CN108170027B - Method and device for adjusting control parameters of holder controller, medium and holder controller - Google Patents

Method and device for adjusting control parameters of holder controller, medium and holder controller Download PDF

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CN108170027B
CN108170027B CN201711268193.9A CN201711268193A CN108170027B CN 108170027 B CN108170027 B CN 108170027B CN 201711268193 A CN201711268193 A CN 201711268193A CN 108170027 B CN108170027 B CN 108170027B
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徐运扬
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Shenzhen daotong intelligent software development Co., Ltd
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    • G05B13/00—Adaptive control systems, i.e. systems automatically adjusting themselves to have a performance which is optimum according to some preassigned criterion
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Abstract

The invention relates to a method and a device for adjusting control parameters of a holder controller, a medium and the holder controller. The method comprises the following steps: acquiring a plurality of actual angular velocities of the camera according to a preset sampling frequency; calculating the error between each actual angular velocity and a preset reference angular velocity, and acquiring a control target value according to the calculated error; if the control target value is larger than or equal to the preset value, carrying out frequency spectrum transformation on the error to obtain transformation values corresponding to a plurality of frequencies; and adjusting the control parameters of the pan-tilt controller according to the error and the conversion value corresponding to each frequency. The control parameters are automatically adjusted through frequency domain analysis and based on the transformed values of the frequency spectrum transformation, the disturbance condition can be more accurately reflected from the frequency domain, the adjusted control parameters are more suitable for corresponding disturbance, the disturbance is more effectively suppressed, the holder controller can effectively resist the disturbance under various complex disturbance environments, and the anti-interference capability and the robustness are high.

Description

Method and device for adjusting control parameters of holder controller, medium and holder controller
Technical Field
The invention relates to the technical field of unmanned aerial vehicles, in particular to a method and a device for adjusting control parameters of a holder controller, a medium and the holder controller.
Background
In the unmanned aerial vehicle process of taking photo by plane, the shake of camera can arouse to external disturbance and internal disturbance, leads to shoot the video and produces phenomenons such as shake, out of focus, blur. The external disturbance comprises angular vibration caused by flight attitude change, linear vibration generated by high-speed rotation of a rotor, air turbulence and the like; the internal disturbance comprises moment disturbance caused by model perturbation, structure friction, structure eccentricity and the like. For stabilizing the camera, set up cloud platform and cloud platform controller on unmanned aerial vehicle usually, the angular velocity of cloud platform control according to control parameter control cloud platform adjustment camera to reduce the shake of camera, guarantee to shoot video stability.
The conventional pan/tilt/zoom controller obtains control parameters by using a control algorithm of minimum variance, and the control aims to minimize the square sum of errors between the actual angular velocity of the camera and the reference angular velocity. However, the actual aerial photography flight state is variable, the disturbance is variable, and the mode of simply taking the time domain value of the disturbance as the target of optimization has inherent limitation, so that the traditional controller may have the phenomenon of deteriorating control effect under some complex disturbance environments such as high-speed maneuvering and strong wind environments, for example, the angular speed which needs to be controlled is inversely involved in self-excited oscillation and is increased sharply, the anti-interference capability and the robustness are poor, and the video has obvious jitter.
Disclosure of Invention
Based on this, it is necessary to provide a method, an apparatus, a medium, and a pan/tilt controller capable of improving the anti-interference capability and robustness, in order to solve the problem that the conventional pan/tilt controller is poor in anti-interference capability and robustness.
A method for adjusting control parameters of a holder controller comprises the following steps:
acquiring a plurality of actual angular velocities of the camera according to a preset sampling frequency;
calculating the error between each actual angular velocity and a preset reference angular velocity, and acquiring a control target value according to the calculated error;
if the control target value is larger than or equal to a preset value, carrying out spectrum transformation on the error to obtain transformation values corresponding to a plurality of frequencies;
and adjusting the control parameters of the holder controller according to the error and the conversion value corresponding to each frequency.
