CN106802566B - Three-axis pan-tilt control device and control method thereof - Google Patents
Three-axis pan-tilt control device and control method thereof Download PDFInfo
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- CN106802566B CN106802566B CN201710155106.2A CN201710155106A CN106802566B CN 106802566 B CN106802566 B CN 106802566B CN 201710155106 A CN201710155106 A CN 201710155106A CN 106802566 B CN106802566 B CN 106802566B
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- 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
- G05B13/00—Adaptive control systems, i.e. systems automatically adjusting themselves to have a performance which is optimum according to some preassigned criterion
- G05B13/02—Adaptive control systems, i.e. systems automatically adjusting themselves to have a performance which is optimum according to some preassigned criterion electric
- G05B13/04—Adaptive control systems, i.e. systems automatically adjusting themselves to have a performance which is optimum according to some preassigned criterion electric involving the use of models or simulators
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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
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Abstract
The invention discloses a three-axis pan-tilt control device which comprises a first connecting arm and a second connecting arm, wherein the first connecting arm and the second connecting arm are connected through a first rotating motor; the first rotating motor, the second connecting arm and the third rotating motor are in communication connection with a controller, and the controller comprises a tracking differentiator, an extended state observer and a nonlinear error feedback controller. The invention can improve the defects of the prior art, obviously improves the robustness of the holder, and greatly reduces the interference of the mechanical vibration of the holder carrier to the camera.
Description
Technical Field
The invention relates to the technical field of holder control, in particular to a three-axis holder control device and a control method thereof.
Background
The holder is a device for mounting optical devices such as a video camera and the like, and can realize the stability and invariance of the visual angle of the camera. The pan/tilt head allows the camera to maintain a desired angle regardless of the attitude of the carrier of the pan/tilt head and the vibration generated. The simple and easy-to-use PID controller is widely applied to angle feedback control of the pan-tilt for many years, along with the control precision of the pan-tilt, the requirement on robustness is higher and higher, and the defects of the traditional PID controller gradually appear.
Disclosure of Invention
The technical problem to be solved by the invention is to provide a three-axis pan-tilt control device and a control method thereof, which can overcome the defects of the prior art, obviously improve the robustness of the pan-tilt, and greatly reduce the interference of the mechanical vibration of a pan-tilt carrier on a camera.
In order to solve the technical problems, the technical scheme adopted by the invention is as follows.
A three-axis pan-tilt control device comprises a first connecting arm and a second connecting arm, wherein the first connecting arm and the second connecting arm are connected through a first rotating motor, the top of the first connecting arm is connected with a support through a second rotating motor, the support comprises two clamping plates which are arranged in parallel up and down, a plurality of damping balls are arranged between the two clamping plates, and the outer side end of the second connecting arm is connected with a camera through a third rotating motor; the first rotating motor, the second connecting arm and the third rotating motor are in communication connection with a controller, and the controller comprises a tracking differentiator, an extended state observer and a nonlinear error feedback controller.
Preferably, four mounting parts are symmetrically arranged on the clamping plate, and two damping balls are mounted in each mounting part; the thickness of the clamping plate is 2 mm.
Preferably, the two clamping plates are connected through a spherical supporting body, and the bottom of the spherical supporting body is fixed on the second rotating motor.
Preferably, an attachment plate is fixed to an outer side of the first link arm.
Preferably, the camera is connected with a third rotating motor through a shock absorption frame; the shock absorption frame comprises a bottom plate and a top plate, a rubber pad is arranged on the bottom plate, the camera is installed on the rubber pad, a first spring body is arranged between the top plate and the camera, a hydraulic shock absorber is arranged in the first spring body, and a second spring body is arranged between the hydraulic shock absorber and the first spring body.
Preferably, the weight of the camera is 100-400 g.
A control method of the three-axis pan-tilt control device comprises the following steps: measuring the motion state of the camera in real time by using a three-axis accelerometer, a three-axis gyroscope and a three-axis magnetic field sensor, calculating three attitude angles, and performing closed-loop control on the attitude angle of the holder by using an ADRC (active disturbance rejection controller); preprocessing a given signal in the process of obtaining an error; the tracking differentiator utilizes a nonlinear tracking mode to perform differential extraction; carrying out nonlinear weighting by using a nonlinear error feedback controller to obtain an output quantity; and analyzing the external disturbance and the internal disturbance of the system by using the extended state observer.
