摘要
为获取低空高分辨率可视光谱图像信息,本文设计一种以小型无人机为搭载平台的三轴云台。系统采用嵌入式微控制器STM32F429作为主控单元,相机采用6轴运动处理传感器MPU6050的角速度信息作为速度环的反馈,通过串行扩展总线与云台主控单元通信,使用低通滤波进行姿态解算。系统采用三相脉冲宽度调制PWM信号对直流无刷电机进行控制,实现控制电机转子平滑过渡到任意角度。为了验证该系统的可靠性,将此云台搭载在六旋翼无人机上进行性能测试,结果表明挂载该云台获取无抖动高分辨率图像能够满足实验要求。
In order to obtain low altitude of high-resolution visible spectral image information,this article designed a triaxial PTZ controller based on UAV mounted platform,the system uses STM32F429 embedded microcontroller as the main unit,camera uses angular velocity message of the 6-axis motion processing sensor MPU6050 as the speed loop feedback,through serial expansion bus communication with the main control unit of PTZ,using a low-pass filtering for the attitude algorithm.The system uses Three-phase pulse width modulation PWM signal for brushless DC motor control,the motor rotor can be achieved a smooth transition to any angle.In order to verify the reliability of the system,this PTZ mounted by a six-rotor UAV for performance test,the results show that mounted this PTZ can get jitter-free high-resolution images to meet the test requirements.
出处
《中国农机化学报》
2016年第8期171-175,共5页
Journal of Chinese Agricultural Mechanization
基金
基于激光雷达/GPS组合导航技术的多旋翼无人机系统研发及产业化(JDY-20140408K03)
