基于电位计式位移传感器的无人机电传操纵系统的设计与实现

The Design and Implementation of UAV-FBW System Based-on Potentiometer as Displacement Sensor

作为一种位置传感器,精密电位计可在广泛领域内实现精密位置定位,而电传操纵系统的定位是无人机UAV飞行控制的保障,基于电位计的定位是通过测量电位计的输出电压来实现的,利用电位计做位置传感器,直接控制输出舵面是非常有意义的。论文理论上分析了电位计采集的精度要求,算法上采取了PIP与抗积分饱和限制,控制上采取插补模式,实验验证电位计负载电阻的信号改善作用,系统在60 mm行程以内的定位精度可达到1 mm.

Potentiometer,as a position sensor,can be used for a multitude of diverse applications to achieve precision positioning.The positioning of fly-by-wire（ FBW） control system is the guarantee of UAV flight control,which is achieved by measuring the output voltage of the potentiometer to get the position location.The potentiometer＇s output directly be controlled on rudder surface,and this is very meaningful.We first analyze the theory of acquisition accuracy requirement based on potentiometer,and then adopt a PIP（ Proportion Integration Position） and integral saturation limit in algorithm and take the interpolation mode in control method.The experiments show that potentiometer＇s load resistance in the signal improvement,and positioning accuracy is 1 millimetre within 60 millimetre.