The Attitude Control of Transmission Line Fault Inspection UAV Based on ADRC

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The Attitude Control of Transmission Line Fault Inspection UAV Based on ADRC

Wang, Qiangqiang / Xiong, Hejin / Qiu, Bin

Transmission lines are important part of the power system, the safety of line equipment is related to the stability of the power system. Transmission line fault inspection is a basic work to ensure the safety of line equipment. With the rapid development of unmanned aerial vehicles(UAV), the UAV equipped with detection sensors is used for line fault inspection. It is a new type of inspection, which has the advantages of higher security, greater efficiency, more freedom, and lower consumption. This paper does research on the attitude control of the inspection UAV, and designs an auto disturbance rejection control (ADRC) controller, then performs the simulation experiments to show that the ADRC controller has good control effect on the UAV flight attitude. Considering the UAV may suffer from different types of wind interference in the process of performing tasks, this paper has conducted simulation experiment during different wind interference environment, such as, gust, gradual wind, persistent wind and random wind. The ADRC controller's simulation effect is better than PID and the ADRC controller is verified of excellent wind-interference performance.