Compensation Control of Miniature UAV Gimbal Performing Searching and Tracking Tasks

GUAN Xuning; L&#220; Yinxiao; ZHANG Lipeng; LIAO Kaijun; XIN Gongcai

doi:10.13976/j.cnki.xk.2016.0537

Volume 45 Issue 5

Oct. 2016

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INFORMATION AND CONTROL > 2016 > 45(5): 537-543. > DOI: 10.13976/j.cnki.xk.2016.0537 CSTR: 32166.14.xk.2016.0537

GUAN Xuning, LÜ Yinxiao, ZHANG Lipeng, LIAO Kaijun, XIN Gongcai. Compensation Control of Miniature UAV Gimbal Performing Searching and Tracking Tasks[J]. INFORMATION AND CONTROL, 2016, 45(5): 537-543. DOI: 10.13976/j.cnki.xk.2016.0537

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Compensation Control of Miniature UAV Gimbal Performing Searching and Tracking Tasks

1.
The First Aeronautical College of Air Force, Xinyang 464000, China
2.
Xi'an Flight College of Air Force, Xi'an 710306, China

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Received Date: June 29, 2015
Revised Date: March 09, 2016
Available Online: December 07, 2022
Published Date: October 19, 2016

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Abstract

Abstract

With regards the ground target-searching issue, the coupling of unmanned aerial vehicles（UAVs) and camera, along with the 6-DOF motion of the UAV, result in the divergence of the detection path from the flight path. To deal with the negative effects brought about by coupling during searching task, vehicle attitude rates measured by platform sensors are introduced in this study to coordinate the flight path and the detection path. Moreover, for the ground target-tracking issue, which is aimed at counterbalancing negative effects brought about by real-time relative lacation changing, compensation control law for gimbal is designed, and is used to gaze at targets with extra stability and accuracy. The effectiveness of the gimbal contol method is validated by performing a series of simulations.
- unmanned aerial vehicle(UAV),
- searching and tracking,
- gimbal compensation control

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