CN111152931B - Small-size triaxial photoelectric pod control system - Google Patents
Small-size triaxial photoelectric pod control system Download PDFInfo
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- CN111152931B CN111152931B CN202010267405.7A CN202010267405A CN111152931B CN 111152931 B CN111152931 B CN 111152931B CN 202010267405 A CN202010267405 A CN 202010267405A CN 111152931 B CN111152931 B CN 111152931B
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64D—EQUIPMENT FOR FITTING IN OR TO AIRCRAFT; FLIGHT SUITS; PARACHUTES; ARRANGEMENTS OR MOUNTING OF POWER PLANTS OR PROPULSION TRANSMISSIONS IN AIRCRAFT
- B64D47/00—Equipment not otherwise provided for
- B64D47/08—Arrangements of cameras
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64C—AEROPLANES; HELICOPTERS
- B64C39/00—Aircraft not otherwise provided for
- B64C39/02—Aircraft not otherwise provided for characterised by special use
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
- B64U2101/00—UAVs specially adapted for particular uses or applications
- B64U2101/30—UAVs specially adapted for particular uses or applications for imaging, photography or videography
Abstract
The invention discloses a small three-axis photoelectric pod control system, which comprises a motor, a magnetic encoder, a motor driver, an IMU (inertial measurement Unit) module, a camera device, an image processing module, a main control unit and a power module, wherein the magnetic encoder is arranged on the motor driver; the magnetic encoding is used for detecting rotor position information of a corresponding motor, and the rotor position information is driven by the corresponding motor and sent to the main control unit; the IMU module is used for detecting the angular velocity and the acceleration of an inertial space and sending data to the main control unit for attitude calculation and attitude decoupling processing, so that three-axis image stabilization control of the nacelle is realized; the image processing module is used for processing image information acquired by the camera device, and the main control unit sends an instruction to control the camera device according to different working modes; the power supply module supplies power to all parts of the system. The main control unit highly integrates the functions of the pod, such as working mode control, data acquisition of the IMU module and the image processing module, attitude decoupling, image stabilization control, tracking control, load control and the like, and is convenient to maintain, so that the pod is miniaturized and lightened.
Description
Technical Field
The invention belongs to the technical field of aircrafts, and particularly relates to a three-axis photoelectric pod control system mounted on an unmanned aerial vehicle.
Background
The small three-axis photoelectric pod is mounted on a fixed-wing or multi-rotor unmanned aerial vehicle, can carry photoelectric loads such as a high-definition visible light camera, an infrared temperature measurement camera and an image processing module, has three-axis image stabilization functions of three mechanical axes of course, roll and pitch, and can realize functions such as camera clear imaging, target stable tracking and target temperature measurement in the flight process of an airplane. Because the factors such as vibration, yaw, every single move and roll of unmanned aerial vehicle platform when shooing, the photo of shooing can produce phenomenons such as fuzzy, distortion and rotation, seriously influences the shooting effect.
The existing three-axis pod stability control method adopts a brush motor, and a brush is in contact with a rotor, so that the friction force is increased, the stability control is not facilitated, and meanwhile, the reliability is reduced; some encoders are not provided, the resolving is complex, and the control precision is difficult to improve; some drivers and motors are designed separately, and motor signals are transmitted through cables, so that signal interference is increased, and the control effect is influenced. However, the small-sized triaxial nacelle has strict requirements on stability, target tracking, size and weight in the process of airplane shaking in mounting, and a control system of the small-sized triaxial nacelle is required to realize high-performance, small-sized and high-integration design, which is difficult to meet by a common method.
Disclosure of Invention
Aiming at the problems of insufficient mounting stability, poor target tracking effect and low integration level of a small three-axis nacelle in the prior art, the invention provides a three-axis photoelectric nacelle control system mounted on an unmanned aerial vehicle, and the control system can improve the mounting performance, the nacelle image stabilization control precision and the tracking control precision.
