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随着机载云台技术的快速发展,搭载稳定云台的无人机具备快速目标搜索和跟踪能力。由于云台常在复杂环境下执行任务,不可避免地会受到风阻力、机械振动、负载扰动等多种因素影响。传统的云台控制系统采用经典的PID控制,但在复杂的环境中,由于外扰突变,传统的PID不能跟踪突变量的变化,造成控制系统控制精度下降和响应速率减慢。设计基于ARM的硬件平台,运用神经网络云台控制技术,在方向恒定、风速5.95 m/s情况下,云台的姿态角度误差在±5°以内,能够实现云台的稳定控制。
With the rapid development of airborne PTZ technology, unmanned aerial vehicles equipped with a stabilized PTZ possess fast target search and tracking capabilities. As the PTZ often perform tasks in complex environment, it will inevitably be affected by many factors such as wind resistance, mechanical vibration and load disturbance. The traditional PTZ control system uses the classical PID control. However, in the complicated environment, the traditional PID can not track the change of the sudden change due to the sudden change of external disturbance, resulting in the decrease of the control accuracy and the slowdown of the response speed of the control system. The hardware platform based on ARM is designed. With the help of the neural network PTZ control technology, the attitude error of PTZ is within ± 5 ° under the condition of constant direction and wind speed of 5.95 m / s, which can realize the stable control of PTZ.