CN106774444A - A kind of self-balancing control method of large pitching angle camera platform - Google Patents
A kind of self-balancing control method of large pitching angle camera platform Download PDFInfo
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- CN106774444A CN106774444A CN201611032349.9A CN201611032349A CN106774444A CN 106774444 A CN106774444 A CN 106774444A CN 201611032349 A CN201611032349 A CN 201611032349A CN 106774444 A CN106774444 A CN 106774444A
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- angle
- steering wheel
- value
- regulation
- angular deviation
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Classifications
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D3/00—Control of position or direction
- G05D3/12—Control of position or direction using feedback
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B11/00—Automatic controllers
- G05B11/01—Automatic controllers electric
- G05B11/26—Automatic controllers electric in which the output signal is a pulse-train
- G05B11/28—Automatic controllers electric in which the output signal is a pulse-train using pulse-height modulation; using pulse-width modulation
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B11/00—Automatic controllers
- G05B11/01—Automatic controllers electric
- G05B11/36—Automatic controllers electric with provision for obtaining particular characteristics, e.g. proportional, integral, differential
- G05B11/38—Automatic controllers electric with provision for obtaining particular characteristics, e.g. proportional, integral, differential for obtaining a proportional characteristic
Abstract
The present invention discloses a kind of self-balancing control method of large pitching angle camera platform, and the control method of the angle of pitch is：Default luffing angle allowable error value and thickness regulation conversion critical angle value and the angle of pitch adjust critical value slowly, and controller controls two operations of steering wheel according to the measurement signal of luffing angle sensor：When the angular deviation between the angle value and target angle angle value that are measured according to luffing angle sensor is more than luffing angle allowable error value, if angular deviation adjusts conversion critical angle value more than or equal to thickness, then use coarse adjustment steering wheel, proportionally regulation strategy carries out quick regulation on a large scale, if angular deviation adjusts conversion critical angle value less than thickness, then it is adjusted using fine setting steering wheel, and when angular deviation is more than slow regulation critical value, proportionally regulative mode is adjusted fine setting steering wheel, when less than slow regulation critical value, fine setting steering wheel is adjusted according to slow regulative mode.The characteristics of present invention has Adjustment precision high.
Description
Technical field
The present invention relates to a kind of camera head system.
Background technology
At present, automatic stabilisation camera head obtains comparing extensive use in fields such as Aerial photographies, and its target is to ensure to clap
The real-time stability of camera when taking the photograph, so as to ensure the stabilization of the shooting image of camera.But the bearing capacity of such shooting tripod head is not
Greatly, typically do that the angle for rotating is also limited, and require that the barycenter of camera is consistent with regulation rotary shaft axle center, therefore can only typically prop up
The camera of specific model is held, and other equipment can not be loaded, more narrow using scope, serial head is thought in such as great Jiang companies buddhist[1]。
Bibliography
[1] H3-3D heads are thought in buddhist | the big boundary http of DJI://www.dji.com/cn/product/zenmuse-h3-3d
The content of the invention
The purpose of the present invention is to improve existing camera head, and based on improved camera head, there is provided a kind of angle of pitch
Control method.The technical scheme for being used is as follows：
A kind of self-balancing control method of large pitching angle camera platform, the camera head for being used includes the rotation in rolling direction
Modulation engagement positions, the rotation adjuster of pitch orientation, the luffing angle sensor for measuring the pitch orientation anglec of rotation, use
In the rolling angular transducer and controller of the measurement rolling direction anglec of rotation, the rotation adjuster of pitch orientation is fixed on and turns over
Roll on the rotation adjuster in direction, the rotation adjuster of pitch orientation is using thickness two-stage rotation adjustment structure, including bows
The travel(l)ing rest for facing upward direction, the platform for being fixed on travel(l)ing rest end, coarse adjustment steering wheel and corresponding coarse adjustment rocking arm, fine setting steering wheel
With corresponding fine setting rocking arm, it is rigidly connected by pull bar between coarse adjustment rocking arm and fine setting rocking arm；Fine setting steering wheel is fixed on platform
On, coarse adjustment steering wheel is bigger than finely tuning the horsepower of steering wheel；The rotation adjuster in rolling direction is carried out using single rolling direction steering wheel
Regulation.