In order to achieve the technical purpose, the technical scheme adopted by the invention is as follows:
a small three-axis photoelectric pod control system comprises a course motor, a roll motor, a pitch motor, course magnetic braiding, roll magnetic braiding, pitch magnetic braiding, course motor driving, roll motor driving, pitch motor driving, an IMU module, a camera device, an image processing module, a main control unit and a power supply module;
the heading magnetic encoding, the roll magnetic encoding and the pitch magnetic encoding are respectively used for detecting rotor position information corresponding to a heading motor, a roll motor and a pitch motor, the rotor position information is sent to the main control unit through corresponding heading motor drive, roll motor drive and pitch motor drive, and the main control unit obtains current control quantities of the heading motor, the roll motor and the pitch motor according to different working modes and then sends the current control quantities to the corresponding heading motor drive, the roll motor drive and the pitch motor drive, so that the heading motor, the roll motor and the pitch motor are controlled to work;
the IMU module is used for detecting the inertial space angular velocity and acceleration information and sending the inertial space angular velocity and acceleration information to the main control unit for attitude calculation and attitude decoupling processing, so that three-axis image stabilization control of the nacelle is realized;
the image processing module is used for processing image information acquired by the camera device and sending processing data to the main control unit, and the main control unit sends instructions to control the image processing module and the camera device according to different working modes;
the power supply module is used for uniformly supplying power to the course motor, the roll motor, the pitching motor, the course magnetic braiding, the roll magnetic braiding, the pitching magnetic braiding, the course motor drive, the roll motor drive, the pitching motor drive, the IMU module, the camera device, the image processing module and the main control unit.
By adopting the small three-axis photoelectric pod control system adopting the technical scheme, the main control unit is used as an information processing center to realize data communication with the camera device, the image processing module, the IMU module and an external interface of the pod, and can realize pod working mode switching control, three-axis motor control, pod three-axis image stabilization control, target tracking control and the like.
Further limiting, the course magnetic braiding, the roll magnetic braiding, the pitch magnetic braiding, the course motor drive, the roll motor drive and the pitch motor drive are integrated on a drive plate, and the course motor, the roll motor, the pitch motor and the drive plate are integrated together to form a drive module. The limitation improves the integration level and the anti-interference capability of the control system, and the three shafts of the heading motor, the rolling motor and the pitching motor share one integrated driving module, so that the size and the weight of the whole nacelle are reduced.
Further limiting, the heading motor, the roll motor and the pitch motor are directly driven by permanent magnet synchronous motors. The course motor, the roll motor and the pitching motor are driven by permanent magnet synchronous motors, and compared with a direct current brush motor, the electric vehicle has the advantages of high energy density, strong reliability, small fluctuation and small friction resistance.
And further limiting, the three axes of the course motor, the roll motor and the pitch motor are distinguished by addresses, and the course motor drive, the roll motor drive and the pitch motor drive respectively carry out FOC current loop control on the course motor, the roll motor and the pitch motor and are communicated with the main control unit through a CAN/UART to the outside. The FOC current loop control can accurately control the size and the direction of a magnetic field, so that the motor has the advantages of stable torque, low noise, high efficiency and high-speed dynamic response.
Further limiting, the three-axis image stabilization control of the pod is to control the speeds of the heading motor and the pitching motor to realize closed loop and keep the roll attitude angle of the pod at 0 degree.
Further, the image processing module compresses and encodes the acquired shooting information, and stores the compressed and encoded shooting information.
Further limiting, when the working mode is the target tracking mode, the image processing module locks the target according to the instruction sent by the main control unit, then the target miss distance information is sent to the main control unit, and the main control unit controls the pod to move according to the target miss distance information, so that the target is tracked.
Further defined, the camera device comprises one or a combination of a visible light camera and an infrared camera.
Further limiting, the main control unit is provided with an RS232/RS422 serial port and an S-BUS interface. The limitation enables the main control unit to freely customize a communication protocol for control or directly control through a remote controller with an S-BUS interface, and the control mode is convenient and flexible.
