机载光学定位测量跟踪器研究  

Research on airborne optical positioning and measurement tracker

作　　者：竺春祥 鹿存跃[1] 杨明[1] 黄整章 

机构地区：[1]上海交通大学仪器科学与工程系,上海200240

出　　处：《电子设计工程》2014年第20期17-19,共3页Electronic Design Engineering

基　　金：国家自然科学基金项目(11174206);航空基金(20120657004)

摘　　要：研究提出了一种机载光学定位测量跟踪器,利用超声电机驱动的二维精密跟踪系统,驱动摄像机跟随待测对象做旋转运动,由无人机的位置和电机上编码器的数值,计算出待测对象的绝对位置。完成了以32位ARM处理器STM32F103ZET6为主控芯片的双超声电机驱动电路和超声电机驱动的二维精密跟踪云台的设计。实验结果表明,该系统响应时间小于3 ms,可高速高精度地实现水平和垂直方向0~360°旋转,当驱动信号频率为41 k Hz,编码器精度为2 000线时,电机位置精度在一个编码脉冲0.18°以内,最高速度可达150 r/min。In this paper, an airborne optical positioning and measurement tracker is designed. The system can follow the object with a two-dimensional precision tracking system drived by ultrasonic motor（USM）,and then calculate absolute position of the object by the data from the unmanned aerial vehicle（uav） and motor encoder value. There are two parts in this system, one is ultrasonic motor’s driving circuit, it takes STM32F103ZET6 as master chip which is a 32-bit chip and the best one in STM32F103 series, and developed by ARM company. Another is the two-dimensional Pan-Tilt-Zoom（PTZ） which consists of two ultrasonic motors.The experiment result show that when the frequency of driving signal is 41.81 k Hz and the encoder accuracy is 0.18°,the system could response in less than 3 ms and control PTZ rotate 0 to 360 degrees in horizontal and vertical direction with high speed and accuracy. The test results show that the system makes the position control of Pan-Tilt at high speed and accuracy come true according to the given angel, and the highest speed can be 150 r/min, the accuracy is 0.18°.

关 键 词：超声电机 STM32F103ZET6芯片 光学定位测量系统 高速高精度 

分 类 号：TN710.2[电子电信—电路与系统]