CN108496139A - Configuration method, device and the holder of holder parameter - Google Patents
Configuration method, device and the holder of holder parameter Download PDFInfo
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- CN108496139A CN108496139A CN201780005469.6A CN201780005469A CN108496139A CN 108496139 A CN108496139 A CN 108496139A CN 201780005469 A CN201780005469 A CN 201780005469A CN 108496139 A CN108496139 A CN 108496139A
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D3/00—Control of position or direction
- G05D3/12—Control of position or direction using feedback
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
- H04N23/00—Cameras or camera modules comprising electronic image sensors; Control thereof
- H04N23/60—Control of cameras or camera modules
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Abstract
A kind of configuration method, device and the holder of holder parameter, the holder include armshaft and motor, and the motor is for driving the armshaft to rotate, to drive the picture pick-up device being equipped on the holder to move in one or more directions, the method includes：Receive parameter regulation instruction；It is instructed according to the parameter regulation, controls the armshaft and execute frequency sweep operation；According to the frequency sweep operation as a result, generating the identification model of the control system of the holder；The correction parameter of the control system, and the control parameter of the configuration control system are configured by the identification model of the control system.The present invention can be saved the operation that holder user adjusts ginseng repeatedly, improve the efficiency and precision of parameter configuration by the configuration of automatic adjusument holder parameter while meeting the shooting demand of holder work.
Description
Technical field
The present invention relates to holder technical field more particularly to a kind of configuration method, device and the holders of holder parameter.
Background technology
Holder is the load bearing equipment for installing and fixing picture pick-up device, can pass through the armshaft of holder and matching for motor
It closes, picture pick-up device is driven to move in one or more directions, to shoot image in wide range.Currently, holder is
It is widely used in various special industries, such as in the field of taking photo by plane, after picture pick-up device is fixed on holder, can be taken by aircraft
The band supreme sky of holder is shot.
It after being loaded with picture pick-up device on holder, needs to configure the various parameters of holder, to ensure holder control
System processed can provide augmentation control to picture pick-up device.In the related technology, above-mentioned parameter is usually by holder user's manual configuration, because
This needs holder user to have stronger tune ginseng experience；In addition, when the type difference of picture pick-up device, it is also desirable to holder user into
The parameter setting of row adaptation different type picture pick-up device.But due in above-mentioned parameter configuration process, needing holder user repeatedly
Examination gathers parameter and can be only achieved target requirement, therefore configuration process is cumbersome, and precision is not high.
Invention content
The present invention provides a kind of configuration method, device and the holder of holder parameter.
According to the present invention in a first aspect, providing a kind of configuration method of holder parameter, the holder includes armshaft and electricity
Machine, the motor for driving the armshaft to rotate, to driving the picture pick-up device being equipped on the holder at one or
It is moved in multiple directions, the method includes：
Receive parameter regulation instruction；
It is instructed according to the parameter regulation, controls the armshaft and execute frequency sweep operation；
According to the frequency sweep operation as a result, generating the identification model of the control system of the holder；
The correction parameter of the control system, and the configuration control are configured by the identification model of the control system
The control parameter of system.
Second aspect according to the present invention provides a kind of configuration device of holder parameter, and the holder includes armshaft and electricity
Machine, the motor for driving the armshaft to rotate, to driving the picture pick-up device being equipped on the holder at one or
It is moved in multiple directions, described device includes：
Receiving module, for receiving parameter regulation instruction；
Control module controls the armshaft and executes frequency sweep operation for being instructed according to the parameter regulation；
Generation module, for according to the frequency sweep operation as a result, generating the identification model of the control system of the holder；
Configuration module, the correction parameter for configuring the control system by the identification model of the control system；With
And configure the control parameter of the control system.
