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Abstract(s)
Este trabalho de desenvolvimento tem foco num controlo supervisionado num contexto de novas
metodologias de trabalho para missões em aeronaves autónomos. Para ilustração do problema
de controlo são usadas missões, e suas problemáticas, de inspeção de linhas elétricas aéreas,
em que no momento de recolha e processamento de dados o operador está perante um conjunto
de tarefas, nomeadamente de: controlo, vigilância e supervisão, que deverá ter em conta para
durante a missão, e em tempo real, de forma a conseguir manipular o sistema mantendo as
distâncias seguras entre os obstáculos e a aeronave, de acordo com um determinado envelope
de segurança que se pretende impor à situação de/em voo.
A verificação do estado das linhas elétricas e suas infraestruturas é uma atividade essencial
para garantir o bom funcionamento da rede elétrica e fornecimento da energia ao consumidor
final. Efetuar trabalhos de monitorização em segurança é o objetivo primordial destes trabalhos
aéreos. Para este efeito, o desenvolvimento de sistemas versáteis para a inspeção de linhas de
média e alta tensão representa um elemento inestimável para a manutenção destas, quer do
ponto de vista corretivo como também preventivo.
A inspeção de linhas elétricas desenvolvida a partir de meios aéreos tripulados, nomeadamente
helicópteros, é uma das atividades profissionais mais exigentes associadas aos referidos meios
aéreos. Estas exigências e risco exposto nas missões são devidas ao facto de se desenvolverem,
na maior parte das vezes, em ambientes hostis e sempre em níveis de altitude e velocidade redu zidos. Ao longo dos últimos anos tem-se notado um aumento no desenvolvimento de aeronaves
autónomas quer no sector civil como militar, este crescimento conta com a sua versatilidade,
baixo custo e fatores de segurança acrescidos pela inexistência humana a bordo da aeronave.
Atendendo a esta tendência e às suas vantagens aplicadas às necessidades apresentadas durante
as missões de voo desenvolvidas, tem como objetivo este trabalho a obtenção de envelopes de
voo dedicados às missões de inspeção de linhas elétricas aéreas, considerando-se uma determi nada tipologia de aeronave e missão. Para que seja possível desenvolver missões seguras há que
caracterizar as manobras perigosas inerentes à inspeção, e com essa perspetiva criar metodo logias servindo-se de meios aéreos autónomos que permitam supervisionar os voos de inspeção
das linhas elétricas aéreas.
A abordagem proposta considera métodos inovadores cuja contribuição se insere em campos
de pseudo-linearização da dinâmica de voo de um quadrotor, sendo usado neste âmbito uma
filtragem de Kalman pseudo-linear ótima para completar os ciclos de previsão, decisão e alerta.
Se conhecidas as variáveis que descrevem a dinâmica da aeronave é possível desde logo aplicar
as metodologias de previsão e controlo. Toda esta abordagem rege-se na previsão de trajetórias
e de atitude aplicadas a sistemas quadrotor. O maior foco e contribuição deste trabalho de
desenvolvimento é o uso de controlo supervisionado ótimo aplicado a um quadrotor no âmbito
da monitorização de linhas elétricas aéreas para o desenvolvimento de missões de voo seguras
desenhadas para um determinado envelope de segurança baseado no voo em si e nas limitações
relativas à performance dos sensores.
Pretende-se futuramente usar este contributo de investigação, desenvolvimento e inovação e
inseri-lo no software de monitorização, ou seja, no interface de voo, com novas metodologias
que permitem neste contexto efetuar os voos num ambiente de controlo e supervisão seguros.
