关键词: 树障清理空中机器人, 姿态控制系统, PID控制算法

Abstract: Tall trees and complex terrain in complex environmental regions may cause electricity danger, but traditional methods for manually clearing tree barriers easily involve safety accidents and the robots developed in our country have the problems of unstable air attitude control and data transmission. The aerial robot for clearing tree barriers is designed and implemented to solve the above problems. The structure of the robot mainly includes multi-rotor UAV, control system, remote monitoring system, communication system and tool device. The dynamics model of aerial robot is established by determining the relationship between ground coordinate system and UAV coordinate system. Considering the influence of environment and other factors on the data collected by aerial robot sensors, a sensor data fusion algorithm is established to process the data collected by sensors. The attitude controller of aerial robot is designed by using PID (Proportion Integral Differential) control method. The attitude control tests and tree-barrier cleaning tests are carried out to verify the performance of the tree-barrier clearing aerial robot. The test results show that the response time of the robot attitude control is short, with the shortest up to 1.2s. When cleaning the tree barrier, the maximum diameter of the tree barriers can be cleaned up to 4cm, and the maximum cutting time is 3s.

Key words: aerial robot for tree barrier clearing, attitude control system, PID control algorithm