CN107357318B - Control method and control system for stabilizing rotation of cradle head and stabilizing cradle head - Google Patents

Control method and control system for stabilizing rotation of cradle head and stabilizing cradle head Download PDF

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Publication number
CN107357318B
CN107357318B CN201710456655.3A CN201710456655A CN107357318B CN 107357318 B CN107357318 B CN 107357318B CN 201710456655 A CN201710456655 A CN 201710456655A CN 107357318 B CN107357318 B CN 107357318B
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stable
stabilizing
control
loop
closed
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CN107357318A (en
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田大鹏
贾平
王中石
王福超
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Changchun Institute of Optics Fine Mechanics and Physics of CAS
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Changchun Institute of Optics Fine Mechanics and Physics of CAS
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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
    • G05B11/36—Automatic controllers electric with provision for obtaining particular characteristics, e.g. proportional, integral, differential
    • G05B11/42—Automatic controllers electric with provision for obtaining particular characteristics, e.g. proportional, integral, differential for obtaining a characteristic which is both proportional and time-dependent, e.g. P. I., P. I. D.
    • 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
    • G05B19/00—Programme-control systems
    • G05B19/02—Programme-control systems electric
    • G05B19/18—Numerical control [NC], i.e. automatically operating machines, in particular machine tools, e.g. in a manufacturing environment, so as to execute positioning, movement or co-ordinated operations by means of programme data in numerical form
    • G05B19/19—Numerical control [NC], i.e. automatically operating machines, in particular machine tools, e.g. in a manufacturing environment, so as to execute positioning, movement or co-ordinated operations by means of programme data in numerical form characterised by positioning or contouring control systems, e.g. to control position from one programmed point to another or to control movement along a programmed continuous path
    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
    • H02P21/00—Arrangements or methods for the control of electric machines by vector control, e.g. by control of field orientation
    • H02P21/0003—Control strategies in general, e.g. linear type, e.g. P, PI, PID, using robust control
    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
    • H02P21/00—Arrangements or methods for the control of electric machines by vector control, e.g. by control of field orientation
    • H02P21/22—Current control, e.g. using a current control loop
    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
    • H02P6/00—Arrangements for controlling synchronous motors or other dynamo-electric motors using electronic commutation dependent on the rotor position; Electronic commutators therefor
    • H02P6/04—Arrangements for controlling or regulating the speed or torque of more than one motor
    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
    • H02P6/00—Arrangements for controlling synchronous motors or other dynamo-electric motors using electronic commutation dependent on the rotor position; Electronic commutators therefor
    • H02P6/08—Arrangements for controlling the speed or torque of a single motor
    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
    • H02P6/00—Arrangements for controlling synchronous motors or other dynamo-electric motors using electronic commutation dependent on the rotor position; Electronic commutators therefor
    • H02P6/04—Arrangements for controlling or regulating the speed or torque of more than one motor
    • H02P2006/045—Control of current

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  • Engineering & Computer Science (AREA)
  • Power Engineering (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Automation & Control Theory (AREA)
  • Human Computer Interaction (AREA)
  • Manufacturing & Machinery (AREA)
  • Feedback Control In General (AREA)
  • Studio Devices (AREA)

Abstract

The invention relates to a control method for stabilizing rotation of a holder, which comprises the following steps: self-checking the stable tripod head and initializing the angle of the stable tripod head to zero; acquiring the miss distance of a tracked target relative to the center of an image picture and the focal length value of a camera; obtaining the angle difference value of each axis in the three axes of the stable holder according to the miss distance of the tracked target relative to the image center and the focal length value of the camera; obtaining a tracking closed-loop control quantity according to an angle difference value of each of three axes of the stabilizing pan-tilt; and taking the tracking closed-loop control quantity as a stable loop closed-loop control instruction to perform closed-loop stable control, and outputting the calculated stable loop control quantity to control the three-axis motion of the stable holder.

Description

control method and control system for stabilizing rotation of cradle head and stabilizing cradle head
Technical Field
the invention relates to the technical field of a stabilizing pan-tilt, in particular to a control method and a control system for stabilizing the rotation of a pan-tilt and a stabilizing pan-tilt.
Background
In recent years, various moving base imaging holders are widely used in the fields of aerial photography, unmanned vehicles, robots and the like, and are receiving more and more attention. Particularly, the unmanned aerial vehicle is used for aerial photography, and the method has an important means for rapidly, flexibly, clearly and accurately acquiring photos and video information of the region of interest of people. However, for a moving base carrier represented by an unmanned aerial vehicle, the influence of changes, vibration and the like of the attitude of the carrier inevitably exists in the moving process, so that the video seriously shakes and the photo is blurred. The birth of the stabilizing pan-tilt solves the problem. The stabilizing cradle head consists of a mechanical mechanism with multiple degrees of freedom, a driving motor on each shaft and a control circuit. Common pan-tilt motors include steering engines for aeromodelling, dc servo motors with speed reduction mechanisms, stepping motors, brushless motors and the like. However, in the conventional pan/tilt head drive control system, it is difficult to perform continuous tracking shooting of an image.
Disclosure of Invention
the invention aims to solve the technical problem that continuous tracking shooting of images is difficult to realize in the prior art, and provides a control method and a control system for stabilizing rotation of a cradle head, and the cradle head, which can perform continuous tracking shooting on the images.
The invention provides a control method for stabilizing rotation of a holder, which comprises the following steps:
Self-checking the stable tripod head and initializing the angle of the stable tripod head to zero;
Acquiring the miss distance of a tracked target relative to the center of an image picture and the focal length value of a camera;
Obtaining the angle difference value of each axis in the three axes of the stable holder according to the miss distance of the tracked target relative to the image center and the focal length value of the camera;
Obtaining a tracking closed-loop control quantity according to an angle difference value of each of three axes of the stabilizing pan-tilt;
And taking the tracking closed-loop control quantity as a stable loop closed-loop control instruction to perform closed-loop stable control to obtain a stable loop control quantity, and outputting the obtained stable loop control quantity to control the three-axis motion of the stable holder.
The present invention also provides the control system of the embodiment, comprising:
the image tracker is used for detecting and acquiring the miss distance of the tracked target relative to the center of the image picture;
The multi-channel information interaction interface is respectively connected with the image tracker and the control chip for stabilizing the rotation of the holder;
The control chip is used for self-checking the stable tripod head and initializing the angle of the stable tripod head to zero; the method comprises the steps of obtaining the miss distance of a tracked target relative to the image picture center and the focal length value of a camera, obtaining a tracking closed-loop control quantity according to the miss distance of the tracked target relative to the image picture center and the focal length value of the camera and the angle difference value of each axis in three axes of a stabilizing pan-tilt, taking the tracking closed-loop control quantity as a stabilizing loop closed-loop control instruction to carry out closed-loop stabilizing control to obtain a stabilizing loop control quantity, and outputting the obtained stabilizing loop control quantity to control the three-axis motion of the stabilizing pan-tilt.
the invention further provides the stabilizing pan-tilt of the embodiment, and the stabilizing pan-tilt comprises the stabilizing stage digital control system.
The invention also provides an embodiment of a computer-readable storage medium, on which a computer program is stored which, when being executed by a processor, carries out the steps of the above-mentioned method.
compared with the prior art, the technical scheme of the invention has the beneficial effects that: the method comprises the steps of obtaining an angle difference value of each axis in three axes of a stable holder according to a miss distance of a tracked target relative to the center of an image picture and a focal length value of a camera, obtaining a tracking closed-loop control quantity according to the angle difference value of each axis in the three axes of the stable holder to obtain a stable loop control quantity, outputting the stable loop control quantity to a power-level digital control system, and controlling the rotation of a brushless motor through the power-level digital control system to control the movement of each axis of the stable holder so as to realize continuous tracking shooting of the image.
Drawings
Fig. 1 is a schematic structural diagram of a driving control system of a brushless motor according to an embodiment of the present invention.
FIG. 2 is a circuit diagram of a multi-channel information interaction interface according to an embodiment of the present invention.
FIG. 3 is a circuit diagram of another embodiment of the multi-channel information interaction interface of the present invention.
Fig. 4 is a circuit diagram of an embodiment of a three-phase bridge driving assembly according to the invention.
fig. 5 is a circuit diagram of another embodiment of a three-phase bridge drive assembly according to the present invention.
fig. 6(a) is a wiring diagram of a brushless motor and a power stage controller according to a first embodiment of the present invention.
fig. 6(b) is a wiring diagram of a brushless motor and a power stage controller according to a second embodiment of the present invention.
Fig. 6(c) is a wiring diagram of a brushless motor and a power stage controller according to a third embodiment of the present invention.
