Modeling And Control Research Of Pan-title On Foue-rotor UAV

With the improvement of UAV autopilot highly integrated and the detection accuracy of the sensor, unmanned aerial vehicles(UAV) is widely used in civil, industrial and military fields. Among them, the research on the UAV platform control is an important part of the low altitude remote sensing technology, such as low altitude shooting, offshore monitor and so on.Pan-title technology has been used in airborne observation system, missile guidance systems and other military and aerial mapping, forest fire monitoring and other civilian fields, which plays an important role in the development of economic and military.Pan-title control is studied in this project to take a four-rotor UAV as the carrier, the GoPro sports camera is used as aerial loaded camera, and two-axis brushless DC platform is used as the control object. Firstly, this project carried out the planning and design of aerial photography pan-title system and selected the SPWM control method for DC brushless motor control. According to the structure of the pan-title and kinematics principle of the pan-title body, compensation formula are given out. Combined with the precise parameters of electromechanical model of DC motor, then the system mathematical model are given out.Through analyzed the simulation results for control model, corrected the stability system used the tandem PID and optimized PID parameters by the improved genetic algorithm. The Matlab simulation results indicates that the genetic algorithm optimized PID parameters makes the system have no overshoot and adjustment time more short. And then the designed control algorithm is written into the main control board Brushless-Gimbal, and the software and hardware of the Self-stable Pan-title system is improved. The pan-title real-time debugging system is set up, and the pan-title controller is debugged using the Software on Upper Computer, and the actual flight test results validates the superiority of the PID parameters which is adjusted by genetic algorithm, and verifies the feasibility and reliability of the improved control program.