The control method of the camera head angle of pitch is：Default luffing angle allowable error value and thickness regulation conversion critical angle
Angle value and the angle of pitch adjust critical value slowly, and controller controls two fortune of steering wheel according to the measurement signal of luffing angle sensor
OK：When the angular deviation between the angle value and target angle angle value measured according to luffing angle sensor is allowed more than luffing angle
During error amount, if angular deviation adjusts conversion critical angle value more than or equal to thickness, using coarse adjustment steering wheel, proportionally adjust
Strategy carries out quick regulation on a large scale, if angular deviation adjusts conversion critical angle value less than thickness, is entered using fine setting steering wheel
Row regulation, and when angular deviation is more than slow regulation critical value, proportionally regulative mode is adjusted fine setting steering wheel, when being less than
During slow regulation critical value, fine setting steering wheel is adjusted according to slow regulative mode；
Camera head rolling direction control method be：Default roll angle allowable error value and roll angle adjust critical slowly
Value, is adjusted using single steering wheel, operation of the controller according to the measurement signal control rolling direction steering wheel of rolling angular transducer：
Difference between rolling angle sensor angles value and default rolling angle, i.e., angular deviation is more than rolling angle allowable error
During value, if angular deviation adjusts critical value slowly more than or equal to set roll angle, adoption rate regulation strategy is adjusted,
If angular deviation adjusts critical value slowly less than set roll angle, using slow regulation strategy.
Due to taking above technical scheme, it has advantages below to the present invention：
(1) high capacity.Head of the invention can be carried containing camera in interior various relevant devices, root by the power of steering wheel
The weight of 3~5kg can be typically carried according to the power size of steering wheel, and load bearing equipment is required without strict mounting arrangement, it is not necessary to it is tight
To with X, Y-axis axle center be consistent equipment centre of gravity adjustment by lattice, so as to improve carrying in the case of ensureing bearing capacity set
The flexibility ratio of standby layout.
(2) structure is adjusted using fine two-stage to the angle of pitch, software strategy coordinates in addition, it is ensured that the essence of platform motion
Degree, realizes high accuracy platform movement and rotates.
Brief description of the drawings
Fig. 1：Head thickness two-stage rotation adjustment structure chart
Fig. 2：Software feedback control strategy flow chart
Specific embodiment
Below in conjunction with drawings and Examples, the present invention is described in further detail.Specific implementation described herein
Example mode is only used for explaining the present invention, the protection domain being not intended to limit the present invention.
High inclination-angle, high capacity, the high accuracy camera head technology of self-balancing that the present invention is provided, comprising in two aspects
Hold, one is the design and layout of hardware, and two is the autobalance feedback control software based on above-mentioned hardware device.
(1) design and layout of hardware：A kind of high inclination-angle, high capacity, the high accuracy camera head of self-balancing, key structure
Design is：In pitch orientation adjustment structure is rotated using thickness two-stage.
Thickness two-stage rotation adjustment structure includes that 1, steering wheel 7 for coarse adjustment (big steering wheel) of support of pitch orientation and institute are right
Connecting portion between steering wheel 3 (small steering wheel) and corresponding Rocker arm 4, also two rocking arms of 6, fine setting of the rocking arm answered
Point-pull bar 5
Wherein, the steering wheel of coarse adjustment uses large-scale steering wheel, is big horsepower the characteristics of its steering wheel, can drive on platform
The rotation of high capacity equipment, adjustable scope is also larger, because the shortcoming of large-scale steering wheel is lower slightly precision, and now
Through rotation that need not be interior in a big way, thus the steering wheel of fine setting we use small-sized steering machine, left down for large-scale steering wheel
Error carry out the high-precision adjustment of small range.
Coarse adjustment steering wheel 7 and corresponding rocking bar 6 are attached, when coarse adjustment steering engine controller obtains what must be sended over
Control instruction is ordered about coarse adjustment steering wheel and is moved to steering wheel sending signal so that equipment is rotated in pitch orientation, is being reached
To after predetermined threshold, by the coupling part-pull bar 5 between two rocking arms, two steering wheels are attached, when fine tuning steering wheel
Controller obtains the control instruction that must be sended over to steering wheel sending signal, orders about fine setting steering wheel and is moved, thin so as to reach
The function of fine adjustment rotation.
