CN-121979246-A - Event triggering preset performance control method for inspection unmanned aerial vehicle for power transmission line insulator state monitoring

CN121979246ACN 121979246 ACN121979246 ACN 121979246ACN-121979246-A

Abstract

An event triggering preset performance control method for an inspection unmanned aerial vehicle for monitoring the state of an insulator of a power transmission line belongs to the unmanned aerial vehicle control field. The method comprises the steps of constructing a track tracking simplified control model based on the mechanical characteristics of an unmanned aerial vehicle, designing a track tracking sliding mode variable, introducing a preset performance function to convert the constrained sliding mode variable into an unconstrained preset performance error variable, designing a preset performance track tracking controller on the basis, judging whether to update a current position loop control instruction through an event triggering mechanism, and solving to generate a total thrust instruction, an expected attitude angle instruction and an expected angular velocity instruction of the unmanned aerial vehicle on the basis of the updated position loop control instruction if the current position loop control instruction is updated, so as to realize the trigger control of the preset performance event of the track of the unmanned aerial vehicle. The method is mainly used for inspection of the transmission line.

Inventors

LIU YINGJIE
REN MINGKAI
ZHANG TINGJUAN
ZHANG SHIQIANG
KONG DESHAN
YE LONG
TANG ZHIHONG
YU BO
ZHANG XU
YANG WENLONG

Assignees

国网黑龙江省电力有限公司伊春供电公司
河南鼎冠电力科技有限公司

Dates

Publication Date: 20260505
Application Date: 20260203

Claims (8)