The third aspect according to the present invention, provides a kind of holder, and the holder includes：Fixed mechanism, one or more axis
Arm, motor, IMU and controller, wherein
The fixed mechanism, for the fixed picture pick-up device being equipped on the holder；
The motor, for driving corresponding armshaft to rotate, to drive the picture pick-up device at one or more
Side moves upwards；
The controller for receiving parameter regulation instruction, and controls the armshaft according to parameter regulation instruction and holds
Row frequency sweep operation passes through the control according to the frequency sweep operation as a result, generate the identification model of the control system of the holder
The identification model of system processed configures the correction parameter of the control system, and the control parameter of the configuration control system.
By the above technical solution provided in an embodiment of the present invention as it can be seen that holder can be according to reception in the embodiment of the present invention
Parameter regulation instructs, and control armshaft executes frequency sweep operation and matched by the identification model to generate the identification model of control system
Set the correction parameter and control parameter of control system.It follows that the embodiment of the present invention passes through automatic adjusument holder parameter
Configuration can save the operation that holder user adjusts ginseng repeatedly while meeting the shooting demand of holder work, improve parameter
The efficiency and precision of configuration.
Description of the drawings
To describe the technical solutions in the embodiments of the present invention more clearly, make required in being described below to embodiment
Attached drawing is briefly described, it should be apparent that, drawings in the following description are only some embodiments of the invention, for
For those of ordinary skill in the art, without having to pay creative labor, it can also be obtained according to these attached drawings
His attached drawing.
Fig. 1 is a kind of operation principle schematic diagram of three axis holder；
Fig. 2 is one embodiment flow chart of holder method for parameter configuration of the present invention；
Fig. 3 A are the control principle schematic diagrames of cloud platform control system in the embodiment of the present invention；
Fig. 3 B are another embodiment flow charts of holder method for parameter configuration of the present invention；
Fig. 3 C are a kind of schematic diagrames of Bode diagram in Fig. 3 B embodiments：
Fig. 4 A are the embodiment block diagrams of the configuration device of holder parameter of the present invention；
Fig. 4 B are one embodiment block diagrams of control module in Fig. 4 A；
Fig. 4 C are one embodiment block diagrams of generation module in Fig. 4 A；
Fig. 4 D are one embodiment block diagrams of configuration module in Fig. 4 A；
Fig. 4 E are another embodiment block diagrams of configuration module in Fig. 4 A；
Fig. 5 is the embodiment block diagram of holder of the present invention.
Specific implementation mode
Following will be combined with the drawings in the embodiments of the present invention, and technical solution in the embodiment of the present invention carries out clear, complete
Site preparation describes, it is clear that described embodiments are only a part of the embodiments of the present invention, instead of all the embodiments.It is based on
Embodiment in the present invention, it is obtained by those of ordinary skill in the art without making creative efforts every other
Embodiment shall fall within the protection scope of the present invention.In addition, in the absence of conflict, in following embodiment and embodiment
Feature can be combined with each other.
Holder in the embodiment of the present invention can be hand-held holder, and vehicle head can also be to be flown by what aircraft carried
Rack platform.Above-mentioned holder generally includes armshaft and motor, and motor is for driving armshaft to rotate.By taking three common axis holders as an example,
Three axis holders include three armshafts, and respectively drive the motor of three armshafts rotation, wherein three armshafts are respectively pitch axis
Arm, roll armshaft, and yaw armshaft.It, can be with when above-mentioned holder is equipped with load equipment, such as when video camera or camera
It moves in one or more directions, to realize a wide range of shooting.
It is a kind of operation principle schematic diagram of three axis holder referring to Fig. 1：
A kind of three axis holder shown in FIG. 1 includes：Controller, three spindle motors, three axis armshafts, IMU (Inertial
Measurement Unit, Inertial Measurement Unit) and integrator.Above-mentioned three axis holder can pass through the gyroscope of composition IMU
As feedback original paper, three spindle motors form closed loop PI (ratio, integral) control system as output original paper.
