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Designing and implementation of an unmanned aerial vehicle for inspection of electricity distribution networks | ||
| Journal of Computational Applied Mechanics | ||
| مقاله 8، دوره 47، شماره 1، شهریور 2016، صفحه 79-87 اصل مقاله (496.98 K) | ||
| نوع مقاله: Research Paper | ||
| شناسه دیجیتال (DOI): 10.22059/jcamech.2016.59257 | ||
| نویسندگان | ||
| Mohammad Hosein Salimi1؛ Majid Roshanfar* 2 | ||
| 1University of Tehran | ||
| 2Teacher Assistant | ||
| چکیده | ||
| One of the most crucial elements of each country is electricity distribution networks (EDN). Awareness of accidents in EDN could be very important in the conservation and utilization of them. The accurate and periodic inspections can provide a good service to subscribers. The goal of this project is to fabricate a quad rotor, which can do an accurate and a periodic inspection. The design and implementation procedure are explained. The mechanical parts are designed by SolidWorks software then the structure of robot is fabricated with AL8080 by machining and milling. Then the dynamic model of the robot is generated and based on it the controller is designed. The two PID controller are proposed and simulated with MATLAB Simulink. | ||
| کلیدواژه‌ها | ||
| Electricity distribution network؛ Inspection؛ UAV؛ Design and implementation؛ Quad | ||
| مراجع | ||
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[3] A. L. Salih, M. Moghavvemi, H. A. F. Mohamed, and K. S. Gaeid, “Flight PID controller design for a UAV quadrotor,” Scientific Research and Essays, vol. 5, pp. 3360–3367, 2010.
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[5] G. V. Raffo, M. G. Ortega, and F. R. Rubio, “An integral predictive/ nonlinear H infinity control structure for a quadrotor helicopter,” Automatica, vol. 46, pp. 29–39, 2009.
[6] M. Jun, S. I. Roumeliotis, and G. S. Sukhatme, “State estimation of an autonomous helicopter using Kalman filtering,” in Intelligent Robotsand Systems, 1999, pp. 1346 – 1353.
[7] D. Jones, “Power line inspection - a UAV concept,” in Proc. IEE Forum on: Autonomous Systems, 2005 pp. 1-7. [8] J. Katrasnik, F. Pernus, B. Likar, “A Survey of Mobile Robots for Distribution Power Line Inspection,” IEEE Trans. on Power De-livery, vol. 25, pp. 485-493, Jan 2010. [9] J. Toth, and G.J. Adelana, "Smart view for a smart grid—Unmanned Aerial Vehicles for transmission lines,” in Proc. IEEE Applied Robotics for the Power Industry, Montreal, 2010, pp. 1-6. [10] A. Pagnano, M. Höpf, and R. Teti, "A Roadmap for Automated Power Line Inspection. Maintenance and Repair," Procedia CIRP, vol. 12, pp. 234-239, 2013. | ||
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