A pan-tilt controller control parameter adjusting device comprises:
the sampling module is used for acquiring a plurality of actual angular velocities of the camera according to a preset sampling frequency;
the numerical value calculation module is used for calculating the error between each actual angular velocity and a preset reference angular velocity and acquiring a control target value according to the calculated error;
the frequency spectrum conversion module is used for carrying out frequency spectrum conversion on the error to obtain conversion values corresponding to a plurality of frequencies when the control target value is greater than or equal to a preset value;
and the parameter adjusting module is used for adjusting the control parameters of the holder controller according to the errors and the transformation values corresponding to the frequencies.
According to the method and the device for adjusting the control parameters of the pan/tilt head controller, the control target value is obtained according to the error between the reference angular velocity and the acquired actual angular velocity of the camera, if the control target value is larger than or equal to the preset value and indicates that the control target value is not reached, the frequency spectrum transformation is carried out according to the error, and the control parameters of the pan/tilt head controller are adjusted according to the error and the frequency spectrum transformation to obtain the transformation values corresponding to all frequencies. The disturbance of the pan-tilt can not be directly measured, but the characteristics of the pan-tilt can be reflected from the final control effect, the actual angular velocity is taken as a control object, a control target value is smaller than a preset value as a control target, the control parameters are automatically adjusted through frequency domain analysis and based on the transformed value of frequency spectrum transformation, the disturbance condition can be more accurately reflected from the frequency domain, the adjusted control parameters are more suitable for the corresponding disturbance, the disturbance is more effectively suppressed, and the pan-tilt controller can effectively resist the disturbance under various complex disturbance environments and has high anti-interference capability and robustness. By using the method for adjusting the control parameters of the cradle head controller on the cradle head controller, the cradle head can better stabilize the camera, and the aerial video is more stable and clear.
A medium storing a computer program, the stored computer program, when executed by a processor, implementing the steps of the pan/tilt controller control parameter adjustment method described above.
A holder controller comprises a memory, a processor and a computer program which is stored on the memory and can run on the processor, wherein the processor executes the computer program to realize the steps of the method for adjusting the control parameters of the holder controller.
The medium and the cradle head controller realize the method for adjusting the control parameters of the cradle head controller, and similarly, the cradle head controller can effectively resist disturbance in various complex disturbance environments, and has high anti-jamming capability and robustness.
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FIG. 1 is a flow chart of a method for adjusting control parameters of a pan/tilt head controller according to an embodiment;
FIG. 2 is a flow chart of a method for adjusting control parameters of a pan/tilt head controller in another embodiment;
FIG. 3 is a diagram illustrating a control parameter adjusting apparatus of a pan/tilt head controller according to an embodiment;
FIG. 4 is a schematic flow chart of an algorithm in an application example;
fig. 5 is a schematic view of the operating principle of the pan/tilt control in the application example.
Detailed Description
Referring to fig. 1, in one embodiment, there is provided a pan/tilt/zoom controller control parameter adjustment method, including the following steps:
s110: and acquiring a plurality of actual angular speeds of the camera according to a preset sampling frequency.
The numerical value of the preset sampling frequency can be specifically set according to actual needs. The actual angular velocity can be obtained by determining the acquisition duration according to the preset sampling frequency and the total number of the actual angular velocities to be acquired, and acquiring the actual angular velocities, wherein the number of the actual angular velocities acquired at this time is the set total number; the actual angular velocity can also be acquired according to a preset sampling frequency and a set acquisition duration, and the total number acquired at this time is determined by the preset sampling frequency and the acquisition duration.
S130: and calculating the error between each actual angular velocity and a preset reference angular velocity, and acquiring a control target value according to the calculated error.
Wherein, the error is a difference value between the actual angular velocity and the reference angular velocity, and may be a difference value obtained by subtracting the actual angular velocity from the reference angular velocity, or may be a difference value obtained by subtracting the reference angular velocity from the actual angular velocity; specifically, the error in the present embodiment is a value obtained by subtracting the actual angular velocity from the reference angular velocity. The control target value is a value calculated based on the error.
