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.
abstract: 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.
authors.affiliation: School of Instrumentation Science and Opto-electronics Engineering, Beihang University (BUAA), Beijing 100191, China. xyzhou@buaa.edu.cn.
authors.forename: Xiangyang
authors.initials: X
authors.lastname: Zhou
authors.affiliation: School of Instrumentation Science and Opto-electronics Engineering, Beihang University (BUAA), Beijing 100191, China. jiayuan@buaa.edu.cn.
authors.forename: Yuan
authors.initials: Y
authors.lastname: Jia
authors.affiliation: Shanghai Institute of Satellite Engineering, Shanghai 200240, China. zhaoqiangbuaa@163.com.
authors.forename: Qiang
authors.initials: Q
authors.lastname: Zhao
authors.affiliation: School of Mechanical Engineering, University of Science and Technology Beijing, Beijing 100083, China. yrx_nx@163.com.
authors.forename: Ruixia
authors.initials: R
authors.lastname: Yu
keywords: airborne power line inspection; back electromotive force; two-axis inertially stabilized platform; unmanned helicopter; voltage fluctuation