CN101598947A - A kind of method that improves positioning accuracy of position feed back holder - Google Patents
A kind of method that improves positioning accuracy of position feed back holder Download PDFInfo
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- CN101598947A CN101598947A CNA200910016096XA CN200910016096A CN101598947A CN 101598947 A CN101598947 A CN 101598947A CN A200910016096X A CNA200910016096X A CN A200910016096XA CN 200910016096 A CN200910016096 A CN 200910016096A CN 101598947 A CN101598947 A CN 101598947A
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- cloud terrace
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- cradle head
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Abstract
The invention discloses a kind of method that improves positioning accuracy of position feed back holder.It may further comprise the steps: at The Cloud Terrace of a cradle head preset positions prerun; Detect the physical location that the The Cloud Terrace operation puts in place by position transducer; Position deviation in the calculating presetting bit between The Cloud Terrace target location and the described The Cloud Terrace physical location, the relation of calculating this deviation and actual motion distance obtains compensating parameter, according to this compensating parameter desired location compensating module; In follow-up cradle head preset positions operation control, call the presetting bit position data and calculate compensation rate, and send the operation of cradle head control device control The Cloud Terrace acquisition compensation rate and the addition of The Cloud Terrace target location according to the compensating parameter in the above-mentioned compensating module.The invention provides a kind of method that improves positioning accuracy of position feed back holder, to improve the The Cloud Terrace bearing accuracy.
Description
(1) technical field
The present invention relates to a kind of method that improves positioning accuracy of position feed back holder, current horizontal commentaries on classics of the The Cloud Terrace of its position-based sensor and pitch position, it specifically is the deviation of The Cloud Terrace physical location and target location, control position feedback cloud stand operation locating accuracy belongs to the cradle head control in the safety-security area in view of the above.Wherein the position feedback The Cloud Terrace refers to have the The Cloud Terrace of The Cloud Terrace operation physical location measuring ability.
(2) background technology
The control mode of current position feedback cloud stand is: position transducer detects current horizontal commentaries on classics of The Cloud Terrace and pitch position, and the cradle head control device is according to the deviation formation speed controlled quentity controlled variable of current location and target location, and the control The Cloud Terrace moves to assigned address.But because the The Cloud Terrace mechanical system exists frictional resistance and system damping, while cradle head control position-based deviation, and The Cloud Terrace certainly exists the acceleration and deceleration process when starting and stopping, the speed control amount that generates when the cradle head control device hour, be not enough to overcome the frictional resistance and the system damping of mechanical system, cause The Cloud Terrace not move or before moving to assigned address with regard to stop motion, thereby cause the bearing accuracy variation of The Cloud Terrace.
(3) summary of the invention
Therefore, the present invention relies on cradle head control device formation speed controlled quentity controlled variable to control the defective that its bearing accuracy causes the bearing accuracy difference in order to overcome the current position feedback cloud stand, provide a kind of method that improves positioning accuracy of position feed back holder, to improve the The Cloud Terrace bearing accuracy.
In order to realize goal of the invention of the present invention, the present invention by the following technical solutions:
A kind of method that improves positioning accuracy of position feed back holder of this invention, it may further comprise the steps:
1) at The Cloud Terrace of a cradle head preset positions prerun;
2) detect the physical location that the The Cloud Terrace operation puts in place by position transducer;
3) position deviation between The Cloud Terrace target location and the described The Cloud Terrace physical location in the calculating presetting bit, the relation of calculating this deviation and actual motion distance obtains compensating parameter, according to this compensating parameter desired location compensating module;
4) in follow-up cradle head preset positions operation control, call the presetting bit position data and calculate compensation rate, and send the operation of cradle head control device control The Cloud Terrace acquisition compensation rate and the addition of The Cloud Terrace target location according to the compensating parameter in the above-mentioned compensating module.
According to method provided by the present invention as can be known, the compensation of position deviation arises from the operation early stage of cradle head preset positions, presetting bit position data is just carried out in advance compensation by the compensating parameter of obtaining, the influence that can not be subjected to the The Cloud Terrace operation to quicken, slow down, because of The Cloud Terrace normally moves, also just needn't consider the frictional resistance of its mechanical system and the influence that system damping compensates position deviation separately, make the The Cloud Terrace bearing accuracy be guaranteed.
On the other hand, the characteristics that said compensating parameter does not change within a certain period of time based on The Cloud Terrace mechanical system frictional resistance and system damping, it is consistent to the influence of a certain presetting bit operation with the influence that moves to other presetting bits to The Cloud Terrace so, it is a preset parameter, set than being easier to, and need not generate the speed control amount of The Cloud Terrace to a certain presetting bit operation repeatedly, system loading reduces.
The method of above-mentioned raising feedback cloud stand bearing accuracy, the user can obtain its target position data and this operational process according to current presetting bit call instruction and obtain the The Cloud Terrace physical location and upgrade compensating parameter in the compensating module of position.
