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摘要近些年来，随着计算机科学的发展，像无人机，机器人这样一些人工智能设备，已然成为国内外研究的热点课题。这也是未来科学的一个重要的发展方向。人工智能设备（如无人机，机器人）的某一功能的实现，都很大程度上依赖于传感器对于数据的采集和计算机的分析。所以云台就是作为承载这些姿态传感器的设备，当然也相当重要。云台稳定性能的好坏直接决定了传感器以及一些影像设备采集信息的准确性。因此云台的性能对于对设备的运动控制、目标识别都有很大的影响[1]。
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本课题所设计是二自由度云台增稳控制系统所实现的功能是可以在俯仰以及偏航方向转动过程中，控制云台保持稳定。目前这类云台系统通常运用于机器人的视觉系统以及无人机航拍中。因为像机器人或无人机的数据采集都是在运动的过程中进行的，通过使用自稳云台可以在采集的过程则能有一个相对稳定的环境。目前这样大多数的云台系统都采用的是单片机结合步进电机的控制方案[1]。这类方案选用的是单片机作为主控芯片，但是其在数据交换和传输速度上有限。此外，这种方案中控制系统的硬件部分和软件控制部分是分开的，这也造成了机构的复杂。
本文所采取的设计方案采用了目前市面上流行的Arduino作为云台系统中的主控制芯片。选用微型舵机作为云台的执行机构。整体的硬件趋于一体化，这样避免了结构复杂性。在具体的设计中将分为三步来完成云台的控制系统，第一步是要实现Arduino芯片能够读取姿态数据，并且能够通过编程实现数据和卡尔曼滤波算法融合。第二步设计的是实现用Arduino控制执行云台舵机的运转。第三步设计是要求实现在前两步的基础上最终实现云台的稳定控制。19579
关键词：云台增稳 姿态数据 Arduino 舵机
毕业论文设计说明书（论文）外文摘要
Title： Stability Control Method Designing For 2 Degree Of Freedom Pan-Tilt
Abstract:
In recent years, with the development of computer science, UAV(unmanned aerial vehicles), robotics and artificial intelligence has become a hot topic at home and abroad. Artificial intelligence devices (such as UVA or robots) various functions are to a large extent depend on the environment for real-time sensor information collection.Pan-Tile Stability control method’s performance quality directly determines the accuracy of some of the collection of information and the image sensor device.
This paper presents the stability control method design for 2 degrees of freedom Pan-tilt. The 2 degrees of freedom Pan-tilt control function is the ultimate realization of the pitch and yaw can be re-direction of rotation, Pan-tilt units remained remarkably stable. In the current Pan-tilt control’s systems are typically used in such a robot vision systems and unmanned aerial in. Because these devices are in motion for the image acquisition process. There are many in the pan will adopt the control scheme microcontroller plus stepper motor[1]. Such programs are selected by the microcontroller as the master chip, but it is limited in the data exchange and transmission speed. What’s more, the drive portion and the control portion of such a system hardware is separate. This also resulted in complex organizations.
The proposed design the popular Arduino currently available as the main chip. Chosen servo as the head of the steering actuator. Overall hardware integration tends to avoid the drawbacks of complex structure. In this article has pided into three parts to design Pan-tilt control system .In the first place ,Arduino controller chip and will be able to read the attitude data. In the second place,it is arm to achieve the movement by the servo control performed Arduino. In the third place , it is arm to achieve stability control Pan-tilt.
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