FIG. 7 is a schematic diagram of an embodiment of a digital control system for power stage according to the present invention.
FIG. 8 is a block diagram of an embodiment of a regulated digital control system according to the present invention.
fig. 9 is a flowchart of a first embodiment of a vector control method for controlling the rotation of a motor according to the present invention.
Fig. 10 is a flowchart of a second embodiment of a vector control method for controlling the rotation of a motor according to the present invention.
Fig. 11 is a flowchart of a vector control method for controlling the rotation of a motor according to a third embodiment of the present invention.
Fig. 12 is a flowchart of a fourth embodiment of a vector control method for controlling the rotation of a motor according to the present invention.
fig. 13 is a flowchart of a control method for stabilizing the rotation of the pan/tilt head according to a first embodiment of the present invention.
Fig. 14 is a flowchart of a control method for stabilizing the rotation of the pan/tilt head according to a second embodiment of the present invention.
fig. 15 is a flowchart of a control method for stabilizing the rotation of the pan/tilt head according to a third embodiment of the present invention.
In the figure, 1, a stabilizing stage digital control system, 2, a power stage digital control system and 3, a control chip for stabilizing the rotation of the holder. 4. The device comprises an inertia measurer, 5, a multi-channel information interaction interface, 6, an image tracker, 7, a communication interface, 8, a power level controller, 9, a three-phase bridge driving assembly, 10, a current sensor, 11, a brushless motor, 12 and an absolute angular position sensor.
Detailed Description
The following further describes embodiments of the present invention with reference to the drawings.
the driving control system for stabilizing the rotation of the holder serves as a core control device of an aerial photography, monitoring, remote sensing and sampling holder, can be used under the working condition that the stabilizing frame of the stabilizing holder generates angular motion, such as the holder hung on an unmanned aerial vehicle, the unmanned aerial vehicle generates flight attitude change, and the brushless motor of each shaft of the stabilizing holder is controlled to rotate, so that the pointing angle of an imaging device borne by the stabilizing holder is ensured to be always kept inertially stable or always point to an interested target.
The invention provides a drive control system of a brushless motor of an embodiment, as shown in fig. 1, the drive control system comprises a stabilization level digital control system 1 and at least one power level digital control system 2, and the drive control system is connected with the power level digital control system 2 and is communicated with the power level digital control system 2 according to the sequence of the power level digital control system 2, and is used for obtaining the inertial angular velocity of a stabilization frame of a stabilization holder and the inertial attitude information of the stabilization frame of the stabilization holder according to the obtained inertial angular velocity; acquiring a relative rotation angle of a stable frame of the stable holder around three axes; obtaining the angular velocity of each axis in the three axes according to the inertial angular velocity of the stable frame of the stable holder, the inertial attitude information of the stable frame of the stable holder and the relative rotation angle of the stable frame of the stable holder around the three axes; performing closed-loop stability control according to the inertial angular velocity of the stable frame of the stable holder and the inertial attitude information of the stable frame of the stable holder, and outputting a stable-loop closed-loop control instruction; obtaining a control quantity of a stabilizing ring according to the angular velocity of each shaft in the three shafts and a reference value of a closed-loop control instruction of the stabilizing ring, and outputting the control quantity of the stabilizing ring to the power stage digital control system 2;
The power level digital control system 2 is connected with at least one brushless motor 11 and is used for judging whether an absolute initial value of an electrical angle exists at present; if the absolute initial value of the electrical angle does not exist, obtaining the current electrical angle value, the quadrature axis voltage control quantity, the direct axis voltage control quantity and the absolute initial value of the electrical angle in the initialization mode; if the absolute initial value of the electrical angle exists, acquiring the angle value of an absolute angular position sensor, acquiring the current electrical angle value according to the angle value of the absolute angular position sensor and the absolute initial value of the electrical angle, and acquiring the quadrature axis voltage control quantity and the direct axis voltage control quantity; and obtaining the duty ratio of output PWM according to the current electric angle value, the quadrature axis voltage control quantity and the direct axis voltage control quantity so as to control the rotation of the motor.
Specifically, as shown in fig. 1, the driving control system includes n power stage digital control systems 2, a serial number of a first power stage digital control system is 2-1, a serial number of a second power stage digital control system is 2-2, and a serial number of an nth power stage digital control system is 2-n, and the stabilizing stage digital control system 1 may communicate with the power stage digital control systems 2 in order from small to large or from large to small according to the serial numbers of the power stage digital control systems 2, where n is a positive integer greater than or equal to 1.
In a specific implementation, the power stage controller 8 is further configured to obtain a current operating mode, and determine that the current operating mode is a current open-loop mode or a current closed-loop mode;
the current working mode is a current closed loop mode, and quadrature axis voltage control quantity and direct axis voltage control quantity are obtained according to the obtained two-phase driving current values;
the current working mode is a current open loop mode, and quadrature axis voltage control quantity and direct axis voltage control quantity are obtained.
in a specific implementation, the power level controller 8 is further configured to obtain a control instruction, and determine whether the control instruction is an end instruction; if the control instruction is an ending instruction, saving an absolute initial value of the electrical angle; if the control instruction is not an end instruction, the work of acquiring the angle value of the absolute angular position sensor is performed.
Specifically, the three-axis control amount of the stabilizer ring must be executed by 3 brushless motors, and in the specific implementation, each brushless motor is driven by 1 power stage control system 2, and the 1 power stage control system 2 can also drive more brushless motors, but in the case of only 1 power stage control system 2, 3-axis control can also be realized by driving 3 motors. However, if the whole system has only 1 motor, only 1 shaft control can be realized.
As shown in fig. 1, each axis requires a power stage control system 2, each power stage control system has a power stage digital controller, so that the three-axis pan-tilt comprises 3 power stage digital controllers, and the control command of the power stage digital control system 2 may be an end command sent by a user through a remote control system or data transmission, and the command is also received through a multi-channel information interaction interface 5.
specifically, the control quantity of the stabilizing loop of the stabilizing digital control system 1 is a current command obtained by the power level digital control system 2 when the control mode is the current closed-loop mode or a voltage command obtained by the power level digital control system 2 when the control mode is the current open-loop mode, that is, when the control mode is the current closed-loop mode, the obtained control quantity of the stabilizing loop of the stabilizing digital control system 1 is a two-phase driving current value, and when the control mode is the current open-loop mode, the obtained control quantity of the stabilizing loop of the stabilizing digital control system 1 is a quadrature axis voltage control quantity and a direct axis voltage control quantity.
Because the calculation is carried out in the current open-loop mode, the pressure of the processor can be reduced, when the processor with lower performance is selected, the calculation of the current closed-loop algorithm can not be completed in a specified time period due to weak calculation capability of the processor, the calculation can be carried out in the current open-loop mode, the calculation can be carried out in the current closed-loop mode, the influence of the induced electromotive force of the motor can be effectively eliminated, the moment output is more stable, simultaneously, the current flowing through the motor can effectively participate in the work, the angular velocity of each shaft in the three shafts can be obtained according to the inertial angular velocity of the stable frame of the stable tripod head, the inertial attitude information of the stable frame of the stable tripod head and the relative rotation angle of the stable tripod head around the three shafts, and the stable ring control quantity can be obtained according to the angular velocity of each shaft in the three shafts and the reference value of the stable ring closed, and outputting the control quantity of the stabilizing ring to a power stage digital control system, and controlling the rotation of the brushless motor through the power stage digital control system to control the motion of each shaft of the stabilizing pan-tilt so as to obtain a stable high-precision image. The driving control system of the brushless motor adopts a scheme of combining distributed control and feasible vector control, so that the motor can be more effectively utilized to improve the performance. In addition, the current control of the motor adopts vector control and is distributed to each power level digital control system for processing, so that the calculation pressure of a stable level control system can be reduced.
in a specific implementation, the number of the brushless motors 11 is required to be consistent with the number of the axes of the stabilizing pan/tilt head, that is, one brushless motor 11 controls one axis, the number of the power stage digital control systems 2 may be the same as the number of the brushless motors 11, then the power stage digital control system 2 controls one brushless motor 11, of course, one power stage digital control system 2 may also control a plurality of brushless motors 11, in this embodiment, one power stage digital control system 2 controls one brushless motor 11, and the circuit structures between the plurality of power stage digital control systems 2 are the same.
specifically, as shown in fig. 8, the present invention further provides an embodiment of a steady-stage digital control system 1, which includes an inertia measurer 4, configured to detect and obtain an inertial angular velocity of a steady frame of a steady pan/tilt head and inertial attitude information of the steady frame of the steady pan/tilt head;
The multi-channel information interaction interface 5 is respectively connected with the inertia measurer 4 and the control chip 3 for stabilizing the rotation of the holder; the control chip 3 for stabilizing the rotation of the cradle head is used for self-checking the stabilized cradle head and initializing the angle of the stabilized cradle head to zero; acquiring inertial angular velocity of a stable frame of a stable holder and inertial attitude information of the stable frame of the stable holder, and acquiring a relative rotation angle of the stable frame of the stable holder around three axes; the system comprises a stabilizing frame, a three-axis rotating angle sensor and a control unit, wherein the stabilizing frame is used for stabilizing the tripod head; performing closed-loop stability control according to the inertial angular velocity of the stable frame of the stable holder and the inertial attitude information of the stable frame of the stable holder, and outputting a stable-loop closed-loop control instruction; and obtaining a control quantity of the stabilizing ring according to the inertial angular velocity of each shaft in the three shafts and the reference value of the closed-loop control instruction of the stabilizing ring, and outputting the control quantity of the stabilizing ring to the power stage digital control system 2.
