【摘要】 针对小型无人机功率和载荷有限这一特点,本文设计了一套小型无人机机载两轴云台,采用集成了三轴陀螺仪、三轴加速度计MPU6050作为云台姿态反馈元件,使用互补滤波进行姿态解算。由于传统小型无人机的云台采用伺服舵机作为驱动电机,舵机内部减速齿轮的回滞误差会导致拍摄画面晃动,因此采用无刷电机直接驱动云台。为了测试该系统的有效性,通过小型四旋翼挂载该两轴云台拍摄实验,实验结果表明该云台使拍摄画质更加平稳,验证了该系统的有效性。更多还原

【Abstract】 For the character of the power and payload limited of small UAVs, this paper designs a set of two axis stable platform, which uses the integration of the three axis gyro and three axis acceleration MPU6050 as the platform attitude feedback element and complementary filter for attitude calculation. As the reduction gear of traditional servo hysteresis error will cause the image shaking, this paper adopts brushless motor direct drivie platform. In order to test the effectiveness of this system. This stable platform mounted by a quad copter for flying test. the experimental results show that the platform makes the image quality is more stable, verify the validity of the system.更多还原