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Sensors 2016, 16(3), 366; doi:10.3390/s16030366

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

1
School of Instrumentation Science and Opto-electronics Engineering, Beihang University (BUAA), Beijing 100191, China
2
Shanghai Institute of Satellite Engineering, Shanghai 200240, China
3
School of Mechanical Engineering, University of Science and Technology Beijing, Beijing 100083, China
*
Author to whom correspondence should be addressed.
Academic Editor: Vittorio M. N. Passaro
Received: 12 January 2016 / Revised: 22 February 2016 / Accepted: 2 March 2016 / Published: 11 March 2016
(This article belongs to the Section Physical Sensors)

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. View Full-Text
Keywords: unmanned helicopter; airborne power line inspection; two-axis inertially stabilized platform; voltage fluctuation; back electromotive force unmanned helicopter; airborne power line inspection; two-axis inertially stabilized platform; voltage fluctuation; back electromotive force
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This is an open access article distributed under the Creative Commons Attribution License which permits unrestricted use, distribution, and reproduction in any medium, provided the original work is properly cited. (CC BY 4.0).

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MDPI and ACS Style

Zhou, X.; Jia, Y.; Zhao, Q.; Yu, R. 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 2016, 16, 366.

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