Compared with the prior art, the invention has the following beneficial effects:
1. the motor, the magnetic braid and the motor drive are integrally designed, the drive is modularly designed, system expansion and application in similar products are facilitated, and system integration level and stability are improved.
2. The main control unit highly integrates the functions of the pod, such as working mode control, data acquisition of the IMU module and the image processing module, attitude decoupling, image stabilization control, tracking control, external communication, load control and the like, reduces the cost, facilitates maintenance and further realizes the miniaturization and light weight of the pod.
3. The motor of the invention adopts a direct drive of the permanent magnet synchronous motor and adopts a FOC current loop control mode, thereby improving the response speed, the rigidity and the torque stability of the nacelle, and further improving the image stabilization control precision and the tracking control precision of the nacelle.
Drawings
FIG. 1 is a schematic structural diagram of a triaxial optoelectronic pod control system according to the present invention;
FIG. 2 is a FOC current loop control flow diagram of the present invention;
FIG. 3 is a flow chart of the pod control of the present invention;
fig. 4 is a control flow chart of the three-axis photoelectric pod control system of the invention.
The notation in the figure is: 11-heading motor, 12-rolling motor, 13-pitching motor, 21-heading magnetic encoding, 22-rolling magnetic encoding, 23-pitching magnetic encoding, 31-heading motor driving, 32-rolling motor driving, 33-pitching motor driving, 4-IMU module, 51-visible light camera, 52-infrared camera, 6-image processing module, 7-main control unit and 8-power module.
Detailed Description
In order to facilitate understanding of those skilled in the art, the present invention will be further described with reference to the following examples and drawings, which are not intended to limit the present invention.
As shown in fig. 1, a small three-axis optoelectronic pod control system includes a motor, a magnetic encoder, a motor driver, an IMU module 4, a camera, an image processing module 6, a main control unit 7, and a power module 8.
The motors comprise a heading motor 11, a roll motor 12 and a pitch motor 13 which provide heading, roll and pitch directions, the magnetic encoder comprises a heading magnetic encoder 21, a roll magnetic encoder 22 and a pitch magnetic encoder 23 which detect rotor position information corresponding to the heading motor 11, the roll motor 12 and the pitch motor 13, and the motor driver comprises a heading motor driver 31, a roll motor driver 32 and a pitch motor driver 33 which work corresponding to the heading motor 11, the roll motor 12 and the pitch motor 13.
The heading magnetic encoder 21, the roll magnetic encoder 22 and the pitch magnetic encoder 23 are used for detecting the rotor position information corresponding to the heading motor 11, the roll motor 12 and the pitch motor 13, the rotor position information is sent to the main control unit 7 through the corresponding heading motor 11, the roll motor 12 and the pitch motor 13, then the main control unit 7 obtains the current control quantity of the heading motor 11, the roll motor 12 and the pitch motor 13 according to different working modes and sends the current control quantity back to the corresponding heading motor driver 31, the roll motor driver 32 and the pitch motor driver 33, and therefore the working states of the rotors of the heading motor 11, the roll motor 12 and the pitch motor 13 are controlled.
The course magnetic encoder 21, the roll magnetic encoder 22 and the pitch magnetic encoder 23, as well as the course motor driver 31, the roll motor driver 32 and the pitch motor driver 33 are integrated on a driving plate, and the course motor 11, the roll motor 12 and the pitch motor 13 are integrated with the driving plate to form a driving module, so that the integration level and the anti-interference capability of the control system can be improved, and the three shafts of the course motor 11, the roll motor 12 and the pitch motor 13 share one integrated driving module, which is also beneficial to reducing the size and the weight of the whole pod.
The course motor 11, the roll motor 12 and the pitch motor 13 are directly driven by permanent magnet synchronous motors, and compared with a direct current brush motor, the driving mode has the advantages of high energy density, strong reliability, small fluctuation and small friction resistance.
After the heading motor driver 31, the roll motor driver 32 and the pitch motor driver 33 are integrated into a driving module, three shafts of the heading motor 11, the roll motor 12 and the pitch motor 13 are distinguished through addresses, the driving module realizes FOC current loop control of the permanent magnet synchronous motor, and data communication is carried out with the main control unit 7 through a CAN/UART.
