新型单定子二自由度超声电机及其驱动的智能云台系统的关键技术研究

项目名称： 新型单定子二自由度超声电机及其驱动的智能云台系统的关键技术研究

项目编号： No.51205193

项目类型： 青年科学基金项目

立项/批准年度： 2013

项目学科： 机械工程学科

项目作者： 冷雪飞

作者单位： 南京航空航天大学

项目金额： 25万元

中文摘要： 传统的云台类视频监控系统存在呈弧线形二自由度旋转运动的目标深度不明，非线性反馈控制难的问题，已无法满足安防物联网规划以及平安城市、边境安全等日益增长的需求。云台系统的高定位精度及小型化的要求成为其亟待解决的关键瓶颈问题。提出针对云台类视频监控系统的单定子二自由度超声电机；并利用图像匹配获取目标中心距视频中心偏差，建立前一帧与当前帧的图像和云台的对偶四元数坐标关系，反推云台位姿变化，从而达到精确定位反馈控制的目的；同时，采用非线性滤波预测下一帧图像目标位置，提高云台动态响应性能及定位精度。本申请将超声电机的可控性、断电自锁性与图像技术软硬结合，形成有机互补；并将突破传统的电机、云台及图像匹配之间系统与系统的壁垒，使图像获取的目标标的又成为电机与云台运动控制的闭环反馈信息，大幅降低硬件的复杂性。为自主研发小型化、高精度、高动态性能该类云台提供理论依据与技术支持，提升我国相关领域的源头创新能力。

中文关键词： 二自由度云台；超声电机；图像匹配；模糊PID控制；视觉跟踪

英文摘要： Because the traditional PTZ video surveillance system has arc-shaped two-DOF of rotational motion, and the depth of target is unknow, nonlinear feedback control is difficult. It is unable to meet the growing demand for security of Things planning, safe city and border security. The key bottleneck problem is high positioning accuracy and miniaturization of PTZ. A single stator and two-DOF ultrasonic motor is proposed for driving the PTZ. Using image matching to obtain the target center deviation from the video center, and then establishing the dual quaternion coordinate relations of previous frame image, the current frame image and PTZ, finally backstepping the changes in PTZ position and orientation, so as to achieve the precise positioning feedback control. At the same time, using the nonlinear filtering to predict the targe location of the next frame image, so as to improve the dynamic response and positioning accuracy of PTZ. The controllability and power outages since the lock of the ultrasonic motor combine image technology in the area of hardware and software, and they form the complementary. It breaks through the system barriers between the traditional motor, PTZ and image matching. The goal of the subject image acquisition has become information of the closed-loop feedback control to the motor and PTZ, s

英文关键词： two-DOF PTZ；ultrasonic motor；image matching；fuzzy-PID control；visual tracking