三轴视频跟踪激光云台控制系统的设计  

Design of control system for the three⁃axis video tracking gimbal

作　　者：田杰 郗小鹏 陈剑[3] 余鹏[1] 崔向宇 TIAN Jie;XI Xiaopeng;CHEN Jian;YU Peng;CUI Xiangyu(Shenzhen Power Supply Company Limited,Shenzhen 518000,China;TianJin ZhongWei Aerospace Data System Tenchnology Co.,Ltd.,Tianjin 300301,China;Space Star Technology Co.,Ltd.,Beijing 100086,China)

机构地区：[1]深圳供电局有限公司,广东深圳518000 [2]天津航天中为数据系统科技有限公司,天津300301 [3]航天恒星科技有限公司,北京100086

出　　处：《电子设计工程》2020年第23期188-193,共6页Electronic Design Engineering

摘　　要：基于多旋翼无人机平台,搭建了以STM32F405系列ARM单片机为核心器件的控制系统,研究设计了具有视频跟踪和障碍清除功能的三轴激光云台。通过采用高精度陀螺的角度及加速度信息,驱动3个轴向的直流力矩电机,使云台上搭载的摄像机及激光发射器的指向与锁定目标在惯性空间保持不变,实现目标锁定和自动跟踪,系统稳定精度控制在0.02°以内,达到较好的视轴跟踪稳定性及激光器切割的准确性,实现精准切割。Based on the multi⁃rotor UAV platform,the system builds a control system with STM32F405 series ARM single⁃chip microcomputer as the core device,and studies and designs a three⁃axis laser head with video tracking and obstacle removal functions.By using high precision gyro Angle and acceleration information,driving three axial dc torque motor,yuntai on cameras and laser point and target in inertial space remains the same,to achieve target and automatic tracking,accuracy control system stable in 0.02 degree of less than,to achieve a better visual axis tracking stability and the accuracy of the laser cutting,precision cutting.

关 键 词：多旋翼无人机 三轴激光云台 单片机 控制系统 

分 类 号：TN40[电子电信—微电子学与固体电子学]