The FOC current loop control algorithm of the permanent magnet synchronous motor is shown in figure 2, and after two-phase currents of the motor are collected through AD, static three-phase currents are obtained through calculation
、
、
Obtaining static two-phase orthogonal current through Clarke transformation
、
Obtaining two-phase current after Park conversion
、
，
、
Rotating with the magnetic field. In FOC current loop control
，
Given the control amount from the main control unit 7,
、
respectively carrying out current loop closed-loop control to obtain voltage control quantity
、
Is obtained by Park inverse transformation
、
And obtaining a three-phase bridge PWM control quantity through SVPWM (Space Vector Pulse Width Modulation), thereby realizing the Vector control of the permanent magnet synchronous motor.
The FOC current loop control can accurately control the size and the direction of a magnetic field, so that the motor has the advantages of stable torque, low noise, high efficiency and high-speed dynamic response.
The IMU (Inertial Measurement Unit) module 4 comprises three single-axis accelerometers and three single-axis gyroscopes, the accelerometers are used for detecting the accelerations of three independent axes of the pod load, the gyroscopes are used for detecting the angular velocities of the pod load relative to a navigation coordinate system, the IMU module 4 sends the detected Inertial space angular velocities and acceleration information of the pod load to the main control Unit 7 for attitude calculation to obtain data of the pod attitude angles (including course, roll and pitch attitude angles), and then coordinate decoupling calculation is carried out on the Inertial space angular velocity information detected by the IMU module 4 by combining the position information of the three axes of the pod, so that the Inertial space angular velocities of the three axes of the pod are finally obtained.
Specifically, as shown in FIG. 3, the main control unit 7 controls the geospatial heading speed
And pitch rate control amount
Decoupling to obtain course speed control quantity of inertial space of rotating shaft
Pitch speed control amount
And pod attitude angle data, wherein the pod roll attitude angle keeps 0 degree to ensure that an image does not rotate, closed-loop control (namely a stabilizing ring) is carried out on the space angular speed of each rotating shaft to obtain the motor current control quantity of each shaft, the motor current control quantity is sent to a driving module through a CAN/UART, FOC current ring control is realized in the driving module, and the heading motor 11, the roll motor 12 and the pitching motor 13 move in opposite directions to eliminate the movement of an inertia space, so that the pod load is stabilized in the inertia space, and the three-axis image stabilization control is realized.
The image capturing device is used for capturing an image of a target to obtain information such as an image or a video, and the image capturing device may be one or a combination of a visible light camera 51 and an infrared camera 52, and in this embodiment, the visible light camera 51 and the infrared camera 52 are used at the same time.
As shown in fig. 4, in the steady mode, the control amount comes from the joystick or the given control; in the target tracking mode, the control amount is from tracking closed-loop control, and the image processing module 6 processes the image or view shot by the camera deviceAfter frequency information, the target to be tracked is locked according to the instruction sent by the main control unit 7, the target miss distance information is sent to the main control unit 7, the main control unit 7 controls the pod to move according to the target miss distance information, image tracking closed loop is realized, and course speed control quantity is obtained
And pitch rate control amount
The control flow is the same as in fig. 3 later, so that the target lock is maintained at the image or video center.
The target miss distance information comprises pixel values of the target in the course direction and the pitching direction from the center of the image.
The image processing module 6 also compresses and encodes the acquired shooting information, and stores the compressed and encoded shooting information.
The power supply module 8 is used for supplying power to the heading motor 11, the roll motor 12, the pitch motor 13, the heading magnetic encoder 21, the roll magnetic encoder 22, the pitch magnetic encoder 23, the heading motor driver 31, the roll motor driver 32, the pitch motor driver 33, the IMU module 4, the camera device, the image processing module 6 and the main control unit 7 in a unified manner.
