Designing and implementation of an unmanned aerial vehicle for inspection of electricity distribution networks

Document Type : Research Paper


1 University of Tehran

2 Teacher Assistant


One of the most crucial elements of each country is electricity distribution networks (EDN). Awareness of accidents in EDN could be very important in the conservation and utilization of them. The accurate and periodic inspections can provide a good service to subscribers. The goal of this project is to fabricate a quad rotor, which can do an accurate and a periodic inspection. The design and implementation procedure are explained. The mechanical parts are designed by SolidWorks software then the structure of robot is fabricated with AL8080 by machining and milling. Then the dynamic model of the robot is generated and based on it the controller is designed. The two PID controller are proposed and simulated with MATLAB Simulink.


Main Subjects

 [1] S. Mukhopadhyay, “PID equivalent of optimal regulator,” Electronics Letters, vol. 14, no. 25, pp. 821–822, 1978.
[2] S. Bouabdallah, A. Noth, and R. Siegwart, “PID vs LQ control techniques applied to an indoor micro quadrotor,” in proceedings of IEEE International Conference on Intelligent Robots and Systems IROS, 2004, pp. 2451–2456.
[3] A. L. Salih, M. Moghavvemi, H. A. F. Mohamed, and K. S. Gaeid, “Flight PID controller design for a UAV quadrotor,” Scientific Research and Essays, vol. 5, pp. 3360–3367, 2010.
[4] T. Madani and A. Benallegue, “Backstepping control for a quadrotor helicopter,” Intelligent Robots and Systems, 2006 IEEE/RSJ International Conference on, pp. 3255–3260, 2006.
[5] G. V. Raffo, M. G. Ortega, and F. R. Rubio, “An integral predictive/ nonlinear H infinity control structure for a quadrotor helicopter,” Automatica, vol. 46, pp. 29–39, 2009.
[6] M. Jun, S. I. Roumeliotis, and G. S. Sukhatme, “State estimation of an autonomous helicopter using Kalman filtering,” in Intelligent Robotsand Systems, 1999, pp. 1346 – 1353.
[7] D. Jones, “Power line inspection - a UAV concept,” in Proc. IEE Forum on: Autonomous Systems, 2005 pp. 1-7.
[8] J. Katrasnik, F. Pernus, B. Likar, “A Survey of Mobile Robots for Distribution Power Line Inspection,” IEEE Trans. on Power De-livery, vol. 25, pp. 485-493, Jan 2010.
[9] J. Toth, and G.J. Adelana, "Smart view for a smart grid—Unmanned Aerial Vehicles for transmission lines,” in Proc. IEEE Applied Robotics for the Power Industry, Montreal, 2010, pp. 1-6.
[10] A. Pagnano, M. Höpf, and R. Teti, "A Roadmap for Automated Power Line Inspection. Maintenance and Repair," Procedia CIRP, vol. 12, pp. 234-239, 2013.
Volume 47, Issue 1
June 2016
Pages 79-87
  • Receive Date: 15 March 2016
  • Revise Date: 06 May 2016
  • Accept Date: 27 May 2016