Specifically, the control chip 3 for stabilizing the rotation of the pan/tilt/zoom is connected with the multi-channel information interaction interface 5 in a parallel bus mode. In addition, the control chip 3 for stabilizing the rotation of the pan/tilt head can communicate with a plurality of power level digital control systems and the inertia measurer 4 through the multi-channel information interaction interface 5, and the control chip 3 for stabilizing the rotation of the pan/tilt head sequentially communicates with the plurality of power level digital control systems. The communication mode of the multi-channel information interaction interface 5 comprises the following modes: PWM pulse width modulation, I2C bus, SPI bus, serial communication (RS232, RS422, RS485), CAN bus.
in the implementation, fig. 2 is a circuit diagram of an embodiment of the multi-channel information interaction interface of the present invention. Specifically, the multiple information interaction interface 5 adopts a differential digital communication mode, that is, the multiple information interaction interface 5 includes a conversion chip ST16C654 and a differential chip max3074, the control chip 3 for stabilizing the rotation of the pan/tilt head is connected with the conversion chip ST16C654 in a parallel bus mode, that is, the control chip 3 for stabilizing the rotation of the pan/tilt head is connected with the conversion chip ST16C654 through a data bus DB0-DB7 and an address bus AB0-AB5 to convert parallel data into serial data, and the control chip 3 for stabilizing the rotation of the pan/tilt head is connected with the decoding chip 74139 through the address bus AB0-AB5 to select an interface address to be communicated. The serial data converted by the conversion chip ST16C654 is converted into differential signals by the differential chip max3074, and is communicated with the power stage digital control system 2 through the ports CH0-CH 3.
In specific implementation, fig. 3 is a circuit diagram of another embodiment of the multi-channel information interaction interface of the present invention. Specifically, the multi-channel information interaction interface 5 adopts an analog quantity communication mode, that is, the control chip 3 for stabilizing the rotation of the pan/tilt is connected with the digital-to-analog conversion chip AD7656 and the analog-to-digital conversion chip DAC8822 through a parallel bus mode, the digital-to-analog conversion chip AD7656 converts digital information into analog information and sends the analog information to the power-level digital control system 2 for communication, and analog data sent by an external component is converted into digital information by the analog-to-digital conversion chip DAC8822 and sends the digital information to the control chip 3 for stabilizing the rotation of the pan/tilt.
The inertia measurer 4 is used for measuring the inertial angular velocity of the stable frame of the stable holder and the inertial attitude information of the stable frame of the stable holder, the attitude information comprises pitch data, roll data and azimuth data, and the data is sent to the control chip 3 for stabilizing the rotation of the holder through the multi-channel information interaction interface 5, wherein the data comprises the angular velocity and the angular position.
in specific implementation, according to the stable cloud platform includes stable frame and triaxial, the triaxial includes pitch axis X, roll axis Y and azimuth axis Z, through the motion of pitch axis X, roll axis Y and azimuth axis Z one-to-one brushless motor area triaxial, specifically, obtains the relative turned angle around the triaxial of stable frame of stable cloud platform through angle sensor, and the inertial angular velocity of stable frame of stable cloud platform is by the top.
Specifically, the control chip 3 for stabilizing the rotation of the pan/tilt head outputs the control quantity of the stabilizing ring to the power stage digital control system 2, and the power stage digital control system 2 controls the rotation of the brushless motor according to the control quantity of the stabilizing ring to drive the shaft corresponding to the brushless motor to move.
In a specific implementation, the stable closed-loop control specifically includes at least one of a lead-lag control, a PID control, and a sliding-mode control.
In a specific implementation, the formula for obtaining the angular velocity of each axis in the three axes according to the inertial angular velocity of the stable frame of the stable pan/tilt head, the inertial attitude information of the stable frame of the stable pan/tilt head, and the relative rotation angle of the stable frame around the three axes is as follows:
Wherein, theta, gamma,The relative rotation angles of the stable frames of the stable holder around the three axes are respectively in one-to-one correspondence; [ omega ]pxωpy ωpz]TThe inertial angular velocities, [ omega ] of the stable frames are respectively in one-to-one correspondencebx ωby ωbz]Trespectively corresponding to inertia of each shaft in three shafts one by oneand (4) a linear angular velocity.
In specific implementation, according to the angular velocity of each of the three axes and the reference value of the closed-loop control command of the stabilizing ring, a formula for obtaining the controlled variable of the stabilizing ring is as follows:
Wherein u isciand r is a reference value of a closed-loop control command of the stabilizing loop, and omega is the angular speed of one of the three axes. That is, according to the above formula, the stability level digital control system 1 obtains the stability loop control quantity for a single power level digital control system 2, and sends the stability loop control quantity to the corresponding power level digital control system 2 through the multi-channel information interaction interface 5 to realize the control of the brushless motor. In addition, the stable loop closed-loop control instruction generates different control instructions according to different working modes, and if the stable loop closed-loop control instruction is in the stable mode, the stable loop closed-loop control instruction is an angular speed command received through data transmission; if the mode is tracking, the closed-loop control command of the stable loop is a control quantity obtained by calculation according to the image miss distance, namely a tracking closed-loop control quantity.
the method comprises the steps of obtaining the inertial angular velocity of each shaft in three shafts according to the inertial angular velocity of a stabilizing frame of a stabilizing pan-tilt, the inertial attitude information of the stabilizing frame of the stabilizing pan-tilt and the relative rotation angle of the stabilizing frame of the stabilizing pan-tilt around the three shafts, obtaining the control quantity of a stabilizing ring according to the inertial angular velocity of each shaft in the three shafts and the reference value of a closed-loop control instruction of the stabilizing ring, outputting the control quantity of the stabilizing ring to a power-stage digital control system, and controlling the rotation of a brushless motor through the power-stage digital control system to control the movement of each shaft of the stabilizing pan-tilt, so that a stable high-precision image is obtained. In addition, the stabilizer control system only needs to calculate the control quantity of the stabilizer loop and does not need to drive and control the motor, so that the calculation quantity of the stabilizer control system can be reduced.
in specific implementation, the digital control system 1 further includes an image tracker 6 for detecting and acquiring the miss distance of the tracked object relative to the center of the image frame;
the multi-channel information interaction interface 5 is respectively connected with the image tracker 6 and the control chip 3 for stabilizing the rotation of the holder; the control chip 3 for stabilizing the rotation of the cradle head is also used for self-checking the stabilized cradle head and initializing the angle of the stabilized cradle head to zero; the method comprises the steps of obtaining the miss distance of a tracked target relative to the image picture center and the focal length value of a camera, obtaining a tracking closed-loop control quantity according to the miss distance of the tracked target relative to the image picture center and the focal length value of the camera and the angle difference value of each axis in three axes of a stabilizing pan-tilt, taking the tracking closed-loop control quantity as a stabilizing loop closed-loop control instruction, performing stabilizing closed-loop control according to feedback data, and outputting the calculated stabilizing loop control quantity.
in a specific implementation, the formula for obtaining the angle difference value of each axis in the three axes of the stable holder according to the miss distance of the tracked target relative to the center of the image and the focal length value of the camera is as follows:
θ＝arctan(n×psize/L)；
where theta is the angle difference, n is the miss distance, psizeIs the pixel size and L is the focal length.
in a specific implementation, the formula for obtaining the tracking closed-loop control quantity according to the angle difference value of each of the three axes of the stable holder is as follows:
Wherein u iscito track the closed-loop control quantity, thetaiis the angular difference of each of the three axes.
in specific implementation, a specific formula of the stable loop control amount obtained by using the tracking closed-loop control amount as the stable loop control command to perform the closed-loop stable control is well known in the art.
the method comprises the steps of obtaining an angle difference value of each axis in three axes of a stabilizing pan-tilt according to a miss distance of a tracked target relative to the center of an image picture and a focal length value of a camera, obtaining a tracking closed-loop control quantity according to the angle difference value of each axis in the three axes of the stabilizing pan-tilt, taking the tracking closed-loop control quantity as a stabilizing loop closed-loop control instruction to obtain a calculated stabilizing loop control quantity, outputting the stabilizing loop control quantity to a power-stage digital control system, and controlling the rotation of a brushless motor through the power-stage digital control system to control the movement of each axis of the stabilizing pan-tilt, so that continuous tracking shooting of images is achieved. Therefore, the purposes of high-precision image stabilization and stable and continuous tracking shooting of the moving target in the moving aerial shooting process can be achieved. The stabilizer control system only needs to calculate the control quantity of the stabilizer loop and does not need to drive and control the motor, so that the calculation quantity of the stabilizer control system can be reduced.
