无人机巡线考评仿真系统设计与实现

doi:10.16182/j.issn1004731x.joss.17-0309

摘要/Abstract

摘要： 针对无人机在电网中大规模应用的现状,开发了无人机巡线考评仿真系统,包含飞控模块、视景仿真模块和培训考评模块。飞控模块是以飞行动力学为基础,结合物理遥控器和仿真云台形成的无人机仿真操控平台;视景仿真模块包括两部分,一是对广东省地形地貌进行建模,二是对全省输电线路进行自动建模。培训考评模块包含杆塔验收、树障勘查、杆塔勘查的培训系统和绕杆飞行、超视距缺陷查找的考评认证系统。实际应用表明,该系统可以有效的提升机巡作业培训效果,提高AOPA认证通过率。

关键词: 无人机, 巡线考评仿真系统, 飞控模块, 视景仿真模块, 培训考评模块

Abstract: Aiming at the large-scale application of unmanned aerial vehicles (UAVs) in the power grid, the simulation system of UAV is developed, including flight control module, visual simulation module and training evaluation module. The flight control module based on the flight dynamics, is a simulation platform of UAV combining physical remote controller and simulation of the formation. The visual module consists of two parts, modeling the topography of Guangdong Province and automatically modeling the transmission lines. The training evaluation module contains training system of tower acceptance, tree barrier survey, tower survey and evaluation system of winding flight, overtaking defect search. The experimental results show that the system can effectively improve the training effect and increase the passing rate of AOPA certification.

Key words: unmanned aerial vehicle, patrol line evaluation simulation system, flight control module, visual simulation module, training evaluation module

中图分类号:

TP391.9

薛江, 李军锋, 王鹏, 熊山, 冯伟夏. 无人机巡线考评仿真系统设计与实现[J]. 系统仿真学报, 2019, 31(9): 1852-1859.

Xue Jiang, Li Junfeng, Wang Peng, Xiong Shan, Feng Weixia. Design and Realization of UAV Inspection and Evaluation Simulation System[J]. Journal of System Simulation, 2019, 31(9): 1852-1859.