S150: and if the control target value is greater than or equal to the preset value, performing frequency spectrum transformation on the error to obtain transformation values corresponding to a plurality of frequencies.
The preset value is used as a comparison reference to be compared with the control target value, and can be specifically set according to actual needs. Taking the control target value smaller than the preset value as a control target to be achieved, if the control target value is larger than or equal to the preset value, indicating that the control target is not achieved within a time period of acquiring the actual angular speed corresponding to the error corresponding to the control target value, and needing to adjust the control parameters; otherwise, if the control target value is smaller than the preset value, the control target is reached in the acquisition time period, and the operation is not needed without adjusting the control parameters.
The plurality of actual angular velocities correspond to a plurality of errors, and the spectral transformation is performed according to the errors, specifically, the spectral transformation is performed on the errors in the time period for acquiring the actual angular velocities.
S170: and adjusting the control parameters of the pan-tilt controller according to the error and the conversion value corresponding to each frequency.
The control parameters are parameters which influence the pan-tilt controller to control the pan-tilt to adjust the angular velocity of the camera. And adjusting the control parameters by carrying out frequency spectrum transformation on the error and adopting the transformation value on the frequency domain.
According to the method for adjusting the control parameters of the pan/tilt head controller, the control target value is obtained according to the error between the reference angular velocity and the acquired actual angular velocity of the camera, if the control target value is greater than or equal to the preset value and indicates that the control target value is not reached, the frequency spectrum transformation is carried out according to the error, and the control parameters of the pan/tilt head controller are adjusted according to the error and the conversion value corresponding to each frequency obtained through the frequency spectrum transformation. The disturbance of the pan-tilt can not be directly measured, but the characteristics of the pan-tilt can be reflected from the final control effect, the actual angular velocity is taken as a control object, a control target value is smaller than a preset value as a control target, the control parameters are automatically adjusted through frequency domain analysis and based on the transformed value of frequency spectrum transformation, the disturbance condition can be more accurately reflected from the frequency domain, the adjusted control parameters are more suitable for the corresponding disturbance, the disturbance is more effectively suppressed, and the pan-tilt controller can effectively resist the disturbance under various complex disturbance environments and has high anti-interference capability and robustness. By using the method for adjusting the control parameters of the cradle head controller on the cradle head controller, the cradle head can better stabilize the camera, and the aerial video is more stable and clear.
In one embodiment, the predetermined sampling frequency is 2Khz and the number of actual angular velocities acquired is 200. Therefore, the length of the time period for acquiring the actual angular velocity is 0.1 second, namely, the adjustment of the control parameter is executed once in 0.1 second, the updating rate can meet the control requirement of the holder, and the holder is good in stabilizing effect.
In one embodiment, the obtaining the control target value according to the calculated error in step S130 includes: and obtaining the square sum of the plurality of errors obtained by calculation to obtain a control target value. That is, in the present embodiment, the control target is that the sum of squares of the errors is smaller than a preset value.
For example, 200 actual angular velocities are acquired, in e (ω)iThe error of the ith actual angular velocity and the reference angular velocity is shown, and the control target value is
Figure GDA0002200657520000051
Step S150 determines whether the following formula is satisfied:
Figure GDA0002200657520000052
wherein σ is a preset value. It is understood that in other embodiments, the control target value may be other values calculated based on the error.
In one embodiment, in step S150, the error is subjected to a spectrum Transformation to obtain transformed values corresponding to a plurality of frequencies, specifically, a Fast Fourier Transform (FFT) is performed according to the error to obtain transformed values corresponding to a plurality of frequencies. That is, y is calculated as fft (e (ω)), and the frequency domain is expanded to obtain a transform value y corresponding to each frequency.
In one embodiment, referring to fig. 2, step S170 includes steps S171 to S175.
S171: and calculating the root mean square error of the conversion value corresponding to each low frequency which is less than or equal to the preset frequency to obtain a first deviation.