In an implementation, as shown in fig. 7, the present invention provides an embodiment of a power stage digital control system 2 for controlling a rotation vector of a motor, and in an implementation, the present invention provides an embodiment of a power stage digital control system 2 for controlling a rotation of a motor, where the power stage digital control system 2 includes:
a communication interface 7 for receiving the current operating mode and control instructions of the power stage controller;
the power level controller 8 is used for judging whether an absolute initial value of the electrical angle exists at present; if the absolute initial value of the electrical angle does not exist, obtaining the current electrical angle value, the quadrature axis voltage control quantity, the direct axis voltage control quantity and the absolute initial value of the electrical angle in the initialization mode; if the absolute initial value of the electrical angle exists, acquiring the angle value of an absolute angular position sensor, acquiring the current electrical angle value according to the angle value of the absolute angular position sensor and the absolute initial value of the electrical angle, and acquiring the quadrature axis voltage control quantity and the direct axis voltage control quantity; obtaining the duty ratio of output PWM according to the current electric angle value, the quadrature axis voltage control quantity and the direct axis voltage control quantity so as to control the rotation of the motor;
A three-phase bridge driver 9 for outputting a driving current according to the duty ratio of the PWM output from the power stage controller to control the rotation of the motor;
A current sensor 10 for detecting a two-phase drive current value among drive currents of the three-phase bridge driver;
and an absolute angular position sensor 12 for detecting an angular value of the motor.
In a specific implementation, the power stage controller 8 is further configured to obtain a current operating mode, and determine that the current operating mode is a current open-loop mode or a current closed-loop mode;
the current working mode is a current closed loop mode, and quadrature axis voltage control quantity and direct axis voltage control quantity are obtained according to the obtained two-phase driving current values;
the current working mode is a current open loop mode, and quadrature axis voltage control quantity and direct axis voltage control quantity are obtained.
in a specific implementation, the power level controller 8 is further configured to obtain a control instruction, and determine whether the control instruction is an end instruction; if the control instruction is an ending instruction, saving an absolute initial value of the electrical angle; if the control instruction is not an end instruction, the work of acquiring the angle value of the absolute angular position sensor is performed.
Specifically, the motor is a brushless motor 11, and the communication interface 7 is a communication interface between the power-level digital control system 2 and the outside, and corresponds to the stability-level digital control system in a communication mode. The power stage controller 8 reads the two-phase driving current data of the absolute angular position sensor 12 and the current sensor 10, obtains the absolute angular position of the rotor of the brushless motor 11 relative to the stator and the current data of two adjacent phases of the brushless motor, runs a vector control algorithm, and outputs the calculated result to the three-phase bridge driving component 9 through 3 groups of PWM modules on the power stage controller 8. The three-phase bridge driving assembly 9 provides an ABC three-phase interface which can be electrically connected with three phases of the brushless motor 11; when the brushless motor is electrically connected, the three-phase connecting line of the brushless motor is three wires, any one of the three wires can be selected to be connected with the phase A of the power chip, the other two wires of the brushless motor are selected to be adjacent to the connected wire to be used as the phase B, and the other two wires are connected with the phase C. And the three-phase bridge driving assembly 9 is electrically connected with the brushless motor 11 to drive the brushless motor 11 to rotate, so that the stabilizing cradle head is driven to rotate.
That is, the power stage digital control system 2 can implement the following three functions: initial electric angle alignment, magnetic field orientation control, current closed loop and current open loop mode judgment and gating procedures; the judging and gating program of the current closed loop mode and the current open loop mode sets the system to be the current closed loop mode or the current open loop mode according to the received data; the magnetic field orientation control utilizes an absolute angle position sensor and two-phase current data to carry out vector operation, the quadrature axis control instruction of the brushless motor in a current closed loop mode is received data, the direct axis control instruction is zero, and quadrature axis voltage control quantity and direct axis voltage control quantity are respectively obtained through calculation; in the current open-loop mode, the quadrature axis voltage control quantity is directly received data, and the direct axis voltage control quantity is zero. The absolute initial value alignment program of the electrical angle in the vector control algorithm enables the system to work in a current closed-loop mode, the electrical angle is forcibly set to be-pi/2 by controlling quadrature axis current and direct axis current, and the reading of the absolute angular position sensor at the moment is read to achieve alignment of the electrical angle, so that initial angle alignment is achieved through the program, and phase requirements on the motor during installation are more random. In addition, the pressure of the processor can be reduced by calculating in the current open-loop mode, when the processor with lower performance is selected, because the calculation capacity of the processor is weak, the calculation of the current closed-loop algorithm cannot be completed in a specified time period, the calculation can be performed in the current open-loop mode, and the calculation can be performed in the current closed-loop mode, so that the influence of the induced electromotive force of the motor can be effectively eliminated, the torque output is more stable, and meanwhile, the current flowing through the motor can effectively participate in work.
in a specific implementation, the power stage controller 8 is further configured to:
Setting the two-phase driving current value as a first preset current value and a second preset current value;
Obtaining quadrature axis voltage control quantity and direct axis voltage control quantity according to the two-phase driving current values;
Setting the current electrical angle as a preset angle value;
And acquiring an angle value of the absolute angle position sensor, and acquiring an absolute initial value of the electrical angle according to the angle value of the absolute angle position sensor and the current electrical angle.
specifically, when the absolute initial value of the electrical angle does not exist, that is, when the absolute initial value of the electrical angle needs to be calculated, the two-phase driving current value needs to be forcibly set to the first preset current value Icmdq0 and the second preset current value Icmdd0, the preset angle value is-pi/2, and the angle value of the absolute angular position sensor is collected as the absolute initial value of the electrical angle and stored. The motor absolute angle position corresponding to the electric angle-pi/2 is unknown when the electric angle absolute initial value is not set, the initialization is that the motor absolute angle position and the electric angle absolute initial value are corresponding, the electric angle needs to be set to be-pi/2 when the motor is installed on a structural component, the angle value of the absolute angle position sensor is read at the moment, and the angle value is recorded and stored as the electric angle absolute initial value, namely, the current electric angle and the electric angle absolute initial value are corresponding.
in a specific implementation, the power stage controller 8 is further configured to:
Performing Clarke conversion according to the obtained two-phase driving current value to obtain a first conversion current value and a second conversion current value;
Performing Park conversion according to the first conversion current value and the second conversion current value to obtain a quadrature-axis current value and a direct-axis current value;
and obtaining quadrature axis voltage control quantity and direct axis voltage control quantity according to the quadrature axis current value and the direct axis current value.
in specific implementation, the two-phase driving current value is the driving current value I of the A phaseaAnd drive current value I of phase BbAccording to the driving current value I of the A phaseaAnd drive current value I of phase BbPerforming Clarke transformation to obtain a first transformed current value IαAnd a second converted current value Iβthe formula of (1) is as follows:
according to the first converted current value Iαand a second converted current value Iβcarrying out Park conversion to obtain a quadrature axis current value IqAnd the value of the direct current Idthe formula of (1) is as follows:
Where θ represents an electrical angle value.