参考文献

[1] Huang Y, Wang Y S, Li X P.System of simulation training for unmanned aircraft[J]. IEEE Aerospace and Electronic Systems Magazine (S0885-8985), 1998, 13(12): 11-13.
[2] Song K, Xu H, Ding Y, et al.A target tracking realization method of UAV simulation training system[C]. 2016 14^th International Conference on Control, Automation, Robotics and Vision (ICARCV). Phuket, Thailand: IEEE, 2016: 1-4.
[3] 陈永波, 林昌年, 李军锋, 等. 沉浸式变电站仿真培训系统的设计与实现[J]. 电网技术, 2015, 39(7): 2034-2039.
Chen Yongbo, Lin Changnian, Li Junfeng, et al.Research and Development of Immersive Simulation Training System[J]. Power System Technology (S1000-3673), 2015, 39(7): 2034-2039.
[4] Nouri B, Nakhla M S, Achar R.Efficient Simulation of Nonlinear Transmission Lines via Model-Order Reduction[J]. IEEE Transactions on Microwave Theory and Techniques (S0018-9480), 2017, 65(3): 673-683.
[5] 刘健, 谢旭, 牛四清, 等. 电网调控仿真培训系统设计与实现[J]. 电力系统自动化, 2013, 37(13): 127-131.
Liu Jian, Xue Xie, Niu Siqing, et al.Design and Development of Dispatcher Training Simulator for Integrated Dispatching and Control[J]. Automation of Electric Power Systems, 2013, 37(13): 127-131.
[6] 彭向阳, 钱金菊, 麦晓明, 等. 大型无人直升机电力线路全自动巡检技术及应用[J]. 南方电网技术, 2016, 10(2): 24-31, 76.
Peng Xiangyang, Qian Jinju, Mai Xiaoming, et al.Automatic Power Line Inspection Technology of Large Unmanned Helicopter and Its Application[J]. Southern Power System Technology, 2016, 10(2): 24-31, 76.
[7] Shen X Y, Ding W R, Wei Z M, et al.Design of software for UAV Ground Control System based on VC++[C]. 2009 Asia Pacific Conference on Postgraduate Research in Microelectronics & Electronics (PrimeAsia). Shanghai, China: IEEE, 2009: 440-443.
[8] 刘国嵩, 贾继强. 无人机在电力系统中的应用及发展方向[J]. 东北电力大学学报, 2012, 32(1): 53-56.
Liu Guosong, Jia Jiqiang.UAV applications and development in the power system[J]. Journal of Northeast Dianli University, 2012, 32(1): 53-56.
[9] 星晨. 航模电行的好帮手——遥控飞行模拟器(21)[J]. 航空模型, 2010 (1): 56-58.
Xing Chen.A Good Helper of Model Electric —— Realflight R/C Glight Simulator[J]. Model Airplane, 2010 (1):56-58.
[10] Santoso F, Garratt M A, Anavatti S G. State-of-the-Art Intelligent Flight Control Systems in Unmanned Aerial Vehicles[J]. IEEE Transactions on Automation Science and Engineering (S1545-5955), 2017, 15(2)): 1-15.
[11] 闫亚宾, 曾建平. 一种飞控系统不确定性建模方法及其鲁棒控制[J]. 控制理论与应用, 2012, 29(5): 580-584.
Yan Yabin, Zeng Jianping.Uncertainty modeling and robust stabilization for large envelope flight control systems[J]. Control Theory & Applications, 2012, 29(5): 580-584.
[12] Yongliang W, Ying L, Jianmin L, et al.Proprioceptive Simulation Algorithm and Simulation Research in Flight Simulator[C]. 2013 International Conference on Computational and Information Sciences. Shiyang, China: IEEE, 2013: 1044-1047.
[13] Wei S G, Liu X Y, Guo H Q, et al.Research on interactive visual simulation for Cooperative Vehicle Infrastructure System[C]. 2016 IEEE 19th International Conference on Intelligent Transportation Systems (ITSC). Qingdao, China: IEEE, 2016: 1023-1028.
[14] Coates A, Sasse H G, Coleby D E, et al.Validation of a Three-Dimensional Transmission Line Matrix (TLM) Model Implementation of a Mode-Stirred Reverberation Chamber[J]. IEEE Transactions on Electromagnetic Compatibility (S0018-9375), 2007, 49(4): 734-744.
[15] 江杰, 冯旭光, 苏建彬. 四旋翼无人机仿真控制系统设计[J]. 电光与控制, 2015, 22(2): 27-30.
Jiang Jie, Feng Xuguang, Su Jianbin.Design of a Quad-Rotor UAV Simulation Control System[J]. Electronics Optics & Control, 2015, 22(2): 27-30.
[16] Alaimo A, Artale V, Milazzo C, et al.Mathematical modeling and control of a hexacopter[C]. 2013 International Conference on Unmanned Aircraft Systems (ICUAS). Atlanta, USA: IEEE, 2013: 1043-1050.
[17] Hoffmann C, Werner H.A Survey of Linear Parameter-Varying Control Applications Validated by Experiments or High-Fidelity Simulations[J]. IEEE Transactions on Control Systems Technology (S1063-6536), 2015, 23(2): 416-433.
[18] Peña-Barragán J M, Ngugi M K, Plant R E, et al. Object-based crop identification using multiple vegetation indices, textural features and crop phenology[J]. Remote Sensing of Environment (S0034-4257), 2011, 115(6): 1301-1316.
[19] Brancik L, Prokes A, Kolarova E.Simulation of random effects in transmission line models via stochastic differential equations[C]. 2012 2^nd International Conference on Advances in Computational Tools for Engineering Applications (ACTEA). Beirut, Lebanon: IEEE, 2012: 306-310.
[20] 薛江, 王知衍. 序列图像种子蔓延肤色识别算法[J]. 计算机辅助设计与图形学学报, 2015, 27(11): 2094-2099.
Xue Jiang, Wang Zhiyan.Skin Color Detection With Spread Seed in Sequence of Frames Based on Local Information Consistency[J]. Journal of Computer-Aided Design & Computer Graphic, 2015, 27(11): 2094-2099.