论文部分内容阅读
四旋翼航拍云台是低空机载拍摄中稳定相机视轴的稳定平台,选取两轴云台为设计对象,对云台的控制系统进行设计研究。其中控制系统包括视轴框架传感器,云台主控制器,云台框架电机,云台框架四部分组成。通过闭环控制反馈传感器对云台电机检测的位置信号到主控制器中,主控制器处理信号并控制电机转矩,使云台电机隔离无人机的机体扰动,可靠稳定地完成航拍任务。改进了传统人工调节PID控制参数的繁琐方式,采用遗传算法来整定PID控制参数,并通过仿真验证了该方法整定的参数使控制系统无超调,响应速度快。
Quadrotor Aerial PTZ is a stable platform for stabilizing the camera’s boresight in low-altitude aerial photography. The two-axis PTZ is selected as the design object, and the control system of PTZ is designed and studied. Including the control system, including the visual axis frame sensor, PTZ master controller, PTZ frame motor, PTZ frame composed of four parts. The closed loop control feedback sensor detects the position signal of the PTZ motor to the main controller. The main controller processes the signal and controls the motor torque, so that the PTZ motor isolates the body of the UAV to disturb and reliably and stably accomplish the aerial photography task. The tedious way to manually adjust the PID control parameters is improved. The genetic algorithm is used to set the PID control parameters. The simulation results show that the parameters set by the method have no overshoot and fast response.