Specifically, when the controller is designed to be proportional-integral control, the quadrature axis current value I is usedqAnd the value of the direct current Idobtaining the quadrature axis voltage control quantity VqAnd the direct axis voltage control quantity VdThe calculation formula is as follows:
wherein the content of the first and second substances,andrepresenting a current instruction, and Kp is a proportional coefficient; ki is the integral gain. In particular, the method comprises the following steps of,the current instruction is the current control quantity which is sent to the power level digital control system by the stabilizing level control system through the multi-channel information interaction interface;the current command is usually set to 0 in the power stage digital control system, that is, all the current is made to participate in work, and the other current control quantity is the stable loop control quantity output by the stable stage control system in the tracking mode or the stable mode.
in a specific implementation, the power stage controller 8 is further configured to:
Carrying out Park inverse transformation according to the quadrature axis voltage control quantity and the direct axis voltage control quantity to obtain three-phase voltages Va, Vb and Vc;
and obtaining the duty ratio of output PWM according to the three-phase voltages Va, Vb and Vc so as to control the rotation of the motor.
specifically, the quantity V is controlled according to the quadrature axis voltageqAnd the direct axis voltage control quantity Vdthe formula for obtaining the three-phase voltages Va, Vb and Vc by carrying out Park inverse transformation is as follows:
in a specific implementation, the step of obtaining the current electrical angle value according to the angle value of the absolute angular position sensor and the absolute initial value of the electrical angle specifically includes:
The current electric angle value is equal to the radian obtained by subtracting the absolute initial value of the electric angle from the angle value of the absolute angular position sensor and then is converted into the radian and multiplied by the logarithm of poles.
the step of obtaining an absolute initial value of the electrical angle according to the angle value of the absolute angular position sensor and the current electrical angle specifically includes:
the absolute initial value of electrical angle is equal to the angular value of the absolute angular position sensor.
That is, the absolute initial value of the electrical angle is a value of the absolute angular position sensor read and recorded in the initial value setting process of the electrical angle, and the value recorded before is directly read when the initial value of the electrical angle does not need to be calculated.
The invention further provides the stabilizing pan-tilt of the embodiment, and the stabilizing pan-tilt comprises the power level digital control system 2.
The stable holder of the invention can calculate in the current open-loop mode, can reduce the pressure of the processor, when selecting the processor with lower performance, because the processor has weak calculation capability, the calculation of the current closed-loop algorithm can not be completed in the specified time period, the stable holder can calculate in the current open-loop mode, and can effectively eliminate the influence of the induced electromotive force of the motor, so that the torque output is more stable, and simultaneously, the current flowing through the motor can effectively participate in the work.
In a specific implementation, as shown in fig. 4, the power stage controller 8 is a TM32028069 chip, the three-phase bridge driving assembly 9 includes three switching transistor modules, each of the switching transistor modules includes a transistor, a first resistor R1, a second resistor R2, a third resistor R3, a fourth resistor R4, a first MOS transistor NA1, and a second MOS transistor NA2, and the first output port PWMA1 and the second output port PWMA2 of the TM32028069 chip are connected to one of the switching transistor modules. Specifically, the first output port PWMA1 of the TM32028069 chip is connected to one end of the second resistor R2, the other end of the second resistor R2 is connected to a base of the transistor, the second output port PWMA2 of the TM32028069 chip is connected to one end of the third resistor R3, the other end of the third resistor R3 is connected to the first end of the second MOS NA2 and one end of the fourth resistor R4, the second end of the second MOS NA2 and the other end of the fourth resistor R4 are both grounded, the power source VCC is connected to one end of the fifth resistor R5 and the third end of the first MOS NA1, the collector of the transistor is connected to the other end of the fifth resistor R5 and the first end of the first MOS NA1, the second end of the first MOS NA1 is connected to the third end of the second MOS NA2, the emitter of the transistor is grounded, the second end of the first MOS 1 and the third end of the second MOS NA2 are connected to form a three-phase driving signal output node, that is, the three switching tube modules output three-phase driving signals PHASHA, PHASHB, and PHASHC, and the current sensor 10 detects the driving signals PHASHA, PHASHB and outputs the detected measurement values to the TM32028069 chip.
in a specific implementation, as shown in fig. 5, the three-phase bridge driving assembly 9 includes three logic gate circuit chips U1A, U1B, U1C and a three-phase bridge driving chip, specifically, a DRV8312 driving chip. The power stage controller 8 is specifically a TM32028069 chip, a first output port PWMA1 and a second output port PWMA2 of the TM32028069 chip are respectively connected to a first input terminal and a second input terminal of a logic gate circuit chip U1A, a first output port PWMA1 of the TM32028069 chip is further connected to a first input terminal PWMA of a DRV8312 driver chip, an output terminal of the logic gate circuit chip U1A is connected to a second input terminal RESET _ a of the DRV8312 driver chip, a third output port PWMB1 and a fourth output port PWMB2 of the TM32028069 chip are respectively connected to a third input terminal and a fourth input terminal of the logic gate circuit chip U1B, a third output port PWMB1 of the TM32028069 chip is further connected to a third input terminal PWMB of the DRV8312 driver chip, an output terminal of the logic gate circuit chip U1B is connected to a fourth input terminal RESET _ B of the DRV8312 driver chip, a fifth output port PWMA 364 and a sixth output port of the TM32028069 chip are respectively connected to a second input terminal PWMC C of the logic gate circuit chip, the fifth output port PWMC1 of the TM32028069 chip is further connected to the fifth input port PWMC of the DRV8312 driver chip, the first output port of the logic gate circuit chip U1C is connected to the sixth input port RESET _ C of the DRV8312 driver chip, the DRV8312 driver chip outputs three-phase driving signals PHASHA, PHASHB, and PHASHC, and the current sensor 10 detects the driving signals PHASHA, PHASHB and outputs the detected measurement value to the TM32028069 chip.
specifically, as shown in fig. 6(a), switching tube V1 and switching tube V4 form the same arm, and a first node is provided between switching tube V1 and switching tube V4, switching tube V3 and switching tube V6 form the same arm, and a second node is provided between switching tube V3 and switching tube V6, switching tube V2 and switching tube V5 form the same arm, and a second node is provided between switching tube V2 and switching tube V5, by preventing the simultaneous conduction of the switch tube V1 and the switch tube V4, the switch tube V3 and the switch tube V6 or the switch tube V2 and the switch tube V5, thereby preventing the three-phase bridge driving chip from short circuit caused by the simultaneous conduction of two power tubes of the same bridge arm, the first node of the three-phase bridge driving chip is connected with the phase a of the brushless motor 11, the second node of the three-phase bridge driving chip is connected with the phase B of the brushless motor 11, and the third node of the three-phase bridge driving chip is connected with the phase C of the brushless motor 11. As shown in fig. 6(B), the first node of the three-phase bridge driving chip is connected to the B phase of the brushless motor 11, the second node of the three-phase bridge driving chip is connected to the C phase of the brushless motor 11, and the third node of the three-phase bridge driving chip is connected to the a phase of the brushless motor 11. As shown in fig. 6(C), the first node of the three-phase bridge driving chip is connected to the C phase of the brushless motor 11, the second node of the three-phase bridge driving chip is connected to the a phase of the brushless motor 11, and the third node of the three-phase bridge driving chip is connected to the B phase of the brushless motor 11.
That is, the three-phase bridge drive assembly 9 provides an ABC three-phase interface to electrically connect the three phases of the brushless motor 11; when the brushless motor 11 is electrically connected, the three-phase connecting lines of the phase a, the phase B and the phase C are three wires, any one of the three wires can be selected to be connected with one node of the three-phase bridge driving assembly 9, and the other two wires of the brushless motor are selected to be connected with the other two nodes of the three-phase bridge driving assembly 9 in a one-to-one correspondence manner. In addition, the three-phase bridge driving assembly 9 is electrically connected with the brushless motor 11 to drive the brushless motor to rotate, so that the stable tripod head is driven to rotate.
In an implementation, the absolute angular position sensor 12 is embodied as one of a magnetic encoder, an incremental encoder, and an absolute real encoder.
The invention further provides an embodiment of the stabilizing pan/tilt head, which comprises the drive control system of the brushless motor and the brushless motor 11 correspondingly connected with the drive control system.
the present invention provides a vector control method for controlling rotation of a motor of an embodiment, the vector control method including the steps of:
judging whether an absolute initial value of the electrical angle exists at present;
If the absolute initial value of the electrical angle does not exist, obtaining the current electrical angle value, the quadrature axis voltage control quantity, the direct axis voltage control quantity and the absolute initial value of the electrical angle in the initialization mode;
if the absolute initial value of the electrical angle exists, acquiring the angle value of an absolute angular position sensor, acquiring the current electrical angle value according to the angle value of the absolute angular position sensor and the absolute initial value of the electrical angle, and acquiring the quadrature axis voltage control quantity and the direct axis voltage control quantity;
And obtaining the duty ratio of output PWM according to the current electric angle value, the quadrature axis voltage control quantity and the direct axis voltage control quantity so as to control the rotation of the motor.
in a specific implementation, the step of obtaining the quadrature axis voltage control quantity and the direct axis voltage control quantity includes the following steps:
Acquiring a current working mode, and judging whether the current working mode is a current open-loop mode or a current closed-loop mode;
The current working mode is a current closed-loop mode, quadrature axis voltage control quantity and direct axis voltage control quantity are obtained according to the obtained two-phase driving current value, and the step of obtaining the duty ratio of output PWM according to the current electric angle value, the quadrature axis voltage control quantity and the direct axis voltage control quantity so as to control the rotation of the motor is carried out;
and the current working mode is a current open-loop mode, the quadrature axis voltage control quantity and the direct axis voltage control quantity are obtained, and the step of obtaining the duty ratio of output PWM according to the current electric angle value, the quadrature axis voltage control quantity and the direct axis voltage control quantity so as to control the rotation of the motor is carried out.