1. The utility model provides a patrol unmanned aerial vehicle event triggering preset performance control method facing to transmission line insulator state monitoring, which is characterized by comprising the following steps: Step one, monitoring the dynamics characteristics of the inspection unmanned aerial vehicle according to the state of an electric transmission line insulator, establishing a system dynamics model, and constructing a simplified control model for tracking the track of the inspection unmanned aerial vehicle through a variable replacement and model simplification method; Step two, constructing a track tracking sliding mode variable of the inspection unmanned aerial vehicle, designing a preset performance function according to a state response performance requirement preset in the whole inspection task process of the unmanned aerial vehicle, performing nonlinear transformation on the sliding mode variable by using the preset performance function, and converting a constrained sliding mode variable into an unconstrained preset performance error variable; step three, designing a preset performance track tracking controller for the simplified control model based on the preset performance error variable; step four, based on the position loop control instruction at the current moment and the position loop control instruction at the last trigger moment, judging whether the current position loop control instruction needs to be updated or not; when the judgment result is that the patrol unmanned aerial vehicle needs to be updated, based on the updated position loop control instruction, calculating and generating a total thrust instruction, an expected attitude angle instruction and an expected angular speed instruction of the patrol unmanned aerial vehicle; And fifthly, inputting the total thrust, the expected gesture and the expected angular velocity signals to a speed loop and gesture loop control module of the inspection unmanned aerial vehicle, and driving the unmanned aerial vehicle to trigger track tracking control on a preset performance event of the inspection track of the power transmission line.
2. The method for controlling event triggering preset performance of an unmanned aerial vehicle for power transmission line insulator state monitoring according to claim 1, wherein in the step one, a specific expression of a system dynamics model is as follows: (1) Wherein: Is a centroid position vector of the unmanned aerial vehicle, 、、 Respectively represent the positions of the mass centers of the unmanned aerial vehicle in the directions of x, y and z coordinate axes, As a centroid velocity vector of the object, 、、 Respectively represent the movement speeds of the mass center of the unmanned aerial vehicle in the directions of x, y and z coordinate axes, As the vector of the angle of euler, 、、 Respectively represent the roll angle, pitch angle and yaw angle of the unmanned aerial vehicle, As a vector of the angular velocity of the object, 、、 Respectively represent the angular speeds of the unmanned aerial vehicle in the directions of x, y and z coordinate axes, As a result of the thrust vector, Is the total thrust of the unmanned aerial vehicle, The force vector of the gravity is used to determine, Constant of gravity, M and Respectively representing the mass and the moment of inertia matrix of the unmanned aerial vehicle; The moment vector is represented by a vector of moments, And Representing the total disturbance acting on translational and rotational dynamics, respectively, wherein the velocity rotation matrix And gesture rotation matrix ; (2) (3) Wherein, for any one There is 、。
3. The method for controlling the event-triggered preset performance of the unmanned aerial vehicle for power transmission line insulator state monitoring according to claim 1, wherein in the first step, a simplified control model for tracking the track of the unmanned aerial vehicle for power transmission line is: (4) Wherein: the control input vector is tracked for the position of the drone, 、、 Respectively represents the position tracking control input of the unmanned aerial vehicle in the directions of x, y and z coordinate axes, For the inspection of the total disturbance of a simplified control model of unmanned aerial vehicle track tracking, 、、 And respectively representing the total disturbance of the simplified control model of the unmanned aerial vehicle in the directions of x, y and z coordinate axes.
4. The method for controlling the event triggering preset performance of the inspection unmanned aerial vehicle for monitoring the state of the insulator of the power transmission line according to claim 1, wherein in the second step, the method for constructing the track tracking sliding mode variable of the inspection unmanned aerial vehicle is as follows: (5) Wherein: 、、 The sliding mode surface variables are respectively expressed as x, y and z coordinate axis directions, 、、 Respectively represent the expected movement speeds of the mass center of the unmanned aerial vehicle in the directions of x, y and z coordinate axes, 、、 Respectively representing the expected positions of the mass centers of the unmanned aerial vehicle in the directions of x, y and z coordinate axes, 、、 And the sliding mode variable parameters are corresponding to the directions of x, y and z coordinate axes respectively.
5. The method for controlling the event-triggered preset performance of the unmanned aerial vehicle for power transmission line insulator state monitoring according to claim 1, wherein in the second step, a formula for converting an original constraint error into an unconstrained preset performance error variable is as follows: (6) Wherein: 、、 The preset performance error variables are respectively expressed as x, y and z coordinate axis directions; 、、 Respectively representing the preset performance functions in the directions of x, y and z coordinate axes; (7) Wherein: 、、 The initial value of the preset performance function, the final value of the preset performance function and the convergence rate of the preset performance function in the x coordinate axis direction are respectively set; 、、 the initial value of the preset performance function, the final value of the preset performance function and the convergence rate of the preset performance function in the y coordinate axis direction are respectively set; 、、 the initial value, the final value and the convergence rate of the preset performance function are respectively the initial value, the final value and the convergence rate of the preset performance function in the z coordinate axis direction, and the initial value 、、 Is set to satisfy 、、 The track tracking error constraint of the preset power transmission line inspection unmanned aerial vehicle is as follows: (8)。
6. the method for controlling the event triggering preset performance of an unmanned aerial vehicle for power transmission line insulator state monitoring according to claim 1, wherein in the third step, the preset performance track tracking controller is as follows: (9) Wherein: 、、 The preset performance error index term gains are respectively expressed in the directions of x, y and z coordinate axes, 、、 Respectively expressed as preset performance error index gains in x, y and z coordinate axis directions, 、、 The preset performance error integral term gains are respectively expressed as x, y and z coordinate axis directions, 、、 Expressed as equivalent control items in x, y and z coordinate axis directions respectively, 、、 The desired acceleration signals in the x, y and z coordinate axis directions respectively, 、、 The preset performance error sign functions in the directions of x, y and z coordinate axes are as follows: (10)。
7. The method for controlling event triggering preset performance of an unmanned aerial vehicle for power transmission line insulator state monitoring according to claim 1, wherein in the fourth step, a formula for judging whether updating of a current position loop control instruction is required is as follows: (11) Wherein: For the current trigger moment of time, For the next moment of triggering it is possible, 、、 The event trigger judgment thresholds are respectively expressed as x, y and z coordinate axis directions, t represents the current time, and or represents the logical OR.
8. The method for controlling the event triggering preset performance of the inspection unmanned aerial vehicle for monitoring the state of the insulator of the power transmission line according to claim 1, wherein in the fourth step, the method for generating the total thrust command, the expected attitude angle command and the expected angular velocity command of the inspection unmanned aerial vehicle by resolving is as follows: For a given desired yaw angle command The relation of the total thrust, the expected roll angle, the expected pitch angle and the expected angular velocity signal of the unmanned aerial vehicle is calculated: (12) Wherein: in order for the angular velocity gain constant to be desired, For the total thrust instruction of the inspection unmanned aerial vehicle at time t, In order to calculate the obtained expected pitch angle instruction of the unmanned aerial vehicle at time t, In order to calculate the obtained expected roll angle instruction of the inspection unmanned aerial vehicle at time t, In order to calculate the obtained expected angular velocity instruction vector of the inspection unmanned aerial vehicle at time t, For the actual euler angle vector of the inspection drone at time t, For the expected euler angle vector of the drone at time t, 、 Respectively representing an expected rolling angle instruction and an expected pitch angle instruction of the inspection unmanned aerial vehicle at time t, For a predetermined desired yaw angle command.