Wherein, the measurement posture of holder is obtained by IMU, measures the difference of posture and targeted attitude as control deviation,
Controller controls the input current of three spindle motors according to the control deviation of input, to driving three spindle motors work, three spindle motors
Output torque band dynamic triaxial armshaft rotates in the course of work, and the measurement posture of holder further changes in rotation process,
Pass through above-mentioned feedback control procedure so that holder moves to targeted attitude.
The type for the picture pick-up device that general holder can be adapted to differs, and the quality of these picture pick-up devices is different, usually
In 0.5kg between 13kg, the control system of holder needs the shooting to picture pick-up device to provide augmentation control, therefore holder is being taken
After carrying picture pick-up device, need to configure the parameter of control system, to meet the shooting demand under different situations.Related skill
In art, manual configuration is carried out to parameter by holder user, needs holder user that there is stronger tune ginseng experience at this time, and pass through
Parameter regulation could be completed to configure repeatedly, and holder is allow to meet shooting needs at work；In addition, since holder is loading not
When with picture pick-up device, itself natural mode of vibration can change, therefore also need to holder and corrected manually so that holder can be just
Often work.It can be seen from the above, holder is before loading different picture pick-up devices and being worked in the related technology, the configuration of holder parameter
Process is cumbersome, and configuration precision is not high.Therefore, the configuration embodiment of holder parameter provided by the invention passes through automatic adjusument holder
The configuration (filter parameter, lead compensation, lag compensation is such as arranged) of parameter, is meeting the same of the shooting demand of holder work
When, the operation that holder user adjusts ginseng repeatedly can be saved, the efficiency and precision of parameter configuration are improved.
The embodiment of the present invention is described in detail below in conjunction with the accompanying drawings.
It is one embodiment flow chart of the configuration method of holder parameter of the present invention referring to Fig. 2：
Step 201：Receive parameter regulation instruction.
After carrying picture pick-up device on holder, power on mode can be entered.When holder is in open state, can pass through
Different modes receive parameter regulation instruction, to enter subsequent self-tuning parameter adjustment configuration process.
In an optional realization method, it can be arranged on holder in advance and adjust ginseng button, user presses this when holder
Ginseng button, holder is adjusted to receive parameter regulation instruction.In another optional realization method, when holder user's operation remote controler
After sending out parameter regulation instruction, holder correspondingly received can be instructed to the parameter regulation.
Step 202：Control armshaft is instructed to execute frequency sweep operation according to parameter regulation.
In this step, holder receive parameter regulation instruction after, armshaft can be triggered and enter automatic frequency sweep pattern, this from
Under dynamic frequency sweep mode, the continuous swept-frequency signal within the scope of predeterminated frequency is generated, such as between formation range is from 30Hz to 300Hz
Continuous sine sweep signal.
Step 203：According to frequency sweep operation as a result, generating the identification model of the control system of holder.
It, can after holder obtains the frequency response information of the continuous swept-frequency signal obtained under frequency sweep operation in this step
To generate the Bode diagram (bode) of cloud platform control system according to these frequency response informations, using Bode diagram distinguishing as control system
Know model, includes the phase angle figure for characterizing frequency and phase relation in the Bode diagram, and for characterizing frequency and amplitude
The amplitude figure of relationship.
Step 204：The correction parameter of control system, and configuration control system are configured by the identification model of control system
Control parameter.
In this step, the configuration to holder parameter may include the configuration for correcting parameter and the configuration of control parameter.
Wherein, when parameter is corrected in configuration, the intrinsic frequency of holder can be obtained by the Bode diagram in analytical procedure 203
Then the filtering parameter in control system is arranged according to the intrinsic frequency in rate, so that holder can filter out frequency during the work time
Rate is the signal of the intrinsic frequency.
Wherein, when configuring control parameter, the current value that motor can be corresponded to according to armshaft obtains the torque value of armshaft, leads to
Cross the angular acceleration values that the IMU that is arranged on armshaft measures armshaft, the ratio of calculated torque value and angular acceleration values is worth to holder
Rotary inertia, then according to the rotary inertia configure control system speed feedback control ring dynamics value parameter, Yi Jiwei
Set the sensitivity value parameter of feedback control loop.
