基于PLC的巡检无人机轨迹跟踪控制仿真  

Simulation of Trajectory Tracking Control for Patrol UAV Based on PLC

作　　者：张贵红[1] 谢敏[2] 王腊节[1] ZHANG Gui-hong;XIE Min;WANG La-jie(Department of Information Engineering,Gongqing College of Nanchang University,Jiujiang Jiangxi 332020,China;School of Engineering and Construction,Nanchang University,Nanchang Jiangxi 330031,China)

机构地区：[1]南昌大学共青学院,江西九江332020 [2]南昌大学工程建设学院,江西南昌330031

出　　处：《计算机仿真》2024年第11期465-469,共5页Computer Simulation

摘　　要：为了确保无人机在巡检过程中能够有效地完成任务,避免出现飞离预定区域、误差增大导致的飞行事故等风险,提出一种基于可编程逻辑控制器(Programmable Logic Controller,PLC)的巡检无人机轨迹跟踪控制方法。采用改进同态滤波算法对无人机拍摄到的影像增强处理,获取清晰的巡检影像。利用引导线扫描和中心线拟合的方式获取巡检无人机扫描方案和巡检策略,同时采用PLC控制方法建立巡检无人机轨迹跟踪控制模型,实现轨迹跟踪控制。实验结果表明,所提方法可以有效减少巡检无人机轨迹跟踪控制误差,且轨迹跟踪控制响应时间低于60ms,全面提升了巡检无人机的工作效率。In order to ensure that the drone can effectively complete the tasks during the inspection process,this paper proposed a tracking control method for patrol UAV based on Programmable Logic Controller(PLC).Firstly,an improved homomorphic filter algorithm was used to enhance the image captured by the drone,thus obtaining clear images.Secondly,the scanning plan and inspection strategy of the UAV were obtained by using the line guidance scan-ning and center line fitting methods.Meanwhile,a model of trajectory tracking control was built by the PLC control method.Finally,trajectory tracking control was achieved.The experimental results show that the proposed method can effectively reduce the error of trajectory tracking control,and the response time is less than 6Oms,which comprehen-sively improves the work efficiency of patrol UAV.

关 键 词：可编程逻辑控制器 巡检无人机轨迹跟踪 改进同态滤波算法 

分 类 号：TP273[自动化与计算机技术—检测技术与自动化装置]