The preset frequency is a segmented frequency point for dividing low frequency and high frequency, and can be set according to actual needs. In this embodiment, the predetermined frequency is 45 hz. And taking the frequency lower than or equal to the preset frequency as the low frequency. Calculating the root mean square error between the conversion values corresponding to the low frequencies, as shown in the following formula:
Figure GDA0002200657520000053
wherein R (y)l) Root mean square error of the transformed values corresponding to each low frequency, i.e. first deviation, yliFor the transform value corresponding to the ith low frequency, NlIs the number of low frequencies and is,
Figure GDA0002200657520000055
is the mean value of the transformed values corresponding to all low frequencies.
S173: and calculating the root mean square error of the conversion value corresponding to each high frequency greater than the preset frequency to obtain a second deviation.
And taking the frequency higher than the preset frequency as the high frequency. Calculating the root mean square error between the conversion values corresponding to the high frequencies, as shown in the following formula:
Figure GDA0002200657520000054
wherein R (y)h) Root mean square error of the transformed values for each high frequency, i.e. second deviation, yhiFor the transform value corresponding to the ith high frequency, NhThe number of high frequencies is such that,
Figure GDA0002200657520000061
is the mean value of the transformed values corresponding to all high frequencies.
S175: and acquiring an adjusting value according to the first deviation, the second deviation and the error, and setting the control parameter of the holder controller as the adjusting value.
The control objective of the minimum variance control algorithm adopted by the conventional pan-tilt controller is to minimize the square sum of the errors of the actual angular velocity and the reference angular velocity of the camera, and under this control method, the errors are approximately inversely proportional to the control parameters, i.e. there is a relation:
Figure GDA0002200657520000062
where e (ω) represents the error, ωrefDenotes the reference angular velocity, ω denotes the actual angular velocity of the camera, k0Representing a control parameter. It can be seen that the traditional least square error control algorithm tends to choose an appropriate increase of the control parameter k0The purpose of increasing the stability of the pan-tilt camera is achieved. When the type of the disturbance on the pan-tilt is changed greatly, the control parameter k at the moment0May fail and may not be able to cancel well with a large but low marginThe frequency disturbance may also be adjusted excessively to a small amplitude and a high frequency disturbance, so as to excite the high frequency vibration of the system, and at this time, the control effect of the pan/tilt head and the robustness of the pan/tilt head controller are greatly reduced.
In this embodiment, the frequency domain is divided into low frequency and high frequency, the first deviation and the second deviation are obtained by calculation according to the low frequency transform value and the high frequency transform value, and the adjustment value is obtained based on the first deviation, the second deviation and the error to be set as a new control parameter, so that the type of disturbance is analyzed from the frequency, the adjustment value is obtained in a targeted manner, the adaptability and the effectiveness of the control parameter are improved, and the anti-interference capability and the robustness of the pan-tilt controller for adapting to and resisting different types of disturbance are further improved.
In one embodiment, S175 includes steps (a1) to (a 4).
Step (a 1): and if the first deviation is greater than a preset first set threshold and the second deviation is greater than a preset second set threshold, calculating to obtain an adjusting value according to the error, a preset first coefficient, a preset first base number and a preset control quantity.
If the first deviation is larger than the first set threshold, the control bandwidth of the pan/tilt controller may need to be increased at this time, but whether the control bandwidth can be increased continuously depends on the frequency domain characteristic of the high frequency band at this time, that is, the control bandwidth is determined according to the second deviation. If the second deviation is greater than the second set threshold, it indicates that the bandwidth at this time is actually relatively too large, and the unmodeled dynamic characteristic of the high frequency band is already excited, so that the control parameter needs to be adjusted negatively. Correspondingly, the type of the disturbance on the pan-tilt is the first type, and an adjustment value is calculated according to the error, the preset first coefficient, the preset first base number and the preset control quantity and is used for negative adjustment.
Step (a 2): and if the first deviation is greater than the first set threshold and the second deviation is less than or equal to the second set threshold, calculating to obtain an adjustment value according to the error, a preset second coefficient, a preset second base number and a preset control quantity.