The power module 8 can adopt a uniform power supply interface to the outside, and because the power supply requirements of different loads in the nacelle are different, the power module 8 needs to be uniformly allocated according to the power supply requirements of all loads in the system.
The main control unit 7 is provided with an RS232/RS422 serial port and an S-BUS interface, so that the main control unit 7 can freely customize a communication protocol for control or directly control through a remote controller with the S-BUS interface, and the control mode is convenient and flexible.
The above provides a detailed description of a small three-axis photoelectric pod control system provided by the present invention. The description of the specific embodiments is only intended to facilitate an understanding of the method of the invention and its core ideas. It should be noted that, for those skilled in the art, it is possible to make various improvements and modifications to the present invention without departing from the principle of the present invention, and those improvements and modifications also fall within the scope of the claims of the present invention.
Claims (9)
1. A small-sized three-axis photoelectric pod control system is characterized by comprising a course motor, a roll motor, a pitch motor, a course magnetic braiding, a roll magnetic braiding, a pitch magnetic braiding, a course motor drive, a roll motor drive, a pitch motor drive, an IMU module, a camera device, an image processing module, a main control unit and a power supply module;
the heading magnetic encoding, the roll magnetic encoding and the pitch magnetic encoding are respectively used for detecting rotor position information corresponding to a heading motor, a roll motor and a pitch motor, the rotor position information is sent to the main control unit through corresponding heading motor drive, roll motor drive and pitch motor drive, and the main control unit obtains current control quantities of the heading motor, the roll motor and the pitch motor according to different working modes and then sends the current control quantities to the corresponding heading motor drive, the roll motor drive and the pitch motor drive, so that the heading motor, the roll motor and the pitch motor are controlled to work;
in the stable mode, the control quantity comes from a rocker or a given control; in a target tracking mode, the control quantity is from tracking closed-loop control, after the image processing module processes the image or video information shot by the camera device, the target to be tracked is locked according to the instruction sent by the main control unit, the target miss distance information is sent to the main control unit, the main control unit controls the pod to move according to the target miss distance information, image tracking closed-loop is realized, and the course speed control quantity V is obtained ey And a pitch velocity control amount V ep ；
The image processing module is used for processing image information acquired by the camera device and sending the processing data to the main control unit, and the main control unit sends instructions to control the image processing module and the camera device according to different working modes;
the IMU module is used for detecting the inertial space angular velocity and acceleration information and sending the inertial space angular velocity and acceleration information to the main control unit for attitude calculation and attitude decoupling; the IMU module comprises three single-axis accelerometers and three single-axis gyroscopes, the accelerometers are used for detecting the acceleration of three independent axes of the nacelle load, and the gyroscopes are used for detecting the angular velocity of the nacelle load relative to a navigation coordinate system; the IMU module sends the detected inertial space angular velocity and acceleration information of the pod load to a main control unit for attitude calculation to obtain heading attitude angle, roll attitude angle and pitch attitude angle data of the pod, then coordinate decoupling calculation is carried out on the inertial space angular velocity information detected by the IMU module by combining position information of three shafts of the pod, and finally inertial space angular velocities of the three shafts of the pod are obtained, so that three-shaft image stabilization control of the pod is realized;
the main control unit controls the geospatial course speed V ey Pitch speed control quantity V ep Decoupling to obtain course speed control quantity V of inertial space of rotating shaft ey Pitch speed control amount V ep The pod attitude angle data is used for carrying out closed-loop control on the spatial angular speed of each rotating shaft to obtain the motor current control quantity of each shaft, and the motor current control quantity is sent to the driving module through the CAN/UART to realize FOC current loop control, so that the course motor, the roll motor and the pitch motor move in reverse directions to eliminate the movement of an inertia space, and therefore three-shaft image stabilization control is realized;
after the FOC current loop control collects two-phase current of the motor through AD, the static three-phase current i is obtained through calculation a 、i b 、i c Obtaining static two-phase orthogonal current i through Clarke transformation α 、i β Obtaining two-phase current i after Park conversion q 、i d ，i q 、i d Rotating with magnetic field, FOC current loop i q 、i d Respectively carrying out current loop closed-loop control to obtain voltage control quantity v q 、v d V is obtained through Park inverse transformation α 、v β Then, the three-phase bridge PWM control quantity is obtained through space vector pulse width modulation, so that the vector control of the permanent magnet synchronous motor is realized;
the power module is used for uniformly supplying power to the course motor, the roll motor, the pitching motor, the course magnetic encoding, the roll magnetic encoding, the pitching magnetic encoding, the course motor drive, the roll motor drive, the pitching motor drive, the IMU module, the camera device, the image processing module and the main control unit.
