Luwei Liao, Zhong Yang, Haoze Zhuo, Nuo Xu, Wei Wang, Kun Tao, Jiabing Liang, Qiuyan Zhang
{"title":"Control and Application of Tree Obstacle-Clearing Coaxial Octocopter with Flexible Suspension Saw","authors":"Luwei Liao, Zhong Yang, Haoze Zhuo, Nuo Xu, Wei Wang, Kun Tao, Jiabing Liang, Qiuyan Zhang","doi":"10.3390/drones8070328","DOIUrl":null,"url":null,"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.","PeriodicalId":507567,"journal":{"name":"Drones","volume":" 25","pages":""},"PeriodicalIF":0.0000,"publicationDate":"2024-07-17","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":"0","resultStr":null,"platform":"Semanticscholar","paperid":null,"PeriodicalName":"Drones","FirstCategoryId":"1085","ListUrlMain":"https://doi.org/10.3390/drones8070328","RegionNum":0,"RegionCategory":null,"ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":null,"EPubDate":"","PubModel":"","JCR":"","JCRName":"","Score":null,"Total":0}
引用次数: 0
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.
求助内容：
应助结果提醒方式：
京公网安备 11010802042870号
