Experimental Validation of a Compound Control Scheme for a Two-Axis Inertially Stabilized Platform with Multi-Sensors in an Unmanned Helicopter-Based Airborne Power Line Inspection System
A compound control scheme is proposed to achieve high control performance for a two-axis inertially stabilized platform (ISP) with multi-sensors applied to an unmanned helicopter (UH)-based airborne power line inspection (APLI) system. Compared with the traditional two closed-loop control scheme tha...
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| Format: | Article |
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MDPI AG
2016-03-01
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| Series: | Sensors |
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| Online Access: | http://www.mdpi.com/1424-8220/16/3/366 |
| _version_ | 1811186158691942400 |
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| author | Xiangyang Zhou Yuan Jia Qiang Zhao Ruixia Yu |
| author_facet | Xiangyang Zhou Yuan Jia Qiang Zhao Ruixia Yu |
| author_sort | Xiangyang Zhou |
| collection | DOAJ |
| description | A compound control scheme is proposed to achieve high control performance for a two-axis inertially stabilized platform (ISP) with multi-sensors applied to an unmanned helicopter (UH)-based airborne power line inspection (APLI) system. Compared with the traditional two closed-loop control scheme that is composed of a high-bandwidth rate loop and a lower bandwidth position loop, a new current loop inside rate loop is particularly designed to suppress the influences of voltage fluctuation from power supply and motor back electromotive force (BEMF) on control precision. In this way, the stabilization accuracy of the ISP is greatly improved. The rate loop, which is the middle one, is used to improve sensor’s stability precision through compensating for various disturbances. To ensure the pointing accuracy of the line of sight (LOS) of multi-sensors, the position loop is designed to be the outer one and acts as the main feedback path, by which the accurate pointing angular position is achieved. To validate the scheme, a series of experiments were carried out. The results show that the proposed compound control scheme can achieve reliable control precision and satisfy the requirements of real APLI tasks. |
| first_indexed | 2024-04-11T13:40:55Z |
| format | Article |
| id | doaj.art-987e3d209aac4889b06d8bb969721c03 |
| institution | Directory Open Access Journal |
| issn | 1424-8220 |
| language | English |
| last_indexed | 2024-04-11T13:40:55Z |
| publishDate | 2016-03-01 |
| publisher | MDPI AG |
| record_format | Article |
| series | Sensors |
| spelling | doaj.art-987e3d209aac4889b06d8bb969721c032022-12-22T04:21:14ZengMDPI AGSensors1424-82202016-03-0116336610.3390/s16030366s16030366Experimental Validation of a Compound Control Scheme for a Two-Axis Inertially Stabilized Platform with Multi-Sensors in an Unmanned Helicopter-Based Airborne Power Line Inspection SystemXiangyang Zhou0Yuan Jia1Qiang Zhao2Ruixia Yu3School of Instrumentation Science and Opto-electronics Engineering, Beihang University (BUAA), Beijing 100191, ChinaSchool of Instrumentation Science and Opto-electronics Engineering, Beihang University (BUAA), Beijing 100191, ChinaShanghai Institute of Satellite Engineering, Shanghai 200240, ChinaSchool of Mechanical Engineering, University of Science and Technology Beijing, Beijing 100083, ChinaA compound control scheme is proposed to achieve high control performance for a two-axis inertially stabilized platform (ISP) with multi-sensors applied to an unmanned helicopter (UH)-based airborne power line inspection (APLI) system. Compared with the traditional two closed-loop control scheme that is composed of a high-bandwidth rate loop and a lower bandwidth position loop, a new current loop inside rate loop is particularly designed to suppress the influences of voltage fluctuation from power supply and motor back electromotive force (BEMF) on control precision. In this way, the stabilization accuracy of the ISP is greatly improved. The rate loop, which is the middle one, is used to improve sensor’s stability precision through compensating for various disturbances. To ensure the pointing accuracy of the line of sight (LOS) of multi-sensors, the position loop is designed to be the outer one and acts as the main feedback path, by which the accurate pointing angular position is achieved. To validate the scheme, a series of experiments were carried out. The results show that the proposed compound control scheme can achieve reliable control precision and satisfy the requirements of real APLI tasks.http://www.mdpi.com/1424-8220/16/3/366unmanned helicopterairborne power line inspectiontwo-axis inertially stabilized platformvoltage fluctuationback electromotive force |
| spellingShingle | Xiangyang Zhou Yuan Jia Qiang Zhao Ruixia Yu Experimental Validation of a Compound Control Scheme for a Two-Axis Inertially Stabilized Platform with Multi-Sensors in an Unmanned Helicopter-Based Airborne Power Line Inspection System Sensors unmanned helicopter airborne power line inspection two-axis inertially stabilized platform voltage fluctuation back electromotive force |
| title | Experimental Validation of a Compound Control Scheme for a Two-Axis Inertially Stabilized Platform with Multi-Sensors in an Unmanned Helicopter-Based Airborne Power Line Inspection System |
| title_full | Experimental Validation of a Compound Control Scheme for a Two-Axis Inertially Stabilized Platform with Multi-Sensors in an Unmanned Helicopter-Based Airborne Power Line Inspection System |
| title_fullStr | Experimental Validation of a Compound Control Scheme for a Two-Axis Inertially Stabilized Platform with Multi-Sensors in an Unmanned Helicopter-Based Airborne Power Line Inspection System |
| title_full_unstemmed | Experimental Validation of a Compound Control Scheme for a Two-Axis Inertially Stabilized Platform with Multi-Sensors in an Unmanned Helicopter-Based Airborne Power Line Inspection System |
| title_short | Experimental Validation of a Compound Control Scheme for a Two-Axis Inertially Stabilized Platform with Multi-Sensors in an Unmanned Helicopter-Based Airborne Power Line Inspection System |
| title_sort | experimental validation of a compound control scheme for a two axis inertially stabilized platform with multi sensors in an unmanned helicopter based airborne power line inspection system |
| topic | unmanned helicopter airborne power line inspection two-axis inertially stabilized platform voltage fluctuation back electromotive force |
| url | http://www.mdpi.com/1424-8220/16/3/366 |
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