四旋翼无人机航拍云台的控制系统设计

Control system design for the aerial pan-title of four-rotor UAV

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。

The pan-title of four-rotor aircraft is a platform for stabilizing camera visual axis in low-altitude airborne shooting. In this paper, two-axis pan-title was chosen as the design object and the corresponding control system was studied. The control system included the visual axis frame sensor, main controller board, brushless DC motor and the frame of pan-title. To complete the aerial photography effectively and stably, the closed-loop control system was designed, for the main controller to process the position signal of feedback motor and control the motor torque so that the motor of pan-title isolated the UAV body disturbances. Instead of the traditional manual adjustment, this paper utilized genetic algorithms to set the PID control parameters. And the effectiveness of the designed parameters was verified by simulations which show that the proposed method can lead to the fast response of the control system without overshoot.