摘要
随着无人机技术的发展,以无人机作为载体的输电线路巡检系统应运而生,然而,在无人机的飞行过程中,无法避免机身的抖动,这将影响图像采集单元采集的图像信息,本文在输电线路巡检这一应用背景下,设计了无人机云台控制系统的电机驱动单元与主控制器的硬件部分,针对电机驱动单元,采用永磁同步电机矢量控制算法为云台系统提供了精确的角度控制,最后根据云台姿态传感器,采用运动补偿算法去除图像抖动,实际应用表明,该云台系统控制精度达到0.04°,能满足输电线路巡检图像采集的需求。
With the development of UAV technology there is a trend that more and more transmission line inspection system use UAV as a carrier, however, in UAV flight, the body can not avoid jitter, which will affect the image acquisition unit acquisition image information, under the transmission line inspection application background, in this paper,the motor drive unit and UAV PTZ main controller hardware are designed, then the use of vector control algorithm to permanent magnet synchronous motor provides precise angle control, according to the PTZ＇s attitude sensor, motion compensation algorithm is used, in order to maintain the central position of the target image, the practical application shows that the system can meet the needs of head transmission line inspection image acquisition.
出处
《电子测量技术》
2014年第4期43-47,共5页
Electronic Measurement Technology
作者简介
黄宵宁（1972-）,男,副教授,研究方向：从事电力系统运行与控制、输配电装备与电网安全,虚拟仿真、计算机视觉技术在电力系统中的应用.E-mail：huangxiaoning@njit.edu.cn