In a specific implementation, the vector control method comprises the following steps:
Acquiring a control instruction, and judging whether the control instruction is an ending instruction or not;
If so, saving the absolute initial value of the electrical angle;
If not, the step of obtaining the angle value of the absolute angular position sensor is returned.
In specific implementation, as shown in fig. 9, the present invention provides an embodiment of a vector control method for controlling rotation of a motor, where the vector control method includes:
Step S11, judging whether the absolute initial value of the electrical angle exists at present, if not, entering step S12, if yes, entering step S13;
Step S12, obtaining the current electric angle value, quadrature axis voltage control quantity, direct axis voltage control quantity and electric angle absolute initial value in the initialization mode, and entering step S17;
Step S13, obtaining an angle value of an absolute angle position sensor;
step S14, acquiring the current working mode, and judging whether the current working mode is a current open loop mode, if yes, going to step S15, if no, going to step S16;
Step S15, obtaining quadrature axis voltage control quantity and direct axis voltage control quantity, and entering step S17;
Step S16, obtaining quadrature axis voltage control quantity and direct axis voltage control quantity according to the obtained two-phase driving current value, and entering step S17;
Step S17, obtaining the duty ratio of output PWM according to the current electric angle value, the quadrature axis voltage control quantity and the direct axis voltage control quantity to control the rotation of the motor;
step S18, acquiring the control command, judging whether the control command is an ending command, if yes, going to step S19, and if not, going to step S13;
In step S19, the absolute initial value of the electrical angle is saved.
In step S14, it may be determined whether the current operation mode is the current closed-loop mode, and if not, the process may proceed to step S15, and if so, the process may proceed to step S16.
From the steps, the vector control algorithm comprises three parts of initial electrical angle alignment, magnetic field orientation control, judgment of current closed loop and current open loop modes and a gating program; the judging and gating program of the current closed loop mode and the current open loop mode sets the system to be the current closed loop mode or the current open loop mode according to the received data; the magnetic field orientation control utilizes an absolute angle position sensor and two-phase current data to carry out vector operation, the quadrature axis control instruction of the brushless motor in a current closed loop mode is received data, the direct axis control instruction is zero, and quadrature axis voltage control quantity and direct axis voltage control quantity are respectively obtained through calculation; in the current open-loop mode, the quadrature axis voltage control quantity is directly received data, and the direct axis voltage control quantity is zero. The absolute initial value alignment program of the electrical angle in the vector control algorithm enables the system to work in a current closed-loop mode, the electrical angle is forcibly set to be-pi/2 by controlling quadrature axis current and direct axis current, and the reading of the absolute angular position sensor at the moment is read to achieve alignment of the electrical angle, so that initial angle alignment is achieved through the program, and phase requirements on the motor during installation are more random. In addition, the pressure of the processor can be reduced by calculating in the current open-loop mode, when the processor with lower performance is selected, because the calculation capacity of the processor is weak, the calculation of the current closed-loop algorithm cannot be completed in a specified time period, the calculation can be performed in the current open-loop mode, and the calculation can be performed in the current closed-loop mode, so that the influence of the induced electromotive force of the motor can be effectively eliminated, the torque output is more stable, and meanwhile, the current flowing through the motor can effectively participate in work.
in a specific implementation, as shown in fig. 10, step S12 specifically includes the following steps:
step S121, setting two-phase driving current values as a first preset current value and a second preset current value;
Step S122, obtaining quadrature axis voltage control quantity and direct axis voltage control quantity according to the two-phase driving current value;
step S123, setting the current electrical angle as a preset angle value;
Step S124, obtaining an angle value of the absolute angular position sensor, and obtaining an absolute initial value of the electrical angle according to the angle value of the absolute angular position sensor and the current electrical angle.
Specifically, when the absolute initial value of the electrical angle does not exist, that is, when the absolute initial value of the electrical angle needs to be calculated, the two-phase driving current value needs to be forcibly set to the first preset current value Icmdq0 and the second preset current value Icmdd0, the preset angle value is-pi/2, and the angle value of the absolute angular position sensor is collected as the absolute initial value of the electrical angle and stored. The motor absolute angle position corresponding to the electric angle-pi/2 is unknown when the electric angle absolute initial value is not set, the initialization is that the motor absolute angle position and the electric angle absolute initial value are corresponding, the electric angle needs to be set to be-pi/2 when the motor is installed on a structural component, the angle value of the absolute angle position sensor is read at the moment, and the angle value is recorded and stored as the electric angle absolute initial value, namely, the current electric angle and the electric angle absolute initial value are corresponding.
in step S122, quadrature axis voltage control quantity and direct axis voltage control quantity are obtained under current closed loop control according to the two-phase driving current value.
In a specific implementation, as shown in fig. 11, step S122 or step S16 specifically includes:
step S31, performing Clarke conversion according to the obtained two-phase driving current value to obtain a first conversion current value and a second conversion current value;
step S32, performing Park conversion according to the first conversion current value and the second conversion current value to obtain a quadrature-axis current value and a direct-axis current value;
And step S33, obtaining quadrature axis voltage control quantity and direct axis voltage control quantity according to the quadrature axis current value and the direct axis current value.
In specific implementation, the two-phase driving current value is the driving current value I of the A phaseaand drive current value I of phase BbAccording to the driving current value I of the A phaseaand drive current value I of phase Bbperforming Clarke transformation to obtain a first transformed current value IαAnd a second converted current value IβThe formula of (1) is as follows:
According to the first converted current value IαAnd a second converted current value IβCarrying out Park conversion to obtain a quadrature axis current value IqAnd the value of the direct current IdThe formula of (1) is as follows:
where θ represents an electrical angle value.
Specifically, when the controller is designed to be proportional-integral control, the quadrature axis current value I is usedqand the value of the direct current IdObtaining the quadrature axis voltage control quantity Vqand the direct axis voltage control quantity VdThe calculation formula is as follows:
Wherein the content of the first and second substances,andrepresenting a current instruction, and Kp is a proportional coefficient; ki is the integral gain.
In particular, the method comprises the following steps of,The current instruction is the current control quantity which is sent to the power level digital control system by the stabilizing level control system through the multi-channel information interaction interface;The current command is usually set to 0 in the power stage digital control system, that is, all the current is made to participate in work, and the other current control quantity is the stable loop control quantity output by the stable stage control system in the tracking mode or the stable mode.
in a specific implementation, as shown in fig. 12, step S17 specifically includes the following steps:
Step S41, carrying out Park inverse transformation according to the quadrature axis voltage control quantity and the direct axis voltage control quantity to finally obtain three-phase voltages Va, Vb and Vc;
and step S42, obtaining the duty ratio of output PWM according to the three-phase voltages Va, Vb and Vc to control the rotation of the motor.
Specifically, the quantity V is controlled according to the quadrature axis voltageqAnd the direct axis voltage control quantity VdThe formula for finally obtaining the three-phase voltages Va, Vb and Vc by carrying out Park inverse transformation is as follows:
in a specific implementation, the step of obtaining the current electrical angle value according to the angle value of the absolute angular position sensor and the absolute initial value of the electrical angle specifically includes:
The current electric angle value is equal to the radian obtained by subtracting the absolute initial value of the electric angle from the angle value of the absolute angular position sensor and then is converted into the radian and multiplied by the logarithm of poles.
The step of obtaining an absolute initial value of the electrical angle according to the angle value of the absolute angular position sensor and the current electrical angle specifically includes:
The absolute initial value of electrical angle is equal to the angular value of the absolute angular position sensor.
that is, the absolute initial value of the electrical angle is a value of the absolute angular position sensor read and recorded in the initial value setting process of the electrical angle, and the value recorded before is directly read when the initial value of the electrical angle does not need to be calculated.