If the first deviation is larger than the first set threshold value and the second deviation is smaller than or equal to the second set threshold value, the unmodeled dynamic characteristic of the high frequency band is not excited, and the control parameter should be adjusted in a forward direction. Correspondingly, the type of the disturbance on the pan-tilt is the second type, and an adjusting value is calculated according to the error, the preset second coefficient, the preset second base number and the preset control quantity and is used for forward adjustment.
Step (a 3): and if the first deviation is less than or equal to a first set threshold value and the second deviation is less than or equal to a second set deviation, calculating to obtain an adjusting value according to the error, a preset third coefficient, a preset third base number and a preset control quantity.
If the first deviation is smaller than or equal to the first set threshold value and the second deviation is smaller than or equal to the second set deviation, the type of the disturbance of the pan-tilt is represented as a third type, and an adjusting value is calculated according to the error, a preset third coefficient, a preset third base number and a preset control quantity and is used for negative regulation.
Step (a 4): and setting the control parameter of the holder controller as an adjustment value.
The type of the disturbance is analyzed from the frequency domain according to the first deviation and the second deviation, and corresponding adjusting values are obtained according to the different types of the disturbances to set control parameters, so that the control parameters are updated, and the accuracy is high.
In one embodiment, the calculating of the adjustment value according to the error, the preset first coefficient, the preset first base and the preset control amount in the step (a1) includes:
Figure GDA0002200657520000071
wherein, e (ω)iIs the error of the ith actual angular velocity from the reference angular velocity, M is the total number of actual angular velocities,
Figure GDA0002200657520000073
to adjust the first reciprocal of the value k, - η1Is a first coefficient of the first,
Figure GDA0002200657520000074
as an intermediate parameter y1The first base comprising alpha11And alpha12And u is a control amount. y is1Is 0.
Similarly, the calculating the adjustment value according to the error, the preset second coefficient, the preset second base number and the preset control amount in step (a2) includes:
Figure GDA0002200657520000081
Figure GDA0002200657520000082
wherein eta is2Is a second coefficient of the first coefficient,
Figure GDA0002200657520000083
as an intermediate parameter y2The second base includes alpha21And alpha22。y2Is 0.
Similarly, the calculating the adjustment value according to the error, the preset third coefficient, the preset third base number and the preset control amount in step (a3) includes:
Figure GDA0002200657520000084
Figure GDA0002200657520000085
wherein, - η3Is a third coefficient which is a function of the third coefficient,
Figure GDA0002200657520000086
as an intermediate parameter y3The third base includes alpha31And alpha32。y3Is 0.
In particular η1、η2、θ1、θ2＞0，α11、α12、α21、α22Is greater than 0. Wherein, theta1For the first setting of the threshold value, theta2A threshold value is set for the second. In particular, θ1、θ2、-η1、η2、-η3、u、α11、α12、α21、α22、α31And alpha32The experiment can be acquired according to actual conditions and stored in advance. The adjustment based on error feedback determines the parameter values (including theta)1、θ2、-η1、η2、-η3、u、α11、α12、α21、α22、α31And alpha32) Has wide selectable range and only needs to satisfy the error convergence conditionAnd (4) finishing.
For example, the calculation of the parameter values is described by taking the A9 pan-tilt Pitch axis as an example, and the axis dynamics model can use the transfer function
Figure GDA0002200657520000088
Described, c-12.5 and b-10.25. Taking M as 200, namely acquiring 200 actual angular velocities, and according to experimental experience, when a video causes people to feel obvious jitter, the sum of squares of errors of the actual angular velocities and the reference angular velocities meets the following requirements:
Figure GDA0002200657520000089
therefore, σ may be taken as 15 dps; theta1、θ2Satisfy the requirement of
Figure GDA00022006575200000810
A set is taken such that the error satisfies the following equation:
Figure GDA0002200657520000091
α12＝c/3，α22＝c/5，α32＝c/7。-η1、η2、-η3the larger the value, the faster the adjustment speed of k, but the too fast adjustment speed may cause system oscillation, and the median value is obtained by analyzing the experimental effect, and η may be obtained1＝20，η2＝30，η3＝10。
Referring to fig. 3, in one embodiment, a pan/tilt head controller control parameter adjusting apparatus is provided, which includes a sampling module 110, a numerical calculation module 130, a spectrum transformation module 150, and a parameter adjusting module 170.
