on Robotics Automation (ICRA),2003(9):4294-4299
[15]Gabe Hoffmann, Dev Gorur Rajnarayan, Steven L.Waslander. The Standard Testbed of Autonomous Rotorcraft for Multi Agent Control[C]. In Proceedings of the 23rd Digital Avionics Systems Conference,2004:12.E.4-121-10
[16]Freescale Semiconductor technical Data.Document Number:MMA7260 QT [OL].2007
[17]孙心华.三相无刷直流电机控制系统设计[D].广州：广东工业大学,2008
[18]杨桐,姜洋,罗晶.用于Quadrotor飞行器的无刷直流电机驱动系统设计[J].世界电子元器件,2009,7：69-71
[19]陈靓影,汪国有,张天序,陈丹.GPS与惯性导航系统融合的精确连续定位算法[J].通信学报,1999,8(8)：32-35
[20]易维勇.惯性导航及组合导航及仿真[D].郑州：中国人民解放军信息工程大学：2002
[21]李豫泽,石志勇,杨云涛.地磁辅助惯性导航匹配算法究[J].兵工自动化,2008,27(6)：25-31
[22]杨功流,李士心,姜朝宇.地磁辅助惯性导航系统的数据融合算法[J].中国惯性技术学报,2007,15(1)：47-50
[23]谭定忠,王启明,王叶兰.机器人测距传感器的研究[J].智能工程,200512(19)：52-54
[24]孙牵宇,童峰,许肖梅.一种大角度范围的高精度超声波测距处理方法[J].厦门大学学报(自然科学版),2006,7,45(4)：513-517
[25]Teruko Yata, Lindasy Kleeman, Shin'ichi Yuta.Fast-bearin measurement with a single ultrasonic transducer[J]. The International Journal of Robotics Research. 1998,17(11):1202-1213
[26]刘波.某型无人机地面导航站系统的设计与实现[D].西安：西北工业大学,2007
[27]吴成富,王睿,陈怀民.无人机导航地面站软件研究[J].机械与电子,20094(3)：7-9
[28]谢殿煌,姚晓先,彭增辉.应用LabView的地面站飞行监控系统设计与实现[J].现代制造工程,2008,6(25)：93-95
[29]马潮.AVR单片机嵌入式系统原理与应用实践[M].北京：北京航空航天大学出版社,2009-11-24
[30]吴其洲.捷联惯性导航系统中陀螺补偿的探讨[J].机械工程与自动化,2006,6 (6)：115-117
[31]单海燕.四旋翼无人直升机飞行控制技术研究[D].南京：南京航空航天大学,2008
[32]刘志军,吕强,王东来.小型四旋翼直升机的建模与仿真控制[J].计算机仿真,2010,7(8)：18-20
[33]Blewitt G. An automatic editing algorithm for GPS data[J].Geophysical Research Letters,1990,17(3):199-202.