Description

Event triggering preset performance control method for inspection unmanned aerial vehicle for power transmission line insulator state monitoring Technical Field The invention belongs to the field of unmanned aerial vehicle control. Background In recent years, with the continuous expansion of the scale of power systems in China and the increasing complexity of the running environment of transmission lines, the patrol unmanned aerial vehicle is taken as important equipment for guaranteeing the running safety of the lines, and the intelligent and high-performance control demands are more and more remarkable. The traditional manual inspection mode is difficult to meet the operation requirements of a modern power grid in terms of real-time performance, efficiency and safety, and the unmanned aerial vehicle has become an important tool for state sensing and hidden danger inspection of a power transmission line by virtue of the advantages of low cost, high maneuverability, multiple functions and the like, and particularly plays an important role in the application of state monitoring and inspection of insulators of the power transmission line, for example, has irreplaceable advantages in the typical application scene of carrying out insulator defect identification and pollution degree detection for preventing excessive leakage current of insulators. However, as the complexity of application scenes is continuously improved, in the process of executing an insulator state monitoring and inspection task, the inspection unmanned aerial vehicle often needs to fly along a power transmission line in a short distance, and high track tracking precision and high gesture stability are maintained in an insulator target area, so that stable control of the unmanned aerial vehicle under the fast high-precision track tracking and strong interference environment faces a new technical bottleneck. The existing track tracking control method is difficult to ensure that the unmanned aerial vehicle always meets the preset dynamic and steady-state performance requirements in the complete inspection task period, so that the position error is easy to overrun under the complex working condition, and the inspection quality and the inspection operation safety of the insulator are affected. In addition, because the position loop bandwidth is generally lower than the speed loop and the attitude loop, the traditional event triggering position control method is easy to generate redundant triggering in the state updating process, so that the communication resource utilization efficiency is low, and the stable operation of the inspection unmanned aerial vehicle in long-endurance and high-frequency insulator inspection tasks is not facilitated. Disclosure of Invention The invention provides a method for controlling the event triggering preset performance of an inspection unmanned aerial vehicle for monitoring the state of an electric transmission line, which aims to solve the problems that the track tracking precision is insufficient, the flight performance constraint is difficult to meet and the utilization efficiency of communication resources is low in the process of executing the inspection task of the existing electric transmission line inspection unmanned aerial vehicle, particularly in an application scene of monitoring the state of the electric transmission line inspection by aiming at carrying out the identification of the defect and the detection of the pollution degree of the electric transmission line with the aim of preventing the leakage current of the electric transmission line from being too large. The invention discloses a method for controlling event triggering preset performance of an inspection unmanned aerial vehicle for monitoring the state of an insulator of a power transmission line, which comprises the following steps: Step one, monitoring the dynamics characteristics of the inspection unmanned aerial vehicle according to the state of an electric transmission line insulator, establishing a system dynamics model, and constructing a simplified control model for tracking the track of the inspection unmanned aerial vehicle through a variable replacement and model simplification method; Step two, constructing a track tracking sliding mode variable of the inspection unmanned aerial vehicle, designing a preset performance function according to a state response performance requirement preset in the whole inspection task process of the unmanned aerial vehicle, performing nonlinear transformation on the sliding mode variable by using the preset performance function, and converting a constrained sliding mode variable into an unconstrained preset performance error variable; step three, designing a preset performance track tracking controller for the simplified control model based on the preset performance error variable; step four, based on the position loop control instruction at the current moment and the position loop control instruct