As seen from the above-described embodiment, which is meeting holder work by the configuration of automatic adjusument holder parameter
Shooting demand while, the operation that holder user adjusts ginseng repeatedly can be saved, improve the efficiency and precision of parameter configuration.
It is the control principle schematic diagram of cloud platform control system in the embodiment of the present invention referring to Fig. 3 A：
The feedback control principle of cloud platform control system is shown in Fig. 3 A, which includes successively from left to right：Position ring
Feedback controller Cp (s), loop feedback controller Cv (s), controlled quentity controlled variable Filter 2, motor drive module AMP, by
The kinetic model of rotary inertia J (s) and integrator 1/s compositions, gyro data Filter 1, posture Fusion Module
FUS.Above system may be implemented double -loop control, that is, respectively include using according to the difference of signal stream trend and feedback control object
In the speed feedback control ring controlled holder posture, and the position feedback control for being controlled holder displacement
Ring.Wherein, r indicates that reference-input signal, e indicate that tracking error signal, a indicate that acceleration signal, v indicate speed signal, y tables
Show that displacement signal, d indicate that equivalent disturbance signal, u indicate that control voltage, i indicate current signal, nvIndicate measurement noise.
It is another embodiment flow chart of the configuration method of holder parameter of the present invention referring to Fig. 3 B, which combines
The configuration process of holder parameter is shown in detail in Fig. 3 A：
Step 301：When holder is in open state, the parameter tune obtained by the tune ginseng button triggered on holder is received
Section instruction.
After carrying picture pick-up device on holder, power on mode can be entered.By taking three axis hold holder as an example, according to shooting need
The difference wanted, holder can enter power on mode under two states：A kind of state is fixed mechanism (the alternatively referred to as cloud of holder
The pedestal of platform) upward, after booting, holder can hang over and be shot on the carriers such as rocking arm；Another state is the fixation of holder
The roll axis of holder downward, is rotated 180 degree, after booting, holder may be mounted on elevating lever and be shot by mechanism at this time.
In the present embodiment, can ginseng button is adjusted in setting on holder in advance, when being equipped with new picture pick-up device on holder, and
After booting, holder user can press tune ginseng button, parameter regulation instruction be sent out, to make control system receive the ginseng
After number regulating command, into subsequent self-tuning parameter adjustment configuration process.
Step 302：Triggering armshaft enters automatic frequency sweep pattern.
Frequency sweep refers to signal in a frequency range, and frequency from high to low, usually sweep by or the process of consecutive variations from low to high
Frequency operation can be tested by the frequency characteristic of frequency sweep object.In this step, by taking three axis holders as an example, refer to receiving parameter regulation
After order, three armshafts that can trigger holder enter automatic frequency sweep pattern, to test the frequency characteristic of holder.
Step 303：Under automatic frequency sweep pattern, the continuous swept-frequency signal within the scope of predeterminated frequency is generated.
In this step, after the roll armshaft of three axis holders, pitching armshaft and yaw armshaft enter automatic frequency sweep pattern,
Frequency range can be generated in 30Hz to the continuous swept-frequency signal between 300Hz.
Step 304：Obtain the frequency response information of continuous swept-frequency signal.
In this step, the frequency response information of continuous swept-frequency signal may include phase response information and amplitude response letter
Breath.
Step 305：The Bode diagram of control system is generated according to frequency response information.
In this step, cloud can be generated according to the phase response information and amplitude response information obtained in abovementioned steps 304
The identification model of bench control system, the identification model can be presented by Byrd (bode) figure in the present embodiment example.Byrd
Figure is a kind of graphic technique of system frequency response, usually by the amplitude figure of characterization frequency and magnitude relation and characterization frequency and phase
The phase angle figure composition of position relationship, is both drawn by the log scale of frequency, therefore Bode diagram is often also referred to as logarithmic coordinates
Figure.It can be analyzed at different frequencies using Bode diagram, the size and phase of system gain can also analyze gain size
And phase trend with frequency change, so as to judge system stability.