[34]王安华.软件GPS接收机的设计与实现[D].重庆：重庆大学,2009
[35]Chai Y J, Ou J K. Method for detecting and repairing cycle slips in GPS navigation[J].Transactions of Nanjing University of Aeronautics and Astronautics,2005,22(2):121-124
[36]Basar, T. A new approach to linear filtering and prediction theory[J]. Control Theory:Twenty-Five Seminal Papers.2000,16(5):167-179
[37]秦永元,张洪钺,汪淑华.卡尔曼与组合导航原理[M].西安：西北工业大学出版社,1998：105-130
[38]李磊,叶涛,谭民等.移动机器人技术研究现状与未来[J].机器人,2002,24(5)：475-480
[39]徐国华,谭明.移动机器人的发展现状及其趋势[J].机器人技术与应用,2001,3(2)：7-13
[410]张乃尧,阎平凡.神经网络与模糊控[M].北京：清华大学出版社,2005：175-193
[41]Vas PhD P, DSc,Ceng,et al. Electrical machines and drives:present and future [J]. Electric technical Conference on Industrial Applications in Power Systems,Computer Science and Telecommunications (MELECON 96), 1996,10(1):67-74
[42]He chang quan, Bao guang qing. Simulation research of brushless direct current motor inverter fault detection based on wavelet transform[J]. Microcomputer & Its Applications,2009,28(11):73-76
[43]崔博文,任章,陈剑等.逆变器供电的电动机变频调速系统实时故障检测[J].电机与控制学报,2006,1(12)：52-56
[44]高玉凯,邓正隆.基于滑动滤波技术的激光陀螺评价方法[J].计测技术,2005,6(2)：9-11
[2]陈晓兵,马玉林,徐祖舰.无人飞机输电线路巡线技术探讨[J].南方电网技术,2008,2(6)：59-61
[3]Sawada J, Kusumoto K, Munakata T. A mobile robot for inspection of power transimission lines [J].IEEE Transactions on Power Delivery,1991,6(1):309-315
[4]Elizondo D, Gentile T, Candia H, Bell G. Overview of robotic applications for energized transmission line work-Technologies, field projects and future developments[C]. IEEE international Conference on Applied Robotics for the Power Industry(CARPI),2010:1-7
[5]S.Bouabdallah, A.Noth, R.Siegwart.PID vs LQ Control Techniques Applied to an Indoor Micro Quadrotor[J].Proceedings of International Conference on Intelligent Robots and Systems, September 2004(3):2451-2456
[6]M.Chen, M.Huzmezan. A Simulation Model and H∞Loop Shaping Control of Quad Rotor Unmanned Air Vehicle[C].Proceedings of the IASTED Conference on Modeling Simulation and Optimization,July2003:320-325
[7]B.S.Kim and A.J.Calise. Nonlinear Flight Control Using Neural Networks[J]. AIAA. Journal of Guidance Control and Dynamics, Volume 20, Number 1, 1997:26-33
[8]方勇纯,卢桂章.非线性控制理论[M].北京：清华大学出版社,2009
[9]T.Madani, A.Henallegue. Backstepping Sliding Mode Control Applied to a Minature Quadrotor Flying Rotor[C]. IEEE Industrial Electronics,April 2006:700-705
[10]Samir Bouabdallall, Roland Siegwart. Backstepping and Sliding-mode Techniques Applied to an indoor Micro Quadrotor[C]. Proceedings of IEEE Intemation Conference on Robotics and Automation,2005:2247-2252
[11]Erik de Vries, Kamesh Subbarao. Backstepping based Nested Multi-Loop Control Laws for a Quadrotor[C]. International Conference on Control Automation Robotics & Vision (ICARCV),2010:1911-1916
[12]文炜.基于MEMS技术的惯性测量器件及系统的发展现状和应用[J].飞航导弹,2006,9(18)：56-59
