摘要
针对农田监测无人机对大范围观测视野、便利操控和高质量拍摄图像的需求问题,设计跟随人体头部姿态的监测云台。首先,根据云台对小体积、轻量化和易集成的设计要求,设计云台结构,并利用ANSYS有限元分析软件进行静力学载荷校核和动力学模态分析;其次,采用四元数方法进行头部姿态解算,利用互补滤波算法进行加速度计和陀螺仪的数据融合,利用嵌入式平台设计并制作云台控制系统;最后,对云台系统的姿态解算准确度进行动态测试和静态测试,对云台的减振性能进行对比测试。结果表明:云台在结构强度和减震性能上满足需求;控制算法和系统能够稳定可靠的解算姿态,并控制云台实时跟随,动态姿态角度误差不超过2°,600 s的静态角度漂移不超过5.5°;云台具有较好的减振和抗振性能,平飞测试中振动加速度均方根值比航拍云台的小41.8%,机动测试中振动加速度最大幅值比航拍云台小21%。该装置可以为无人机的农田监测任务提供更好的便利性。
Aiming at the demand problem of a large field of view,control convenience,and high-quality images,the head attitude tracking gimbal was designed.Firstly,according to the design requirements of the gimbal for size,weight,and integration difficulty,the gimbal structure was designed.Meanwhile,the static and modal analysis of the gimbal was carried out by using the finite element analysis software ANSYS.Secondly,the control system was designed and fabricated using embedded platforms.The system used a quaternion algorithm for attitude solution and a fusion algorithm of complementary filter for accelerometer and gyroscope.Finally,dynamic and static tests were conducted for the attitude resolution accuracy of the gimbal system.The vibration-damping performance of the gimbal was tested for comparison.The results showed that the gimbal had good performance in strength and damping capacity.The algorithm and system can solve the head attitude information steadily and reliably,which can also command the motion of the gimbal following the operator’s head attitude in real-time.The dynamic attitude angle error was less than 2°.The static attitude angle error was less than 5.5°in 600 s.This gimbal had good performance in vibration reduction and damping.In horizontal flight test,the RMS of vibration acceleration was 41.8%lower than the aerial photography gimbal.In the mobile test,the maximum peak amplitude of vibration acceleration was 21%lower than the aerial photography gimbal.This device can realize farmland monitoring tasks with UAV and provides better convenience.
作者
周利杰
孙迎建
蔡国庆
郝瑞林
刘辉
Zhou Lijie;Sun Yingjian;Cai Guoqing;Hao Ruilin;Liu Hui(Department of Mechanical Engineering,Hebei University of Water Resources and Electric Engineering,Cangzhou,061001,China;Hebei Technology Innovation Center of Industrial Manipulator and Reliability,Cangzhou,061001,China)
出处
《中国农机化学报》
北大核心
2022年第7期179-187,共9页
Journal of Chinese Agricultural Mechanization
基金
河北省高等学校科学技术研究青年基金项目(QN2021226)
省属高等学校基本科研业务费研究项目(SYKY2009)
河北省大学生创新训练项目(S201910085010)。
关键词
云台
农田监测
姿态解算
四元数
互补滤波
gimbal
farmland monitoring
attitude solution
quaternion
complementary filter
