无人直升机巡线多传感器吊舱稳定平台设计

摘要

In allusion to the characteristic of multi-task and multi-objective composite remote sensing inspection in unmanned helicopter-based electric power line inspection and in order to solve the contradiction between requirement for multi-sensor carrying and weight and size of the pod, a kind of large-load, two-axle double-frame stabilized platform structure for multi-sensor pod was designed, and a high-precision control method based on large inertia and fast response was proposed.According to characteristic of low speed flight of the unmanned helicopter in power line inspection, an optimal strategy of unbalanced torque and feedforward compensation focusing on pod eccentric distance was adopted.Laboratory and flight tests both verified control effects of this stabilized platform which could meet requirements for inspection data quality in electric power line inspection by the unmanned aerial vehicle.%针对无人直升机电力巡线中多任务目标复合遥感巡检特点,为了解决多种传感器搭载需求以及吊舱重量、尺寸之间的矛盾,设计了一种大载荷、两轴两框架、多传感器吊舱稳定平台结构,提出了基于大惯量、快响应的两轴吊舱稳定平台高精度控制方法,根据无人直升机巡检时低速飞行的特点采用了以吊舱偏心距为主的不平衡力矩前馈补偿优化策略.实验室和飞行测试验证了稳定平台的控制效果,可满足无人机电力巡线中巡检数据质量要求.