The sampling module 110 is configured to acquire a plurality of actual angular velocities of the camera according to a preset sampling frequency.
The numerical calculation module 130 is configured to calculate an error between each actual angular velocity and a preset reference angular velocity, and obtain a control target value according to the calculated error.
The spectrum transformation module 150 is configured to perform spectrum transformation on the error to obtain transformation values corresponding to a plurality of frequencies when the control target value is greater than or equal to the preset value.
The parameter adjusting module 170 is configured to adjust a control parameter of the pan/tilt controller according to the error and the transformation value corresponding to each frequency.
The control parameter adjusting device of the pan/tilt head controller obtains a control target value according to the error between the reference angular velocity and the acquired actual angular velocity of the camera, if the control target value is greater than or equal to a preset value and indicates that the control target value is not reached, performs frequency spectrum transformation according to the error, and obtains a transformation value corresponding to each frequency according to the error and the frequency spectrum transformation to adjust the control parameters of the pan/tilt head controller. The disturbance of the pan-tilt can not be directly measured, but the characteristics of the pan-tilt can be reflected from the final control effect, the actual angular velocity is taken as a control object, a control target value is smaller than a preset value as a control target, the control parameters are automatically adjusted through frequency domain analysis and based on the transformed value of frequency spectrum transformation, the disturbance condition can be more accurately reflected from the frequency domain, the adjusted control parameters are more suitable for the corresponding disturbance, the disturbance is more effectively suppressed, and the pan-tilt controller can effectively resist the disturbance under various complex disturbance environments and has high anti-interference capability and robustness.
In one embodiment, the predetermined sampling frequency is 2Khz and the number of actual angular velocities acquired is 200. Therefore, the length of the time period for acquiring the actual angular velocity is 0.1 second, namely, the adjustment of the control parameter is executed once in 0.1 second, the updating rate can meet the control requirement of the holder, and the holder is good in stabilizing effect.
In one embodiment, the numerical calculation module 130 obtains a sum of squares of the calculated plurality of errors to obtain the control target value. That is, in the present embodiment, the control target is that the sum of squares of the errors is smaller than a preset value.
In one embodiment, the spectrum transform module 150 performs an FFT according to the error to obtain a plurality of transform values corresponding to the frequency.
In one embodiment, the parameter adjustment module 170 includes a first calculation unit (not shown), a second calculation unit (not shown), and a setting unit (not shown). The first calculating unit is used for calculating the root mean square error of the conversion values corresponding to the low frequencies which are less than or equal to the preset frequency to obtain a first deviation. The second calculating unit is used for calculating the root mean square error of the conversion value corresponding to each high frequency greater than the preset frequency to obtain a second deviation. The setting unit is used for acquiring an adjusting value according to the first deviation, the second deviation and the error, and setting the control parameter of the holder controller as the adjusting value.
The method comprises the steps of dividing the frequency domain into low frequency and high frequency, calculating according to a low-frequency transformation value and a high-frequency transformation value to obtain a first deviation and a second deviation, obtaining an adjustment value based on the first deviation, the second deviation and an error to set the adjustment value as a new control parameter, analyzing the type of disturbance from the frequency conveniently, obtaining the adjustment value in a targeted manner, improving the adaptability and effectiveness of the control parameter, and further improving the anti-interference capability and robustness of the cradle head controller for adapting to and resisting different types of external disturbance.
In one embodiment, the setting unit calculates an adjustment value according to the error, a preset first coefficient, a preset first base number and a preset control amount when the first deviation is greater than a preset first set threshold and the second deviation is greater than a preset second set threshold; when the first deviation is larger than a first set threshold and the second deviation is smaller than or equal to a second set threshold, calculating to obtain an adjusting value according to the error, a preset second coefficient, a preset second base number and a preset control quantity; when the first deviation is smaller than or equal to a first set threshold and the second deviation is smaller than or equal to a second set deviation, calculating to obtain an adjusting value according to the error, a preset third coefficient, a preset third base number and a preset control quantity; and setting the control parameter of the holder controller as an adjustment value.