The method of above-mentioned raising feedback cloud stand bearing accuracy, described compensating parameter is set and be may further comprise the steps:
1) user calls the current presetting bit strings of commands, obtains the target location;
2) and according to physical location obtain position deviation;
3) calculate compensating parameter according to the position deviation that obtains;
4) compare according to compensating parameter that obtains and the maximum compensating parameter of setting, if then do not upgrade compensating parameter greater than maximum compensating parameter, otherwise, upgrade compensating parameter.
(4) description of drawings
The invention will be further elaborated below in conjunction with Figure of description, wherein:
Fig. 1 is a kind of position compensation control principle figure of the embodiment of the invention.
Fig. 2 is compensating parameter setting process figure in the embodiment of the invention.
(5) embodiment
Below in conjunction with Figure of description technical scheme of the present invention is made exemplary illustration:
With reference to Figure of description 1 and 2, a kind of method that improves positioning accuracy of position feed back holder of one embodiment of the present of invention, it may further comprise the steps:
1) at The Cloud Terrace of a cradle head preset positions prerun;
2) detect the physical location that the The Cloud Terrace operation puts in place by position transducer;
3) position deviation between The Cloud Terrace target location and the described The Cloud Terrace physical location in the calculating presetting bit, the relation of calculating this deviation and actual motion distance obtains compensating parameter, according to this compensating parameter desired location compensating module;
4) in follow-up cradle head preset positions operation control, call the presetting bit position data and calculate compensation rate, and send the operation of cradle head control device control The Cloud Terrace acquisition compensation rate and the addition of The Cloud Terrace target location according to the compensating parameter in the above-mentioned compensating module.
For better control The Cloud Terrace precision, the user can obtain its target position data and this operational process according to current presetting bit call instruction and obtain compensating parameter in the compensating module of The Cloud Terrace physical location renewal position.Because of the frictional resistance and the system damping meeting of The Cloud Terrace its mechanical system in operational process changes, have only the corresponding compensation of adjustment parameter, can obtain than higher control The Cloud Terrace running precision.
Described compensating parameter is set and be may further comprise the steps:
1) user calls the current presetting bit strings of commands, obtains the target location;
2) and according to physical location obtain position deviation;
3) calculate compensating parameter according to the position deviation that obtains;
4) compare according to compensating parameter that obtains and the maximum compensating parameter of setting, if then do not upgrade compensating parameter greater than maximum compensating parameter, otherwise, upgrade compensating parameter.
Among Fig. 2, A is the funcall inlet, and B is the funcall outlet, and the funcall here refers to the funcall of user's setting compensation parameter.The user is as follows by the frame structure of the function presetting position call instruction of funcall inlet A input
| Syn | ADD | C1 | C2 | D1 | D2 | Checksum |
| FF | XX | XX | XX | XX | XX | XX |
Wherein: Syn is a sync byte; ADD is the device address; C1, C2 are command byte; D1 is a data byte 1; The function presetting item of D2 for setting; Checksum be verification and.
Claims (3)
1. method that improves positioning accuracy of position feed back holder, it may further comprise the steps:
1) at The Cloud Terrace of a cradle head preset positions prerun;
2) detect the physical location that the The Cloud Terrace operation puts in place by position transducer;
3) position deviation between The Cloud Terrace target location and the described The Cloud Terrace physical location in the calculating presetting bit, the relation of calculating this deviation and actual motion distance obtains compensating parameter, according to this compensating parameter desired location compensating module;
4) in follow-up cradle head preset positions operation control, call the presetting bit position data and calculate compensation rate, and send the operation of cradle head control device control The Cloud Terrace acquisition compensation rate and the addition of The Cloud Terrace target location according to the compensating parameter in the above-mentioned compensating module.
2. the method for raising feedback cloud stand bearing accuracy according to claim 1 is characterized in that: the user can obtain its target position data and this operational process according to current presetting bit call instruction and obtain the The Cloud Terrace physical location and upgrade compensating parameter in the compensating module of position.
