无人直升机云台控制系统的设计与实现

摘要

According to small UAV aerial applications,design a onboard pan-tilt control system based on ARM,implement remote control of the pan-tilt attitude and camera parameters through PC keyboard on the ground. According to the received real-time image information,manual given the expectations of the pan-tilt deflection angle;Use potentio-metric sensors to collect the actual angle data for feedback, then drive the pan-tilt timely to adjust the camera according to the control algorithm,the camera will always be able to shoot to the target object;And at the same time through the ground monitoring software, real-time observation of airbrne pan-tilt state information was possible. This design has been successfully applied in a small unmanned aerial vehicles,and achieved good control as well as shooting effect.%针对小型无人机的航拍应用,设计了一种基于ARM的机载云台控制系统,实现了通过地面PC的键盘操作来远程控制云台姿态和摄像机参数.根据地面接收到的实时图像信息,手动给定云台的期望偏转角度；利用电位传感器采集云台的实际角度数据作反馈,然后依据控制算法驱动云台及时调整摄像机,使得摄像机始终能拍摄到目标对象；同时通过地面监控软件,可以实时观察机载云台的状态信息.该设计已在某小型无人机上成功应用,并且达到了不错的控制与拍摄效果.