CAJ | 학술논문

吊舱稳定平台在无人直升机电力巡线中发挥着重要作用。为了提高巡线质量和效率，克服自动跟踪单一模式下多源扰动导致的光学载荷视轴对目标的跟踪丢失，提出了一种基于自动/手动混合模式的吊舱稳定平台控制策略。通过组合使用基于POS（Position and Orientation System）的位置和姿态信息的自动跟踪控制模式和基于人工手柄操作的手动跟踪控制模式，当目标跟踪丢失时利用手动模式及时对自动跟踪进行校正，实现吊舱稳定平台载荷视轴对电力线路的长时高精度稳定跟踪。根据控制策略，设计了基于DSP和FPGA的三环复合伺服控制系统，通过仿真分析得到将手动控制设置在速率回路是最佳方案的结论。通过实际线路飞行实验对控制方法进行了验证，结果表明：基于自动/手动混合模式的平台控制对目标跟踪灵活准确，实现了无人机多传感器系统对电力线路的高效高精度数据采集。
조창은정평태재무인직승궤전력순선중발휘착중요작용。위료제고순선질량화효솔，극복자동근종단일모식하다원우동도치적광학재하시축대목표적근종주실，제출료일충기우자동/수동혼합모식적조창은정평태공제책략。통과조합사용기우POS（Position and Orientation System）적위치화자태신식적자동근종공제모식화기우인공수병조작적수동근종공제모식，당목표근종주실시이용수동모식급시대자동근종진행교정，실현조창은정평태재하시축대전력선로적장시고정도은정근종。근거공제책략，설계료기우DSP화FPGA적삼배복합사복공제계통，통과방진분석득도장수동공제설치재속솔회로시최가방안적결론。통과실제선로비행실험대공제방법진행료험증，결과표명：기우자동/수동혼합모식적평태공제대목표근종령활준학，실현료무인궤다전감기계통대전력선로적고효고정도수거채집。
Stabilized pod plays an important role in unmanned aerial vehicle (UAV) power line inspection. Tracking error of stabilized pod affected the quality and efficiency of the power line inspection. In order to reduce the tracking error caused by disturbances in automatic tracking model, control system of stabilized pod combined the automatic tracking model based on POS (Position and Orientation System) with the manual manipulation model based on handle was designed. When the target was lost in sight in the automatic tracking model, manual manipulating model adjust the stabilized pod rightly to keep the power line in sight. The servo control system composed of current-loop, stabilize-loop, track-loop and feed-forward compensation channel was designed based on DSP and FPGA. The handle was put in stabilize-loop through simulation analysis. The system was verified by the flight test on real power line and the result indicated that the system tracked the target and acquired data of power line accurately and effectively.