基于PID的电力巡检光电吊舱稳定平台控制系统设计  

Control System Design for Power Line Inspecting Electro-optical Pod Inertial Stabilization Platform Based on PID

作　　者：王柯 赵强[2] 彭向阳 周向阳[2] 麦晓明 张宏燕[2] 

机构地区：[1]广东电网有限责任公司电力科学研究院,广州510080 [2]北京航空航天大学仪器科学与光电工程学院,北京100191

出　　处：《控制工程》2015年第S1期135-140,共6页Control Engineering of China

基　　金：国家自然科学基金资助项目(51375036);南方电网公司重点科技项目(K-GD2013-030)

摘　　要：为应对我国超、特高压电力线路运维需要,无人直升机巡检技术得到越来越广泛的应用。为实现大载荷多传感器集成的吊舱稳定平台控制,设计了基于PID的两轴惯性稳定平台控制方法。首先对电力巡线惯性稳定平台的结构以及控制原理进行了介绍,采用了一种基于PID的三环复合控制方案,通过考虑系统的超调量、调节时间、阻尼性等各项指标,分别对电流环、稳定环和跟踪环的PID控制器进行设计。通过仿真分析和实验对设计结果进行了验证,结果表明吊舱稳定平台的稳态精度、动态响应能力满足大载荷多传感器集成的应用要求。In response to the needs for extra/ultra high voltage transmission line operation and maintenance, unmanned helicopter patrol are widely used gradually. In order to realize the controlling of a large payload multi-sensor integrated electro-optical pod, a control system based on PID for two-axis inertial stabilization platform were designed, and a kind of tricyclic compound control system scheme using PID was applied. Considering the performances of overshoot, response time, damping and so on, the PID parameters of the current loop, stabilization loop and tracking loop were designed respectively. Simulation analysis and experiment results showed that the steady precision and dynamic response ability of the inertial stabilization platform met the need of large payload multi-sensor integrated applications.

关 键 词：自动控制技术 电力巡线 惯性稳定平台 三环复合控制 PID控制 

分 类 号：TM75[电气工程—电力系统及自动化]