面向搜索跟踪任务的小型无人机云台补偿控制  

Compensation Control of Miniature UAV Gimbal Performing Searching and Tracking Tasks

作　　者：关旭宁[1] 吕印晓[1] 张立鹏 廖开俊[1] 辛公彩[1] 

机构地区：[1]空军第一航空学院,河南信阳464000 [2]空军西安飞行学院,陕西西安710306

出　　处：《信息与控制》2016年第5期537-543,共7页Information and Control

摘　　要：在地面目标搜索任务中,无人机与传感器设备的安装交联和无人机的六自由度运动会使得无人机探测路径与飞行路径之间产生差异.因此,针对耦合作用给搜索任务带来的消极影响,将无人机本体的姿态测量信息引入到对云台的控制中,保证飞行路径与探测路径的协调.同时,针对目标跟踪任务,对因为无人机与目标的相对位置变化对实时捕捉目标造成的不良影响进行补偿,使摄像机对目标的凝视更稳定、更准确.最后,通过仿真实验验证该云台控制方法的有效性.With regards the ground target-searching issue,the coupling of unmanned aerial vehicles（ UAVs） and camera,along with the 6-DOF motion of the UAV,result in the divergence of the detection path from the flight path. To deal with the negative effects brought about by coupling during searching task,vehicle attitude rates measured by platform sensors are introduced in this study to coordinate the flight path and the detection path. Moreover,for the ground target-tracking issue,which is aimed at counterbalancing negative effects brought about by real-time relative lacation changing,compensation control law for gimbal is designed,and is used to gaze at targets with extra stability and accuracy. The effectiveness of the gimbal contol method is validated by performing a series of simulations.

关 键 词：无人机 搜索跟踪 云台控制补偿 

分 类 号：TP391[自动化与计算机技术—计算机应用技术]