Adopt the beneficial effect that above-mentioned technical scheme brought to lie in: the invention can not generate overshoot phenomenon and slow response speed phenomenon for the angle control. The user does not need to adjust the controller parameters from the new state when the hardware parameters of the holder change, and compared with the prior PID algorithm, the method is simpler and more efficient. The invention is used for unmanned aerial vehicle aerial photography and vehicle-mounted motion camera shooting, and has stable and smooth picture and excellent effect. The handheld three-axis pan-tilt can also be used as a handheld three-axis pan-tilt, so that a user can conveniently use a mobile phone or other cameras to shoot videos and photos with stable and smooth pictures.
Drawings
FIG. 1 is a front view of one embodiment of the present invention.
Fig. 2 is a left side view of an embodiment of the present invention.
Figure 3 is a top view of an embodiment of the present invention.
Fig. 4 is a schematic diagram of a control section in one embodiment of the present invention.
Figure 5 is a block diagram of a shock mount in one embodiment of the invention.
Detailed Description
The standard parts used in the invention can be purchased from the market, the special-shaped parts can be customized according to the description and the description of the attached drawings, and the specific connection mode of each part adopts the conventional means of mature bolts, rivets, welding, sticking and the like in the prior art, and the detailed description is not repeated.
Referring to fig. 1 to 5, a specific embodiment of the present invention includes a first connecting arm 1 and a second connecting arm 2, the first connecting arm 1 and the second connecting arm 2 are connected through a first rotating motor 3, the top of the first connecting arm 1 is connected to a bracket 5 through a second rotating motor 4, the bracket 5 includes two clamping plates 6 arranged in parallel up and down, a plurality of damping balls 7 are arranged between the two clamping plates 6, and the outer end of the second connecting arm 2 is connected to a camera 9 through a third rotating motor 8; the first rotating electrical machine 3, the second connecting arm 2 and the third rotating electrical machine 8 are in communication with a controller 10, and the controller 10 comprises a tracking differentiator 11, an extended state observer 12 and a nonlinear error feedback controller 13. Four mounting parts 14 are symmetrically arranged on the clamping plate 6, and two damping balls 7 are mounted in each mounting part 14; the thickness of the clamping plate 6 is 2 mm. The two clamping plates 6 are connected through a spherical supporting body 15, and the bottom of the spherical supporting body 15 is fixed on the second rotating motor 4. A mounting plate 16 is fixed to the outer side of the first link arm 1. The camera 9 is connected with the third rotating motor 8 through a shock absorption frame 17; the shock absorption frame 17 comprises a bottom plate 18 and a top plate 20, a rubber pad 19 is arranged on the bottom plate 18, the camera 9 is installed on the rubber pad 19, a first spring body 21 is arranged between the top plate 20 and the camera 9, a hydraulic shock absorber 22 is arranged in the first spring body 21, and a second spring body 23 is arranged between the hydraulic shock absorber 22 and the first spring body 21. The weight of the camera is 100-400 g.
A control method of the three-axis pan-tilt control device comprises the following steps: measuring the motion state of the camera in real time by using a three-axis accelerometer, a three-axis gyroscope and a three-axis magnetic field sensor, calculating three attitude angles, and performing closed-loop control on the attitude angle of the holder by using an ADRC (active disturbance rejection controller); preprocessing a given signal in the process of obtaining an error; the tracking differentiator 11 performs differentiation extraction by using a nonlinear tracking mode; carrying out nonlinear weighting by using a nonlinear error feedback controller 13 to obtain an output quantity; the external and internal disturbances of the system are analyzed by the extended state observer 12.
An air bag 24 is provided in the rubber pad 19.
The pan-tilt battery voltage and throttle values are used to modify the pressure of the air bag 24 and the feedback gain of the ADRC active disturbance rejection controller:
wherein P is the original pressure value of the air bag 24, P' is the pressure correction value of the air bag 24, V is the battery voltage, O is the throttle value, k1Is a scaling factor.
Wherein F is the original feedback gain of the ADRC active-disturbance-rejection controller, F' is the feedback gain corrected by the ADRC active-disturbance-rejection controller, V is the battery voltage, O is the throttle value, k2And R is a correlation degree of the battery voltage and the change of the throttle valve.
In the description of the present invention, it is to be understood that the terms "longitudinal", "lateral", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", and the like, indicate orientations or positional relationships based on those shown in the drawings, are merely for convenience of description of the present invention, and do not indicate or imply that the referenced devices or elements must have a particular orientation, be constructed and operated in a particular orientation, and thus, are not to be construed as limiting the present invention.