(2) autobalance feedback control software
The present invention is the real-time autobalance for realizing camera head, it is necessary to the state according to current angular sensor is real-time
The poised state of feedback regulation X-axis and Y-axis, regulation strategy is as follows：
A) sensing data is filtered.Because the factors such as working sensor environment, oneself state, transmitting procedure can be led
The data for causing sensor to produce produce certain unstability, cause the generation of wrong data, so as to can be made to system stationarity
Into interference, therefore software systems can carry out Real-Time Filtering treatment to sensing data first, to eliminate number caused by accidentalia
According to mistake.Preferably, the present invention is filtered by the way of limit filtration and Kalman filtering be combined with each other to data, eliminates
Wrong data, it is ensured that the correctness of data.
B) X-axis poised state is adjusted.In design, X-axis (rolling direction) balance is adjusted using single steering wheel, when X-axis side
When the difference between sensor angles value and predetermined angle, i.e. angular deviation are less than X-axis allowable error value E (i.e. precision) upwards,
Steering wheel stops the regulation of X-direction.When the angu-lar deviation that sensor in X-direction is measured is more than allowable error value, if deviation
Larger, then adoption rate regulation strategy (referring to bottom explanation) is adjusted, if deviation is smaller (less than slow regulation critical value T),
Then using slow regulation strategy, to be adjusted at a slow speed, it is ensured that the stability of regulation.
C) Y-axis poised state is adjusted.Y-axis (pitch orientation) balance is combined using two steering wheels of size and is adjusted, and works as Y-axis
When difference between direction sensor angle value and predetermined angle is that angular deviation is less than Y-axis allowable error value (i.e. precision), rudder
Machine stops regulation.When the angular deviation that sensor in Y direction is measured be more than allowable error value when, if sensor angles deviation compared with
When greatly (more than thickness regulation conversion critical angle value S), then using big steering wheel, proportionally regulation strategy carries out quick on a large scale
Regulation, if sensor angles deviation is smaller (less than more than thickness regulation conversion critical angle value S), is adjusted using small steering wheel
Section, and when sensor angles are more than slow regulation critical value, proportionally regulative mode is adjusted small steering wheel, when less than slow tune
During section critical value, small steering wheel is adjusted according to slow regulative mode.
D) three above process is repeated, (i.e. angular transducer is in X, the angle of Y-axis both direction until reaching poised state
Error is in accuracy rating).
Proportion adjustment strategy is the difference between angle value and predetermined angle by sensor senses, i.e. angular deviation is (flat
Angular deviation should be the steering wheel pulse width modulated values (△ PWM values) for 0) being multiplied and obtaining with ratio K and will change during weighing apparatus, makees
It is the variable quantity of steering wheel pulse width values (PWM), is attached in the original pulse width values of steering wheel and constitutes new pulse width
Value, so as to a kind of mode being adjusted to steering wheel.
Slow regulation strategy, then be that each change pulse width value △ PWM are set into a less fixed value, and the value is only
It is positive and negative with angular deviation relevant, it is unrelated with angular deviation size, so that the regulation that steering wheel is operated with more stable jogging speed
Mode.
Autobalance feedback control software can realize on general purpose personal computer platform, also can be in embedded scm system
System is lower to be realized.
Claims (2)
1. a kind of self-balancing control method of large pitching angle camera platform, the camera head for being used includes the rotation in rolling direction
Adjusting apparatus, the rotation adjuster of pitch orientation, the luffing angle sensor for measuring the pitch orientation anglec of rotation, it is used for
The rolling angular transducer and controller of the measurement rolling direction anglec of rotation, the rotation adjuster of pitch orientation are fixed on rolling
On the rotation adjuster in direction, the rotation adjuster of pitch orientation is using thickness two-stage rotation adjustment structure, including pitching
The travel(l)ing rest in direction, the platform for being fixed on travel(l)ing rest end, coarse adjustment steering wheel and corresponding coarse adjustment rocking arm, fine setting steering wheel and
Corresponding fine setting rocking arm, is rigidly connected between coarse adjustment rocking arm and fine setting rocking arm by pull bar；Fine setting steering wheel is fixed on platform,
Coarse adjustment steering wheel is bigger than finely tuning the horsepower of steering wheel；The rotation adjuster in rolling direction is adjusted using single rolling direction steering wheel
Section.
