基于无人机技术的输电线路巡检跟踪控制系统仿真

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中图分类号： TP274∘.2 文献标志码：A

文章编号：1001-5922（2025）06-0139-04

Simulation of transmission line inspection tracking control system based on UAV technology

ZHANG Yiming，CHENG Li，CHEN Hui，ZHANG Jian（State Grid Gansu Electric Power Company，Lanzhou 730030，China）

Abstract：In order to improve the efficiency of transmission line inspection，a tracking control method for transmis⁃ sion line inspection based on UAV technology is proposed with four-rotor UAV as the research object. The method takes the UAV's tracking of the desired trajectory flight within a limited time as the control target，and controls the UAV by designing a position controller within a limited time to realize the UAV's inspection and tracking of the transmission line. The simulation results show that the proposed method can control the UAV to track the desired position trajectory in a limited time，and then realize the UAV's horizontal path inspection of transmission lines and the tracking inspection of transmission lines，as well as the tracking inspection of transmission lines interrupted by foreign objects. The effective rate reaches 90% ，which basically meets the requirements of transmission line inspec⁃ tion and tracking. It has certain effectiveness and practical application effect，and effectively improves the inspec⁃ tion efficiency of transmission lines.

Key words：UAV；transmission line inspection；tracking control；position control

输电线路是电力系统的关键组成部分，负责输送和分配电路，对电力系统的稳定运行具有重要意义。（剩余4623字）