The type of the disturbance is analyzed from the frequency domain according to the first deviation and the second deviation, and corresponding adjusting values are obtained according to the different types of the disturbances to set control parameters, so that the control parameters are updated, and the accuracy is high.
In one embodiment, the setting unit calculates the adjustment value according to the error, the preset first coefficient, the preset first base number, and the preset control amount, and includes:
Figure GDA0002200657520000101
Figure GDA0002200657520000102
wherein, e (ω)iIs the error of the ith actual angular velocity from the reference angular velocity, M is the total number of actual angular velocities,to adjust the first reciprocal of the value k, - η1Is a first coefficient of the first,
Figure GDA0002200657520000112
as an intermediate parameter y1The first base comprising alpha11And alpha12And u is a control amount. y is1Is 0.
Similarly, the setting unit calculates an adjustment value according to the error, the preset second coefficient, the preset second base number, and the preset control amount, and includes:
Figure GDA0002200657520000113
Figure GDA0002200657520000114
wherein eta is2Is a second coefficient of the first coefficient,
Figure GDA0002200657520000115
as an intermediate parameter y2The second base includes alpha21And alpha22。y2Is 0.
The setting unit calculates an adjustment value according to the error, the preset third coefficient, the preset third base number and the preset control amount, and includes:
Figure GDA0002200657520000117
wherein, - η3Is a third coefficient which is a function of the third coefficient,as an intermediate parameter y3The third base includes alpha31And alpha32。y3Is 0.
In particular η1、η2、θ1、θ2＞0，α11、α12、α21、α22Is greater than 0. Wherein, theta1For the first setting of the threshold value, theta2A threshold value is set for the second. In particular, θ1、θ2、-η1、η2、-η3、u、α11、α12、α21、α22、α31And alpha32The experiment can be acquired according to actual conditions and stored in advance.
In one embodiment, a medium is provided, in which a computer program is stored, which, when being executed by a processor, implements the steps of the pan/tilt controller control parameter adjusting method described above. In particular, the medium is a computer readable storage medium.
In one embodiment, a pan/tilt head controller is provided, which includes a memory, a processor, and a computer program stored in the memory and executable on the processor, and when the processor executes the computer program, the steps of the pan/tilt head controller control parameter adjusting method are implemented.
The medium and the cradle head controller realize the method for adjusting the control parameters of the cradle head controller, and similarly, the cradle head controller can effectively resist disturbance in various complex disturbance environments, and has high anti-jamming capability and robustness.
In an application example, the method for adjusting the control parameters of the pan/tilt controller or the device for adjusting the control parameters of the pan/tilt controller is applied to the pan/tilt controller, an algorithm flowchart is shown in fig. 4, e in fig. 4 represents e (ω), and a working principle diagram of pan/tilt control is shown in fig. 5.
The technical features of the embodiments described above may be arbitrarily combined, and for the sake of brevity, all possible combinations of the technical features in the embodiments described above are not described, but should be considered as being within the scope of the present specification as long as there is no contradiction between the combinations of the technical features.
The above-mentioned embodiments only express several embodiments of the present invention, and the description thereof is more specific and detailed, but not construed as limiting the scope of the invention. It should be noted that, for a person skilled in the art, several variations and modifications can be made without departing from the inventive concept, which falls within the scope of the present invention. Therefore, the protection scope of the present patent shall be subject to the appended claims.

Claims (10)

1. A method for adjusting control parameters of a holder controller is characterized by comprising the following steps:
acquiring a plurality of actual angular velocities of the camera according to a preset sampling frequency;
calculating the error between each actual angular velocity and a preset reference angular velocity, and acquiring a control target value according to the calculated error;
if the control target value is larger than or equal to a preset value, carrying out spectrum transformation on the error to obtain transformation values corresponding to a plurality of frequencies;
and adjusting the control parameters of the holder controller according to the error and the conversion value corresponding to each frequency.