2. The small triaxial electro-optic pod control system of claim 1, wherein: the course magnetic braiding, the roll magnetic braiding, the pitching magnetic braiding, the course motor drive, the roll motor drive and the pitching motor drive are integrated on a drive plate, and the course motor, the roll motor, the pitching motor and the drive plate are integrated together to form a drive module.
3. The control system of the small triaxial optoelectronic pod as set forth in claim 2, wherein the heading motor, the roll motor and the pitch motor are directly driven by permanent magnet synchronous motors.
4. The small triaxial photoelectric pod control system according to claim 3, wherein the three axes of the heading motor, the roll motor and the pitch motor are distinguished by addresses, and the heading motor driver, the roll motor driver and the pitch motor driver respectively perform FOC current loop control on the heading motor, the roll motor and the pitch motor and communicate with the main control unit through CAN/UART.
5. The small triaxial optoelectronic pod control system of claim 1 wherein the triaxial image stabilization control of the pod is to control the speed of the heading and pitch motors to achieve a closed loop and maintain the pod roll attitude angle at 0 degrees.
6. The small triaxial optoelectronic pod control system as set forth in claim 1, wherein the image processing module further compresses and encodes the captured image information and stores the compressed and encoded captured image information.
7. The small triaxial photoelectric pod control system according to claim 1 or 6, wherein when the operation mode is a target tracking mode, the image processing module locks a target according to an instruction sent by the main control unit, and then sends target miss distance information to the main control unit, and the main control unit controls the pod to move according to the target miss distance information, so as to track the target.
8. The small triaxial optoelectronic pod control system of claim 1, wherein the camera device comprises one or a combination of a visible light camera and an infrared camera.
9. The control system of claim 1, wherein the master control unit is provided with an RS232/RS422 serial port and an S-BUS interface.
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| CN111554080A (en) * | 2020-07-13 | 2020-08-18 | 成都纵横自动化技术股份有限公司 | Photoelectric pod data acquisition system |
| CN112132512B (en) * | 2020-09-21 | 2023-12-08 | 中电科特种飞机系统工程有限公司 | Logistics control system based on unmanned aerial vehicle |
| CN112256053A (en) * | 2020-09-27 | 2021-01-22 | 中国航空工业集团公司洛阳电光设备研究所 | Fire control photoelectric system of small-sized scouting and fighting unmanned aerial vehicle |
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| IT990218B (en) * | 1972-08-17 | 1975-06-20 | Thomson Csf | VISUALIZATION DEVICE FOR HELICOPTERS |
| CN204137327U (en) * | 2014-08-08 | 2015-02-04 | 马鞍山市靓马航空科技有限公司 | The Micro Aerial Vehicle of a kind of quick shooting compare rule orthogonal projection figure |
| CN104656684A (en) * | 2015-01-20 | 2015-05-27 | 桂林飞宇电子科技有限公司 | Method for controlling tri-axis stabilization tripod head with brushless motors by using single IMU sensors |
| CN105947227A (en) * | 2016-05-26 | 2016-09-21 | 苏州天地衡遥感科技有限公司 | Stabilizing platform of airborne optoelectronic pod |
| CN106335648A (en) * | 2016-08-31 | 2017-01-18 | 易瓦特科技股份公司 | Unmanned aerial vehicle with image collection function |
| CN106184788A (en) * | 2016-08-31 | 2016-12-07 | 易瓦特科技股份公司 | Rotatable gondola |
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