The control method of the camera head angle of pitch is：Default luffing angle allowable error value and thickness regulation conversion critical angle value
And the angle of pitch adjusts critical value slowly, controller controls two operations of steering wheel according to the measurement signal of luffing angle sensor：
When the angular deviation between the angle value and target angle angle value measured according to luffing angle sensor allows to miss more than luffing angle
During difference, if angular deviation adjusts conversion critical angle value more than or equal to thickness, using coarse adjustment steering wheel, plan is proportionally adjusted
Quick regulation on a large scale is slightly carried out, if angular deviation adjusts conversion critical angle value less than thickness, is carried out using fine setting steering wheel
Regulation, and when angular deviation is more than slow regulation critical value, proportionally regulative mode is adjusted fine setting steering wheel, when less than slow
During regulation critical value, fine setting steering wheel is adjusted according to slow regulative mode；
Camera head rolling direction control method be：Default roll angle allowable error value and roll angle adjust critical value slowly, adopt
Adjusted with single steering wheel, operation of the controller according to the measurement signal control rolling direction steering wheel of rolling angular transducer：When turning over
Difference between roll angle degree sensor angles value and default rolling angle, i.e., angular deviation is more than rolling angle allowable error value
When, if angular deviation adjusts critical value slowly more than or equal to set roll angle, adoption rate regulation strategy is adjusted, if
Angular deviation adjusts critical value slowly less than set roll angle, then using slow regulation strategy.
2. control method according to claim 1, it is characterised in that to luffing angle sensor and rolling angular transducer
Measurement data carry out by the way of limit filtration and Kalman filtering are combined to being filtered.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201611032349.9A CN106774444A (en) | 2016-11-22 | 2016-11-22 | A kind of self-balancing control method of large pitching angle camera platform |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201611032349.9A CN106774444A (en) | 2016-11-22 | 2016-11-22 | A kind of self-balancing control method of large pitching angle camera platform |
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| CN106774444A true CN106774444A (en) | 2017-05-31 |
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| CN201611032349.9A Pending CN106774444A (en) | 2016-11-22 | 2016-11-22 | A kind of self-balancing control method of large pitching angle camera platform |
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Cited By (5)
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| CN107390724A (en) * | 2017-08-18 | 2017-11-24 | 昆山寰震机电有限公司 | A kind of method for machine tilt adjustment |
| CN109443678A (en) * | 2018-11-30 | 2019-03-08 | 中国航空工业集团公司沈阳飞机设计研究所 | A kind of component vibration testing equipment leveling system and method |
| CN109828609A (en) * | 2018-12-30 | 2019-05-31 | 广东本致技术有限公司 | It is a kind of can adjust automatically angle high-altitude monitoring device |
| CN112727446A (en) * | 2020-12-31 | 2021-04-30 | 煤科集团沈阳研究院有限公司 | Underground coal mine drilling and paying-off method and device and underground coal mine drilling method |
| CN113400653A (en) * | 2021-07-20 | 2021-09-17 | 武汉理工大学 | Anti-shaking 3D printing system |
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Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107390724A (en) * | 2017-08-18 | 2017-11-24 | 昆山寰震机电有限公司 | A kind of method for machine tilt adjustment |
| CN109443678A (en) * | 2018-11-30 | 2019-03-08 | 中国航空工业集团公司沈阳飞机设计研究所 | A kind of component vibration testing equipment leveling system and method |
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| CN112727446A (en) * | 2020-12-31 | 2021-04-30 | 煤科集团沈阳研究院有限公司 | Underground coal mine drilling and paying-off method and device and underground coal mine drilling method |
| CN112727446B (en) * | 2020-12-31 | 2024-02-27 | 中煤科工集团沈阳研究院有限公司 | Underground coal mine drilling and paying-off and drilling verification method and device |
| CN113400653A (en) * | 2021-07-20 | 2021-09-17 | 武汉理工大学 | Anti-shaking 3D printing system |
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Application publication date: 20170531 |