The proposed work is focused on a supervised control in a context of new working methods applied on autonomous aircraft missions. To illustrate the problem of control are used the inspection of overhead power lines missions, and considered all the associated problems. In the time of data acquisition and processing, the operator is facing a set of tasks, namely: control, surveillance and supervision, that they should take into account during the mission in real time and in order to be able to manipulate the system and maintaining safe distances between the aircraft and obstacles, according to a particular safe flight envelope that is intended to impose on / in-flight situation. Verification of electrical lines and their infrastructure is an essential activity to ensure the undisturbed operation of the electrical grid and supply energy to final consumers. Performing the survey work in safety is the primary objective of the inspection teams and with this doctoral program to create tools that help in this task. For this purpose, the development of versatile monitoring systems to inspect high voltage overhead lines represents an invaluable element for the maintenance of these, for corrective actions and especially preventive. The inspection of electrical lines developed from unmanned aerial means, including helicopters, is one of professional activities associated with the most demanding for helicopters. These requirements and the risk exposed tasks are due to the fact that develop in most cases, in hostile environments and always with reduced altitude and speed levels. Over the past few years has noticed an increase in the development of autonomous aircrafts both in the civil and military sectors, this growth relies on its versatility, low cost and security factors increased by no human on board of the aircraft. Given this trend and its advantages applyed to the needs presented during developed flight missions, aims to this work obtaining flight envelopes dedicated to the inspection of overhead power lines missions, considering a particular aircraft type and mission. To be able to develop safe missions there are characterized the dangerous maneuvers inherent to inspection, and with this perspective create methodologies making use of autonomous aerial means to supervise the inspection flights over the power lines. The proposed approach considers innovative methods whose contribution includes pseudo line arization fields of flight dynamics of a quadrotor, being used in this area a great pseudo-linear Kalman filtering to complete the forecast cycles of decisions, warnings and to control our sys tem. If it is known the variables that describe the dynamics of our aircraft can immediately apply the methods of forecasting and control. However, it is not always possible to obtain these readings and determining parameters describing the model is a question raised in this way is shown one solution for identifying necessary parameters for model identification when consi dered dynamic systems. All this address is governed in forecasting trajectories and attitude applied to quadrotor systems. The major focus and contribution of this development work is the supervised control for a quadrotor under the inspection of overhead lines, and for the deve lopment of safe flight missions designed for a given envelope security based on the flight itself and the limitations concerning performance of the sensors. Intended to be the future, this contribution research, development and innovation will be uesed and will be inserted in the monitoring software with new methodologies that allow this context to proceed safe flights using a supervisied environment of control.
The proposed work is focused on a supervised control in a context of new working methods applied on autonomous aircraft missions. To illustrate the problem of control are used the inspection of overhead power lines missions, and considered all the associated problems. In the time of data acquisition and processing, the operator is facing a set of tasks, namely: control, surveillance and supervision, that they should take into account during the mission in real time and in order to be able to manipulate the system and maintaining safe distances between the aircraft and obstacles, according to a particular safe flight envelope that is intended to impose on / in-flight situation. Verification of electrical lines and their infrastructure is an essential activity to ensure the undisturbed operation of the electrical grid and supply energy to final consumers. Performing the survey work in safety is the primary objective of the inspection teams and with this doctoral program to create tools that help in this task. For this purpose, the development of versatile monitoring systems to inspect high voltage overhead lines represents an invaluable element for the maintenance of these, for corrective actions and especially preventive. The inspection of electrical lines developed from unmanned aerial means, including helicopters, is one of professional activities associated with the most demanding for helicopters. These requirements and the risk exposed tasks are due to the fact that develop in most cases, in hostile environments and always with reduced altitude and speed levels. Over the past few years has noticed an increase in the development of autonomous aircrafts both in the civil and military sectors, this growth relies on its versatility, low cost and security factors increased by no human on board of the aircraft. Given this trend and its advantages applyed to the needs presented during developed flight missions, aims to this work obtaining flight envelopes dedicated to the inspection of overhead power lines missions, considering a particular aircraft type and mission. To be able to develop safe missions there are characterized the dangerous maneuvers inherent to inspection, and with this perspective create methodologies making use of autonomous aerial means to supervise the inspection flights over the power lines. The proposed approach considers innovative methods whose contribution includes pseudo line arization fields of flight dynamics of a quadrotor, being used in this area a great pseudo-linear Kalman filtering to complete the forecast cycles of decisions, warnings and to control our sys tem. If it is known the variables that describe the dynamics of our aircraft can immediately apply the methods of forecasting and control. However, it is not always possible to obtain these readings and determining parameters describing the model is a question raised in this way is shown one solution for identifying necessary parameters for model identification when consi dered dynamic systems. All this address is governed in forecasting trajectories and attitude applied to quadrotor systems. The major focus and contribution of this development work is the supervised control for a quadrotor under the inspection of overhead lines, and for the deve lopment of safe flight missions designed for a given envelope security based on the flight itself and the limitations concerning performance of the sensors. Intended to be the future, this contribution research, development and innovation will be uesed and will be inserted in the monitoring software with new methodologies that allow this context to proceed safe flights using a supervisied environment of control.
Description
Keywords
Aeronave não tripulada Envelope de voo Inspecção de linhas eléctricas Robótica Controlo supervisionado