无人直升机云台控制系统的设计与实现  

Design and Implementation of Pan-tilt Control System in UAV

作　　者：余宝意[1] 裴海龙[1] 

机构地区：[1]华南理工大学自主系统与网络控制教育部重点实验室,广州510640

出　　处：《自动化与仪表》2012年第9期48-51,共4页Automation & Instrumentation

基　　金：国家自然科学基金重点项目(60736024);教育部科技创新工程重大项目培育资金项目(708069);国家自然科学基金项目(61174053);广州市科技支撑计划项目(2009Z2-D161)

摘　　要：针对小型无人机的航拍应用,设计了一种基于ARM的机载云台控制系统,实现了通过地面PC的键盘操作来远程控制云台姿态和摄像机参数。根据地面接收到的实时图像信息,手动给定云台的期望偏转角度;利用电位传感器采集云台的实际角度数据作反馈,然后依据控制算法驱动云台及时调整摄像机,使得摄像机始终能拍摄到目标对象;同时通过地面监控软件,可以实时观察机载云台的状态信息。该设计已在某小型无人机上成功应用,并且达到了不错的控制与拍摄效果。According to small UAV aerial applications,design a onboard pan-tilt control system based on ARM,implement remote control of the pan-tih attitude and camera parameters through PC keyboard on the ground. According to the received real-time image information ,manual given the expectations of the pan-tilt deflection angle;Use potentiometric sensors to collect the actual angle data for feedback,then drive the pan-tilt timely to adjust the camera according to the control algorithm,the camera will always be able to shoot to the target object;And at the same time through the ground monitoring software,real-time observation of airbrne pan-tih state information was possible. This design has been successfully applied in a small unmanned aerial vehicles,and achieved good control as well as shooting effect.

关 键 词：无人直升机 云台 远程控制 摄像机 

分 类 号：TP391.8[自动化与计算机技术—计算机应用技术]