The foregoing shows and describes the general principles and broad features of the present invention and advantages thereof. It will be understood by those skilled in the art that the present invention is not limited to the embodiments described above, which are described in the specification and illustrated only to illustrate the principle of the present invention, but that various changes and modifications may be made therein without departing from the spirit and scope of the present invention, which fall within the scope of the invention as claimed. The scope of the invention is defined by the appended claims and equivalents thereof.
Claims (3)
1. The utility model provides a triaxial cloud platform controlling means which characterized in that: the damping device comprises a first connecting arm (1) and a second connecting arm (2), wherein the first connecting arm (1) is connected with the second connecting arm (2) through a first rotating motor (3), the top of the first connecting arm (1) is connected with a bracket (5) through a second rotating motor (4), the bracket (5) comprises two clamping plates (6) which are arranged in parallel up and down, a plurality of damping balls (7) are arranged between the two clamping plates (6), and the outer side end of the second connecting arm (2) is connected with a camera (9) through a third rotating motor (8); the first rotating motor (3), the second rotating motor (4) and the third rotating motor (8) are in communication connection with a controller (10), and the controller (10) comprises a tracking differentiator (11), an extended state observer (12) and a nonlinear error feedback controller (13);
the two clamping plates (6) are connected through a spherical supporting body (15), and the bottom of the spherical supporting body (15) is fixed on the second rotating motor (4);
the camera (9) is connected with a third rotating motor (8) through a shock absorption frame (17); the damping frame (17) comprises a bottom plate (18) and a top plate (20), a rubber pad (19) is arranged on the bottom plate (18), the camera (9) is installed on the rubber pad (19), an air bag (24) is arranged in the rubber pad (19), a first spring body (21) is arranged between the top plate (20) and the camera (9), a hydraulic damper (22) is arranged in the first spring body (21), and a second spring body (23) is arranged between the hydraulic damper (22) and the first spring body (21);
a control method of a three-axis pan-tilt control device comprises the following steps: measuring the motion state of the camera in real time by using a three-axis accelerometer, a three-axis gyroscope and a three-axis magnetic field sensor, calculating three attitude angles, and performing closed-loop control on the attitude angle of the holder by using an ADRC (active disturbance rejection controller); preprocessing a given signal in the process of obtaining an error; a tracking differentiator (11) performs differential extraction by using a nonlinear tracking mode; carrying out nonlinear weighting by using a nonlinear error feedback controller (13) to obtain an output quantity; analyzing external disturbance and internal disturbance of the system by using an extended state observer (12);
four mounting parts (14) are symmetrically arranged on the clamping plate (6), and two damping balls (7) are mounted in each mounting part (14); the thickness of the splint (6) is 2 mm;
the pan-tilt battery voltage and throttle values are used to modify the pressure of the air bag 24 and the feedback gain of the ADRC active disturbance rejection controller:
wherein P is the original pressure value of the air bag 24, P' is the pressure correction value of the air bag 24, V is the battery voltage, O is the throttle value, k1Is a proportionality coefficient;
wherein F is the original feedback gain of the ADRC active-disturbance-rejection controller, F' is the feedback gain corrected by the ADRC active-disturbance-rejection controller, V is the battery voltage, O is the throttle value, k2And R is a correlation degree of the battery voltage and the change of the throttle valve.
2. The apparatus according to claim 1, wherein: and a mounting plate (16) is fixed on the outer side of the first connecting arm (1).
3. The apparatus according to claim 1, wherein: the weight of the camera is 100-400 g.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710155106.2A CN106802566B (en) | 2017-03-16 | 2017-03-16 | Three-axis pan-tilt control device and control method thereof |
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| CN201710155106.2A CN106802566B (en) | 2017-03-16 | 2017-03-16 | Three-axis pan-tilt control device and control method thereof |
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| CN106802566A CN106802566A (en) | 2017-06-06 |
| CN106802566B true CN106802566B (en) | 2020-05-01 |
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Families Citing this family (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107310740B (en) * | 2017-06-08 | 2021-04-27 | 深圳市哈博森科技有限公司 | Cloud platform camera and unmanned aerial vehicle |
| WO2019000239A1 (en) * | 2017-06-27 | 2019-01-03 | 深圳市大疆灵眸科技有限公司 | Handheld pan-tilt device, control method therefor and computer readable storage medium |
| CN108170027B (en) * | 2017-12-05 | 2020-01-17 | 深圳市道通智能软件开发有限公司 | Method and device for adjusting control parameters of holder controller, medium and holder controller |
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