Control and Application of Tree Obstacle-Clearing Coaxial Octocopter with Flexible Suspension Saw-Reference-Cited by-同舟云学术

Control and Application of Tree Obstacle-Clearing Coaxial Octocopter with Flexible Suspension Saw

Published:2024-07-17 Issue:7 Volume:8 Page:328
ISSN:2504-446X
Container-title:Drones
language:en
Short-container-title:Drones

Author:

Liao Luwei¹^ORCID,Yang Zhong¹^ORCID,Zhuo Haoze¹²,Xu Nuo¹³^ORCID,Wang Wei⁴,Tao Kun⁴,Liang Jiabing⁴,Zhang Qiuyan⁵

Affiliation:

1. College of Automation Engineering, Nanjing University of Aeronautics and Astronautics, Nanjing 211106, China

2. Guangxi Electric Power Research Institute, Guangxi Power Grid Co., Ltd., Nanning 530004, China

3. Dongguan Power Supply Bureau of Guangdong Power Grid Co., Ltd., Dongguan 523120, China

4. NanJing TAISIDE Intelligent Technology Co., Ltd., Nanjing 211106, China

5. Guizhou Electric Power Research Institute, Guizhou Power Grid Co., Ltd., Guiyang 550002, China

Abstract

Aiming at the challenges of clearing tree obstacles along power transmission lines, the control and application of a novel Tree-Obstacle Clearing Coaxial Octocopter with Flexible Suspension Saw (TOCCO-FSS) have been investigated. Firstly, an overall scheme design and modeling of the TOCCO-FSS were conducted, and dynamic modeling of the TOCCO-FSS was performed using the Lagrange equation. Secondly, to address the interference encountered during the operation, a contact operation model was established to estimate the uncertainties and external disturbances during the contact operation process. Further, the Non-Singular Terminal Sliding-Mode Active Disturbance Rejection Control (NTSM-ADRC) method was researched based on the mathematical model of the TOCCO-FSS. Finally, the performance of the controller was verified through simulations and physical experiments. The results demonstrate that the design, control, and application of the entire TOCCO-FSS system are effective.

Funder

Postgraduate Research & Practice Innovation Program of Jiangsu Province

Publisher

MDPI AG

Link

https://www.mdpi.com/2504-446X/8/7/328/pdf

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