3. the method for raising feedback cloud stand bearing accuracy according to claim 2 is characterized in that: described compensating parameter is set and be may further comprise the steps:
1) user calls the current presetting bit strings of commands, obtains the target location;
2) and according to physical location obtain position deviation;
3) calculate compensating parameter according to the position deviation that obtains;
4) compare according to compensating parameter that obtains and the maximum compensating parameter of setting, if then do not upgrade compensating parameter greater than maximum compensating parameter, otherwise, upgrade compensating parameter.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CNA200910016096XA CN101598947A (en) | 2009-07-07 | 2009-07-07 | A kind of method that improves positioning accuracy of position feed back holder |
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| Application Number | Priority Date | Filing Date | Title |
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| CNA200910016096XA CN101598947A (en) | 2009-07-07 | 2009-07-07 | A kind of method that improves positioning accuracy of position feed back holder |
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| CN101598947A true CN101598947A (en) | 2009-12-09 |
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Cited By (12)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102331792A (en) * | 2011-06-24 | 2012-01-25 | 天津市亚安科技电子有限公司 | Method and system for controlling presetting bit of holder |
| CN102566602A (en) * | 2012-02-29 | 2012-07-11 | 天津天地伟业数码科技有限公司 | Method for promoting accuracy of preset position of dome camera |
| CN105487552A (en) * | 2016-01-07 | 2016-04-13 | 深圳一电航空技术有限公司 | Unmanned aerial vehicle tracking shooting method and device |
| CN108062114A (en) * | 2016-11-08 | 2018-05-22 | 广州奥睿智能科技有限公司 | Servos control method, control system and steering engine |
| CN108521805A (en) * | 2017-03-28 | 2018-09-11 | 深圳市大疆灵眸科技有限公司 | The control method and aircraft of installation condition based on holder |
| CN108762325A (en) * | 2018-05-28 | 2018-11-06 | 长春博信光电子有限公司 | Control method, device and the holder of holder movement speed |
| CN110187721A (en) * | 2019-05-05 | 2019-08-30 | 湖北久之洋红外系统股份有限公司 | One kind thousand indexes accurate holder motion control device and method |
| WO2019183867A1 (en) * | 2018-03-29 | 2019-10-03 | 深圳市大疆创新科技有限公司 | Cradle head trajectory planning method and device |
| CN111246094A (en) * | 2020-01-17 | 2020-06-05 | 高新兴科技集团股份有限公司 | Holder, holder offset compensation correction method, computer storage medium and equipment |
| CN111240370A (en) * | 2020-02-10 | 2020-06-05 | 浙江大华技术股份有限公司 | Method, device and system for correcting position of holder and storage medium |
| CN112154398A (en) * | 2019-08-01 | 2020-12-29 | 深圳市大疆创新科技有限公司 | Pan-tilt control method, controller, pan-tilt, unmanned mobile platform and storage medium |
| CN114770719A (en) * | 2022-05-10 | 2022-07-22 | 中铁十四局集团房桥有限公司 | Automatic discharging and distributing device and method for sleepers |
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- 2009-07-07 CN CNA200910016096XA patent/CN101598947A/en active Pending
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102331792A (en) * | 2011-06-24 | 2012-01-25 | 天津市亚安科技电子有限公司 | Method and system for controlling presetting bit of holder |
| CN102566602A (en) * | 2012-02-29 | 2012-07-11 | 天津天地伟业数码科技有限公司 | Method for promoting accuracy of preset position of dome camera |
| CN105487552B (en) * | 2016-01-07 | 2019-02-19 | 深圳一电航空技术有限公司 | The method and device of unmanned plane track up |
| CN105487552A (en) * | 2016-01-07 | 2016-04-13 | 深圳一电航空技术有限公司 | Unmanned aerial vehicle tracking shooting method and device |
| CN108062114A (en) * | 2016-11-08 | 2018-05-22 | 广州奥睿智能科技有限公司 | Servos control method, control system and steering engine |
| CN108521805A (en) * | 2017-03-28 | 2018-09-11 | 深圳市大疆灵眸科技有限公司 | The control method and aircraft of installation condition based on holder |
| WO2019183867A1 (en) * | 2018-03-29 | 2019-10-03 | 深圳市大疆创新科技有限公司 | Cradle head trajectory planning method and device |
| CN110337625A (en) * | 2018-03-29 | 2019-10-15 | 深圳市大疆创新科技有限公司 | Holder method for planning track and device |
| CN108762325A (en) * | 2018-05-28 | 2018-11-06 | 长春博信光电子有限公司 | Control method, device and the holder of holder movement speed |
| CN110187721A (en) * | 2019-05-05 | 2019-08-30 | 湖北久之洋红外系统股份有限公司 | One kind thousand indexes accurate holder motion control device and method |
| CN112154398A (en) * | 2019-08-01 | 2020-12-29 | 深圳市大疆创新科技有限公司 | Pan-tilt control method, controller, pan-tilt, unmanned mobile platform and storage medium |
| WO2021016985A1 (en) * | 2019-08-01 | 2021-02-04 | 深圳市大疆创新科技有限公司 | Gimbal control method, controller, gimbal, unmanned mobile platform, and storage medium |
| CN111246094A (en) * | 2020-01-17 | 2020-06-05 | 高新兴科技集团股份有限公司 | Holder, holder offset compensation correction method, computer storage medium and equipment |
| CN111240370A (en) * | 2020-02-10 | 2020-06-05 | 浙江大华技术股份有限公司 | Method, device and system for correcting position of holder and storage medium |
| CN111240370B (en) * | 2020-02-10 | 2023-05-09 | 浙江大华技术股份有限公司 | Position correction method, device and system for cradle head and storage medium |
| CN114770719A (en) * | 2022-05-10 | 2022-07-22 | 中铁十四局集团房桥有限公司 | Automatic discharging and distributing device and method for sleepers |
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Open date: 20091209 |