面向小型无人机的两轴稳像云台控制系统  

Two Axis Pan Tilt Image Stabilization Control System for Small UAV

作　　者：陈彤阳 王向军[1,2] CHEN Tong-yang;WANG Xiang-jun(State Key Laboratory of Precision Measuring Technology and Instruments,Tianjin University,Tianjin 300072,China;Key Laboratory of MOEMS of the Ministry of Education,Tianjin University,Tianjin 300072,China)

机构地区：[1]天津大学精密测试技术及仪器国家重点实验室,天津300072 [2]天津大学微光机电系统技术教育部重点实验室,天津300072

出　　处：《仪表技术与传感器》2021年第8期63-68,共6页Instrument Technique and Sensor

摘　　要：针对在小型无人机飞行过程中,机载光电成像探测器因抖动产生的图像虚影、视轴偏移的问题。在传统单处理器控制的基础上,设计了双处理器共同控制的两轴云台稳像控制系统,该系统通过四元数姿态解算法、模糊PID控制器和三阶Hermite插值降速曲线完成系统软件设计,实现云台自稳定和运动控制。同时,分析了该系统的组成及工作原理,给出了该系统控制电路中重要芯片的选型及电路设计。实验结果表明,在±5°、2 Hz扰动条件下,航向轴和俯仰轴的稳定隔离度分别为0.55%和0.88%。实现了对两轴云台稳像的运动控制并有效隔离两轴扰动,可应用于机载光电载荷的运动控制及视轴稳定。To solve the problem of image ghosting and visual axis offset caused by the jitter of photoelectric carrier in the flight of small UAV and based on the traditional single processor,a two axis pan tilt image stabilization system controlled by two processors was designed.The software design of the system was completed by quaternion attitude solution algorithm,fuzzy PID controller and third-order Hermite interpolation deceleration curve to realize the self-stabilization and motion control of pan tilt.The composition and working principle of the system were analyzed,and the selection and circuit design of the important chips in the control circuit of the system were given.The experimental results show that the stability isolation of heading axis and pitching axis is 0.55%and 0.88%respectively under±5°and 2 Hz disturbance conditions.The motion control of two axis pan tilt image stabilization is realized and the disturbance of the two-axis is isolated effectively.It can be applied to motion control and sight axis stabilization of airborne photoelectric load.

关 键 词：云台稳像 四元数 模糊PID控制 三阶Hermite插值 

分 类 号：TP273[自动化与计算机技术—检测技术与自动化装置]