Desenvolvimento de um veículo aéreo não-tripulado super-atuado para pouso, acoplamento e missões em linhas de transmissão de energia

Abstract

In recent years, new techniques for inspecting power transmission lines have been developed with great potential to improve and, in some cases, even replace traditional inspection procedures such as the use of helicopters and cars. A series of Unmanned Aerial Vehicles (UAVs), with fixed and/or rotary wings, as well as vehicles that climb the power transmission line, promise to revolutionize the inspection market. In an incipient way, some works point to the fusion of some technologies, such as the development of multi-rotor UAVs with the ability to dock and move over the power transmission line. In this sense, the current work is proposed presenting significant advances, such as the super-actuated control provided by tilt-rotors, with angle deflection capability and maintenance of active motors on the power transmission line. The work presents the design, dynamic modeling, and simulation of a super-actuated UAV capable of moving over the conductor cable without the need for a new locomotion system for this. In addition, the aircraft allows for faster response and indispensable capability to approach for landing at an arbitrary position on the power transmission line instead of the lowest point of the catenary (due to its ability to rotate the tilt-rotors). To this end, project details are presented with a description of the subsystems, construction of a prototype and tests of some critical systems. Then, the dynamics of the normal flight mode and of the coupled to the power transmission line mode are modeled and simulated. Results showed good stability and precise maneuvers for the coupled to the power transmission line mode and for the flight mode, without overshoots, capable of traversing the entire catenary through different sets of Real Control Actions (RCA).