摘要
按照测绘领域对遥感摄影测量型无人机飞行航迹的要求,设计一套基于自适应模糊PID的无人机飞行控制方案,基本满足小区域大比例尺地形图立体测绘对无人机平台飞控精度的要求。该方案集成在自主设计的自动驾驶仪里,以数字钛合金舵机为机体控制驱动输出,具有响应快、精度高、自主控制等特点。双翼无人机飞行精度实验结果表明:航线弯曲度不大于2.5%,最大航高差5 m,最小转弯半径为90 m,机械控制精度优于0.1°,驱动响应时间小于20 ms。
A set of UAV flight control scheme based on Auto-fuzzy PID in the filed of low-altitude remote sensing and photogrammetry was designed and realized,which basically met the accuracy requirements of larger scale stereo-plotting in the small area.The system was integrated with a set of self-designed autopilot,and three digital servos with titanium gears for the drive output.This system has the advantages of fast response,high precision and self-control.The flight experiments of the biplane UAV show that the accuracy of strip deformation is less than 2.5%,the maximum flight altitude difference is 5 m,the minimum turning radius is 90 m,the mechanical control accuracy is better than 0.1° and the servos can respond to the control instruction within 20 ms.
出处
《中南大学学报（自然科学版）》
EI
CAS
CSCD
北大核心
2013年第S2期138-144,共7页
Journal of Central South University:Science and Technology
基金
福建省科技厅重大项目(2011H6020)
厦门市2011年科技计划项目(3502Z20110010)
关键词
测绘型无人机
低空遥感
飞行控制率
模糊PID
aerial photography UAV
low-altitude remote sensing
flight control law
fuzzy PID control