The present invention also provides an embodiment of a computer-readable storage medium, on which a computer program is stored, which when executed by a processor implements the steps of the method shown in fig. 9-12 above.
the computer readable storage medium of the invention can reduce the pressure of the processor by calculating in the current open-loop mode, when the processor with lower performance is selected, because the processor has weak calculation capability, the calculation of the current closed-loop algorithm can not be completed in a specified time period, the calculation can be performed in the current open-loop mode, and the calculation can be performed in the current closed-loop mode, thereby effectively eliminating the influence of the induced electromotive force of the motor, enabling the torque output to be more stable, and simultaneously enabling the current flowing through the motor to effectively participate in the work.
the present invention further provides a control method for stabilizing the rotation of the pan/tilt head according to an embodiment, as shown in fig. 13, the vector control method includes:
Step S211, self-checking the stable tripod head and initializing the angle of the stable tripod head to zero;
Step S212, acquiring inertial angular velocity of a stable frame of the stable holder and inertial attitude information of the stable frame of the stable holder;
Step S213, acquiring the relative rotation angle of the stabilizing frame of the stabilizing pan-tilt around the three axes;
Step S214, obtaining the angular velocity of each axis in the three axes according to the inertial angular velocity of the stable frame of the stable holder, the inertial attitude information of the stable frame of the stable holder and the relative rotation angle of the stable frame of the stable holder around the three axes;
step S215, obtaining a stabilizing ring control quantity according to the angular velocity of each axis in the three axes and the reference value of the stabilizing ring closed-loop control instruction, and outputting to control the three-axis motion of the stabilizing pan-tilt;
step S216, limit diagnosis;
Step S217, judging whether the control instruction of the stabilizing pan/tilt head is finished or not according to the acquired control instruction of the stabilizing pan/tilt head, if so, entering step S218, and if not, returning to step S212;
in step S218, the variables are saved.
in step S215, the control amount of the stabilizing ring is output to the power stage digital control system, and the power stage digital control system controls the rotation of the brushless motor according to the control amount of the stabilizing ring to drive the shaft corresponding to the brushless motor to move.
In step S216, since the rotation range of the stable cradle head is limited, the rotation condition of the cradle head is monitored during the procedure, and if the rotation of the stable cradle head reaches the preset range boundary, the control amount of the cradle head is limited, so as to ensure that the cradle head does not "bump" or "jam".
in a specific implementation, the inertial attitude information of the stabilizing frame of the stabilizing head comprises pitch data, roll data and azimuth data, the data comprising angular velocity and angular position.
In a specific implementation, the stable closed-loop control specifically includes at least one of a lead-lag control, a PID control, and a sliding-mode control.
In the concrete implementation, according to stabilize the cloud platform including stable frame and triaxial, the triaxial includes pitch axis X, roll axis Y and azimuth axis Z, through the motion of pitch axis X, roll axis Y and azimuth axis Z one-to-one brushless motor area triaxial, specifically, obtain the relative turned angle around the triaxial of stable frame of stabilizing the cloud platform through angle sensor, and the inertial angular velocity of stable frame of stabilizing the cloud platform is by the top.
In a specific implementation, the following formula is obtained according to the inertial angular velocity of the stable frame of the stable pan/tilt head, the inertial attitude information of the stable frame of the stable pan/tilt head, and the relative rotation angle of the stable frame of the stable pan/tilt head around three axes:
wherein, theta, gamma,The relative rotation angles of the stable frames of the stable holder around the three axes are respectively in one-to-one correspondence; [ omega ]pxωpy ωpz]TFor the inertial angular velocity, [ omega ] of each of the three axesbx ωby ωbz]Tthe inertia angular velocity of each axis in the three axes is respectively in one-to-one correspondence.
In specific implementation, according to the angular velocity of each of the three axes and the reference value of the closed-loop control command of the stabilizing ring, a formula for obtaining the controlled variable of the stabilizing ring is as follows:
wherein u isciAnd r is a reference value of a closed-loop control command of the stabilizing loop, and omega is the angular speed of one of the three axes. That is, according to the above formula, the stability loop control quantity obtained by the stability level digital control system for a single power level digital control system is sent to the corresponding power level digital control system 2 through the multi-channel information interaction interface to realize the control of the brushless motor. In addition, the stable loop closed-loop control instruction generates different control instructions according to different working modes, and if the stable loop closed-loop control instruction is in the stable mode, the stable loop closed-loop control instruction is an angular speed command received through data transmission; if the mode is tracking, the closed-loop control command of the stable loop is a control quantity obtained by calculation according to the image miss distance, namely a tracking closed-loop control quantity.
the method comprises the steps of obtaining the angular velocity of each shaft in three shafts according to the inertial angular velocity of a stabilizing frame of a stabilizing pan-tilt, the inertial attitude information of the stabilizing frame of the stabilizing pan-tilt and the relative rotation angle of the stabilizing frame of the stabilizing pan-tilt around the three shafts, obtaining the control quantity of a stabilizing ring according to the angular velocity of each shaft in the three shafts and the reference value of a closed-loop control instruction of the stabilizing ring, outputting the control quantity of the stabilizing ring to a power-stage digital control system, and controlling the rotation of a brushless motor through the power-stage digital control system to control the movement of each shaft of the stabilizing pan-tilt, so that a stable high-precision image is obtained. In addition, the stabilizer control system only needs to calculate the control quantity of the stabilizer loop and does not need to drive and control the motor, so that the calculation quantity of the stabilizer control system can be reduced.
The present invention also provides an embodiment of a computer readable storage medium, on which a computer program is stored, which when executed by a processor implements the steps of the method of fig. 13 described above.
The method comprises the steps of obtaining the angular velocity of each shaft in three shafts according to the inertial angular velocity of a stabilizing frame of a stabilizing pan-tilt, the inertial attitude information of the stabilizing frame of the stabilizing pan-tilt and the relative rotation angle of the stabilizing frame of the stabilizing pan-tilt around the three shafts, obtaining the control quantity of a stabilizing ring according to the angular velocity of each shaft in the three shafts and the reference value of a closed-loop control instruction of the stabilizing ring, outputting the control quantity of the stabilizing ring to a power-stage digital control system, and controlling the rotation of a brushless motor through the power-stage digital control system to control the movement of each shaft of the stabilizing pan-tilt, so that a stable high-precision image is obtained. In addition, the stabilizer control system only needs to calculate the control quantity of the stabilizer loop and does not need to drive and control the motor, so that the calculation quantity of the stabilizer control system can be reduced.
The present invention further provides a control method for stabilizing the rotation of the pan/tilt head of an embodiment, as shown in fig. 14, the control method includes:
step S311, self-checking the stable tripod head and initializing the angle of the stable tripod head to zero;
Step S312, acquiring the miss distance of the tracked target relative to the center of the image picture and the focal length value of the camera;
Step S313, obtaining the angle difference value of each axis in the three axes of the stable holder according to the miss distance of the tracked target relative to the image center and the focal length value of the camera;
Step S314, obtaining a tracking closed-loop control quantity according to the angle difference value of each axis in the three axes of the stable holder;
Step S315, using the tracking closed-loop control quantity as a stabilizing loop control instruction to perform closed-loop stable control to obtain a stabilizing loop control quantity, and outputting the stabilizing loop control quantity obtained by calculation to control the three-axis motion of the stabilizing pan/tilt;
step S316, limit diagnosis;
step S317, judging whether the control instruction of the stabilizing pan/tilt head is finished or not according to the acquired control instruction, if so, entering the step S319, and if not, returning to the step S312;
In step S318, the variables are saved.
In step S315, the control amount of the stabilizing ring is output to the power stage digital control system, and the power stage digital control system controls the rotation of the brushless motor according to the control amount of the stabilizing ring to drive the shaft corresponding to the brushless motor to move.
In step S316, since the rotation range of the stable cradle head is limited, the rotation condition of the cradle head is monitored during the procedure, and if the rotation of the stable cradle head reaches the preset range boundary, the control amount of the cradle head is limited, so as to ensure that the cradle head does not "bump" or "jam".
In a specific implementation, after step S311, as shown in fig. 15, the method further includes the following steps:
Step S420, judging whether the preset control mode is an image tracking mode, if so, entering step S421, and if not, entering step S422;
Step S421, enter the image tracking mode, and enter step S312;
Step S422, enter the image stabilization mode, and enter step 423;
Step 423, acquiring inertial angular velocity of the stable frame of the stable holder and attitude information of the stable frame of the stable holder;
Step S424, acquiring the relative rotation angle of the stabilizing pan-tilt around the three axes;
Step S425, obtaining the angular velocity of each axis in the three axes according to the inertial angular velocity of the stable frame of the stable holder, the inertial attitude information of the stable frame of the stable holder and the relative rotation angle of the stable holder around the three axes;
Step S426, obtaining a stabilizing ring control quantity according to the angular velocity of each axis in the three axes and the control instruction reference value, outputting the stabilizing ring control quantity to control the three-axis motion of the stabilizing pan-tilt, and entering step S316.
in fig. 15, step S317 determines whether or not to end, and if yes, the process proceeds to step S319, and if no, the process returns to step S420.
in step S426, the control amount of the stabilizing ring is output to the power stage digital control system, and the power stage digital control system controls the rotation of the brushless motor according to the control amount of the stabilizing ring to drive the shaft corresponding to the brushless motor to move.