2. The pan/tilt head controller control parameter adjusting method according to claim 1, wherein the obtaining of the control target value according to the calculated error comprises:
and obtaining the square sum of the plurality of errors obtained by calculation to obtain the control target value.
3. The pan/tilt head controller control parameter adjustment method according to claim 1, wherein the preset sampling frequency is 2Khz, and the number of the acquired actual angular velocities is 200.
4. A pan/tilt head controller control parameter adjusting method according to any one of claims 1-3, wherein the adjusting the control parameter of the pan/tilt head controller according to the error and the transformed value corresponding to each frequency comprises:
calculating the root mean square error of the conversion value corresponding to each low frequency which is less than or equal to the preset frequency to obtain a first deviation;
calculating the root mean square error of the conversion value corresponding to each high frequency greater than the preset frequency to obtain a second deviation;
and acquiring an adjusting value according to the first deviation, the second deviation and the error, and setting the control parameter of the holder controller as the adjusting value.
5. A pan/tilt head controller control parameter adjustment method according to claim 4, wherein said obtaining an adjustment value according to the first deviation, the second deviation and the error, and setting a control parameter of a pan/tilt head controller to the adjustment value comprises:
if the first deviation is greater than a preset first set threshold and the second deviation is greater than a preset second set threshold, calculating to obtain the adjustment value according to the error, a preset first coefficient, a preset first base number and a preset control quantity;
if the first deviation is larger than the first set threshold and the second deviation is smaller than or equal to the second set threshold, calculating to obtain the adjustment value according to the error, a preset second coefficient, a preset second base number and a preset control quantity;
if the first deviation is smaller than or equal to the first set threshold and the second deviation is smaller than or equal to the second set deviation, calculating to obtain the adjustment value according to the error, a preset third coefficient, a preset third base number and a preset control quantity;
and setting the control parameter of the holder controller as the adjusting value.
6. The method according to claim 5, wherein the calculating the adjustment value according to the error, a preset first coefficient, a preset first base number, and a preset control amount comprises:
Figure FDA0002200657510000021
Figure FDA0002200657510000022
wherein, e (ω)iIs the error of the ith actual angular velocity from the reference angular velocity, M is the total number of actual angular velocities,
Figure FDA0002200657510000023
to adjust the first reciprocal of the value k, - η1In order to be able to determine the first coefficient,as an intermediate parameter y1The first base comprising alpha11And alpha12And u is the control amount.
7. The utility model provides a cloud platform controller control parameter adjusting device which characterized in that includes:
the sampling module is used for acquiring a plurality of actual angular velocities of the camera according to a preset sampling frequency;
the numerical value calculation module is used for calculating the error between each actual angular velocity and a preset reference angular velocity and acquiring a control target value according to the calculated error;
the frequency spectrum conversion module is used for carrying out frequency spectrum conversion on the error to obtain conversion values corresponding to a plurality of frequencies when the control target value is greater than or equal to a preset value;
and the parameter adjusting module is used for adjusting the control parameters of the holder controller according to the errors and the transformation values corresponding to the frequencies.
8. A pan and tilt head controller control parameter adjustment device according to claim 7, wherein the parameter adjustment module comprises:
the first calculating unit is used for calculating the root mean square error of the conversion value corresponding to each low frequency which is less than or equal to the preset frequency to obtain a first deviation;
the second calculation unit is used for calculating the root mean square error of the conversion value corresponding to each high frequency greater than the preset frequency to obtain a second deviation;
and the setting unit is used for acquiring an adjusting value according to the first deviation, the second deviation and the error and setting the control parameter of the holder controller as the adjusting value.
9. A medium, in which a computer program is stored, characterized in that the stored computer program realizes the steps of the method according to any of claims 1-6 when executed by a processor.
10. A pan-tilt controller comprising a memory, a processor and a computer program stored on the memory and executable on the processor, characterized in that the steps of the method according to any of claims 1-6 are implemented when the computer program is executed by the processor.
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