[13]E.Altug, J.P.Ostrowski, R.Mahony. Control of a Quadrotor Helicopter using Visual Feedback[C]. Proceedings of the 2002 IEEE International Conference on Robotics and Automation,2002,5:72-77
[14]E.Altug, J.P.Ostrowski, Taylor.C. Quadrotor control using dual visual feedback [C].Proceedings of the IEEE International Conference on Robotics Automation (ICRA),2003(9):4294-4299
[15]Gabe Hoffmann, Dev Gorur Rajnarayan, Steven L.Waslander. The Standard Testbed of Autonomous Rotorcraft for Multi Agent Control[C]. In Proceedings of the 23rd Digital Avionics Systems Conference,2004:12.E.4-121-10
[16]Freescale Semiconductor technical Data.Document Number:MMA7260 QT [OL].2007
[17]孙心华.三相无刷直流电机控制系统设计[D].广州：广东工业大学,2008
[18]杨桐,姜洋,罗晶.用于Quadrotor飞行器的无刷直流电机驱动系统设计[J].世界电子元器件,2009,7：69-71
[19]陈靓影,汪国有,张天序,陈丹.GPS与惯性导航系统融合的精确连续定位算法[J].通信学报,1999,8(8)：32-35
[20]易维勇.惯性导航及组合导航及仿真[D].郑州：中国人民解放军信息工程大学：2002
[21]李豫泽,石志勇,杨云涛.地磁辅助惯性导航匹配算法究[J].兵工自动化,2008,27(6)：25-31
[22]杨功流,李士心,姜朝宇.地磁辅助惯性导航系统的数据融合算法[J].中国惯性技术学报,2007,15(1)：47-50
[23]谭定忠,王启明,王叶兰.机器人测距传感器的研究[J].智能工程,200512(19)：52-54
[24]孙牵宇,童峰,许肖梅.一种大角度范围的高精度超声波测距处理方法[J].厦门大学学报(自然科学版),2006,7,45(4)：513-517
[25]Teruko Yata, Lindasy Kleeman, Shin'ichi Yuta.Fast-bearin measurement with a single ultrasonic transducer[J]. The International Journal of Robotics Research. 1998,17(11):1202-1213
[26]刘波.某型无人机地面导航站系统的设计与实现[D].西安：西北工业大学,2007
[27]吴成富,王睿,陈怀民.无人机导航地面站软件研究[J].机械与电子,20094(3)：7-9
[28]谢殿煌,姚晓先,彭增辉.应用LabView的地面站飞行监控系统设计与实现[J].现代制造工程,2008,6(25)：93-95
[29]马潮.AVR单片机嵌入式系统原理与应用实践[M].北京：北京航空航天大学出版社,2009-11-24
[30]吴其洲.捷联惯性导航系统中陀螺补偿的探讨[J].机械工程与自动化,2006,6 (6)：115-117
[31]单海燕.四旋翼无人直升机飞行控制技术研究[D].南京：南京航空航天大学,2008
[32]刘志军,吕强,王东来.小型四旋翼直升机的建模与仿真控制[J].计算机仿真,2010,7(8)：18-20
[33]Blewitt G. An automatic editing algorithm for GPS data[J].Geophysical Research Letters,1990,17(3):199-202.
[34]王安华.软件GPS接收机的设计与实现[D].重庆：重庆大学,2009
[35]Chai Y J, Ou J K. Method for detecting and repairing cycle slips in GPS navigation[J].Transactions of Nanjing University of Aeronautics and Astronautics,2005,22(2):121-124
[36]Basar, T. A new approach to linear filtering and prediction theory[J]. Control Theory:Twenty-Five Seminal Papers.2000,16(5):167-179
[37]秦永元,张洪钺,汪淑华.卡尔曼与组合导航原理[M].西安：西北工业大学出版社,1998：105-130
[38]李磊,叶涛,谭民等.移动机器人技术研究现状与未来[J].机器人,2002,24(5)：475-480
[39]徐国华,谭明.移动机器人的发展现状及其趋势[J].机器人技术与应用,2001,3(2)：7-13
[410]张乃尧,阎平凡.神经网络与模糊控[M].北京：清华大学出版社,2005：175-193
[41]Vas PhD P, DSc,Ceng,et al. Electrical machines and drives:present and future [J]. Electric technical Conference on Industrial Applications in Power Systems,Computer Science and Telecommunications (MELECON 96), 1996,10(1):67-74
[42]He chang quan, Bao guang qing. Simulation research of brushless direct current motor inverter fault detection based on wavelet transform[J]. Microcomputer & Its Applications,2009,28(11):73-76
[43]崔博文,任章,陈剑等.逆变器供电的电动机变频调速系统实时故障检测[J].电机与控制学报,2006,1(12)：52-56
[44]高玉凯,邓正隆.基于滑动滤波技术的激光陀螺评价方法[J].计测技术,2005,6(2)：9-11