In a specific implementation, the inertial attitude information of the stabilizing frame of the stabilizing head comprises pitch data, roll data and azimuth data, wherein the data comprises angular velocity and angular position.
in a specific implementation, the stable closed-loop control specifically includes at least one of a lead-lag control, a PID control, and a sliding-mode control.
in specific implementation, according to the stable cloud platform includes stable frame and triaxial, the triaxial includes pitch axis X, roll axis Y and azimuth axis Z, through the motion of pitch axis X, roll axis Y and azimuth axis Z one-to-one brushless motor area triaxial, specifically, obtains the relative turned angle around the triaxial of stable frame of stable cloud platform through angle sensor, and the inertial angular velocity of stable frame of stable cloud platform is by the top.
In a specific implementation, the following formula is obtained according to the inertial angular velocity of the stable frame of the stable pan/tilt head, the inertial attitude information of the stable frame of the stable pan/tilt head, and the relative rotation angle of the stable frame of the stable pan/tilt head around three axes:
wherein, theta, gamma,The relative rotation angles of the stable frames of the stable holder around the three axes are respectively in one-to-one correspondence; [ omega ]pxωpy ωpz]TThe inertial angular velocities, [ omega ] of the stable frames are respectively in one-to-one correspondencebx ωby ωbz]Tthe inertia angular velocity of each axis in the three axes is respectively in one-to-one correspondence.
In specific implementation, according to the angular velocity of each of the three axes and the reference value of the closed-loop control command of the stabilizing ring, a formula for obtaining the controlled variable of the stabilizing ring is as follows:
Wherein u isciand r is a reference value of a closed-loop control command of the stabilizing loop, and omega is the angular speed of one of the three axes. That is, according to the above formula, the stability loop control quantity obtained by the stability level digital control system for a single power level digital control system is sent to the corresponding power level digital control system 2 through the multi-channel information interaction interface to realize the control of the brushless motor. In addition, the stable loop closed-loop control instruction generates different control instructions according to different working modes, and if the stable loop closed-loop control instruction is in the stable mode, the stable loop closed-loop control instruction is an angular speed command received through data transmission; if the mode is tracking, the closed-loop control command of the stable loop is a control quantity obtained by calculation according to the image miss distance, namely a tracking closed-loop control quantity.
In a specific implementation, the formula for obtaining the angle difference value of each axis in the three axes of the stable holder according to the miss distance of the tracked target relative to the center of the image and the focal length value of the camera is as follows:
θ＝arctan(n×psize/L)
Where theta is the angle difference, n is the miss distance, psizeIs the pixel size and L is the focal length.
in a specific implementation, the formula for obtaining the tracking closed-loop control quantity according to the angle difference value of each of the three axes of the stable holder is as follows:
wherein u iscito track the closed-loop control quantity, thetaiIs the angular difference of each of the three axes.
in specific implementation, a specific formula of the stable loop control amount obtained by using the tracking closed-loop control amount as the stable loop control command to perform the closed-loop stable control is well known in the art.
The method comprises the steps of obtaining an angle difference value of each axis in three axes of a stable holder according to a miss distance of a tracked target relative to the center of an image picture and a focal length value of a camera, obtaining a tracking closed-loop control quantity according to the angle difference value of each axis in the three axes of the stable holder to obtain a stable loop control quantity, outputting the stable loop control quantity to a power-stage digital control system, and controlling the rotation of a brushless motor through the power-stage digital control system to control the movement of each axis of the stable holder so as to realize continuous tracking shooting of the image. In addition, the stabilizing stage control system only needs to calculate the tracking closed-loop control quantity and does not need to drive and control the motor, so that the calculation quantity of the stabilizing stage control system can be reduced.
the present invention also provides an embodiment of a computer-readable storage medium having stored thereon a computer program which, when executed by a processor, performs the steps of the method of fig. 14-15 described above.
the present invention also provides a driving control method of a brushless motor of an embodiment, which may include one of the methods of fig. 13, 14, and 15 in addition to the methods shown in fig. 9 to 12.
The present invention also provides an embodiment of a computer readable storage medium having stored thereon a computer program which, when executed by a processor, implements one of the methods of fig. 13, 14 and 15 described above in addition to the steps of the methods illustrated in fig. 9-12.
the foregoing embodiments and description have been presented only to illustrate the principles and preferred embodiments of the invention, and various changes and modifications may be made therein without departing from the spirit and scope of the invention as hereinafter claimed.

Claims (7)

1. A control method for stabilizing the rotation of a pan-tilt head is characterized by comprising the following steps:
Self-checking the stable tripod head and initializing the angle of the stable tripod head to zero;
acquiring the miss distance of a tracked target relative to the center of an image picture and the focal length value of a camera;
Obtaining the angle difference value of each axis in the three axes of the stable holder according to the miss distance of the tracked target relative to the image center and the focal length value of the camera;
Obtaining a tracking closed-loop control quantity according to an angle difference value of each of three axes of the stabilizing pan-tilt;
Taking the tracking closed-loop control quantity as a stable loop closed-loop control instruction to perform closed-loop stable control to obtain a stable loop control quantity, and outputting the obtained stable loop control quantity to control the three-axis motion of the stable holder;
the control method further comprises the step of,
Judging whether a preset control mode is an image tracking mode, if so, entering a step of acquiring the miss distance of a tracked target relative to the center of an image picture and the focal length value of a camera;
If the preset control mode is not the image tracking mode, the control method further comprises the steps of,
acquiring inertial angular velocity of a stable frame of a stable tripod head and inertial attitude information of the stable frame of the stable tripod head;
Acquiring a relative rotation angle of a stable frame of the stable holder around three axes;
Obtaining the angular velocity of each axis in the three axes according to the inertial angular velocity of the stable frame of the stable holder, the inertial attitude information of the stable frame of the stable holder and the relative rotation angle of the stable frame of the stable holder around the three axes;
Performing closed-loop stability control according to the inertial angular velocity of the stable frame of the stable holder and the inertial attitude information of the stable frame of the stable holder, and outputting a stable-loop closed-loop control instruction;
And obtaining control quantity of the stabilizing ring according to the angular velocity of each shaft in the three shafts and the reference value of the closed-loop control instruction, and outputting the control quantity to control the three-shaft motion of the stabilizing pan-tilt.
2. A control method for stabilizing pan/tilt head rotation according to claim 1, wherein the formula for obtaining the control amount of the stabilizing ring based on the angular velocity of each of the three axes and the reference value of the closed-loop control command is as follows:
wherein u isciFor the steady-loop control quantity, r is a reference value of the closed-loop control command, and ω is an angular velocity of one of the three axes.
3. the method for controlling the rotation of a stabilized platform according to claim 1, wherein the formula for obtaining the angle difference value of each of the three axes of the stabilized platform according to the miss distance of the tracked target relative to the center of the image frame and the focal length value of the camera is as follows:
θ＝arctan(n×psize/L)
where theta is the angle difference, n is the miss distance, psizeIs the pixel size and L is the focal length.
4. the method for controlling the rotation of a stabilized holder according to claim 1, wherein the formula for obtaining the tracking closed-loop control quantity according to the angle difference of each of the three axes of the stabilized holder is as follows:
Wherein u isciFor trackingand (4) closed-loop control quantity, wherein theta is the angle difference value of each of the three axes.
5. a regulated stage digital control system, said control system comprising:
The image tracker is used for detecting and acquiring the miss distance of the tracked target relative to the center of the image picture;
The multi-channel information interaction interface is respectively connected with the image tracker and the control chip for stabilizing the rotation of the holder;
The control chip is used for self-checking the stable tripod head and initializing the angle of the stable tripod head to zero; acquiring the miss distance of a tracked target relative to the image picture center and the focal length value of a camera, acquiring tracking closed-loop control quantity according to the miss distance of the tracked target relative to the image picture center and the focal length value of the camera and the angle difference value of each axis in three axes of a stabilizing pan-tilt, taking the tracking closed-loop control quantity as a stabilizing loop closed-loop control instruction to perform closed-loop stabilizing control to obtain stabilizing loop control quantity, and outputting the obtained stabilizing loop control quantity to control the three-axis motion of the stabilizing pan-tilt;
The control system further comprises an inertia measurer connected with the multi-channel information interaction interface and used for detecting and acquiring the inertial angular velocity of the stable frame of the stable holder and the inertial attitude information of the stable frame of the stable holder.
6. a stabilizing head, characterized in that it comprises a stabilizing stage digital control system according to claim 5.
7. a computer-readable storage medium, on which a computer program is stored which, when being executed by a processor, carries out the steps of the method according to any one of claims 1 to 4.
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