In this step, can Bode diagram directly be drawn according to frequency response information by the software installed on holder, it can also
Frequency response information is output to some particular terminal, is drawn by the software (such as MATLAB) installed in terminal, to this
The present embodiment is not limited.
It is a kind of schematic diagram of Bode diagram in Fig. 3 B embodiments referring to Fig. 3 C：Bode diagram in Fig. 3 C by top amplitude
Figure and the phase angle figure of lower part form, wherein magnitude diagram has gone out the correspondence of frequency and amplitude, and the unit of frequency is Hz, width
The unit of value is dB, and phase angle shows the correspondence of frequency and phase, and the unit of phase is deg (angle).
Step 306：Analyze the intrinsic frequency that Bode diagram obtains holder.
Intrinsic frequency is referred to as modal frequency or natural frequency (natural frequency), refers to object and does
When free vibration, the variation of sinusoidal or cosine rule is pressed in displacement at any time, and the frequency of above-mentioned vibration only has with the inherent characteristic of object
It closes (such as quality, shape, material).
It is 10 in frequency in conjunction with the Bode diagram shown in Fig. 3 B2The waveform of neighbouring swept-frequency signal generates apparent concussion, by dividing
The oscillogram is analysed it is found that intrinsic frequency is the corresponding frequency of amplitude or phase angle of arrow meaning in Fig. 3 B.
Step 307：Filtering parameter is set according to intrinsic frequency, so that rejection frequency is that this is intrinsic to holder during the work time
The signal of frequency.
Since the intrinsic frequency of holder may cause to resonate, to influence the normal work of holder, therefore to holder
When parameter configuration, after obtaining the intrinsic frequency of holder, need to execute corrective operations, to avoid intrinsic frequency to holder
Normal work generates interference.
This step when executing corrective operations, can be arranged according to intrinsic frequency filter1 as shown in fig. 3 and
The filtering parameter of filter2, to make holder during the work time, rejection frequency is the signal of the intrinsic frequency, ensures holder
It can work normally.
Step 308：Calculate the rotary inertia of holder.
The measurement of inertia, i.e. the rotation shape of quality when rotary inertia (Moment of Inertia) is rigid body pivoting
Formula.Usual rotary inertia can be calculated by following formula：
J=M/ β, wherein J indicates that rotary inertia, M indicate that power, β indicate angular acceleration.
In this step, the current value that motor can be corresponded to according to armshaft obtains the torque value of armshaft, and the torque of motor is exactly
Refer to the torque that motor is exported from its crankshaft end, torque is that motor is allow to correspond to the power that armshaft rotates.The electricity of usual motor
Stream and the proportional relationship of torque, shown in following formula：
M=Ca × i；Wherein, M indicates that torque, Ca indicate that a constant, i indicate electric current；
In this step, the angular acceleration values of armshaft can be obtained by the IMU measurements being arranged on armshaft, then according to preceding
The ratio for stating formula calculated torque value M and angular acceleration values can be obtained the rotary inertia of holder.
Step 309：Dynamics value parameter and the position of the speed feedback control ring of control system are configured according to rotary inertia
The sensitivity value parameter of feedback control loop.
In conjunction with Fig. 3 A, after obtaining rotary inertia, the dynamics of the rotary inertia configuration speed feedback control loop can be utilized
Value parameter, for example, Cv (s) parameters and allocation position feedback control loop sensitivity value parameter, such as Cp (s) parameters.
As seen from the above-described embodiment, which is meeting holder work by the configuration of automatic adjusument holder parameter
Shooting demand while, the operation that holder user adjusts ginseng repeatedly can be saved, improve the efficiency and precision of parameter configuration.
Corresponding with the embodiment of configuration method of holder parameter of the present invention, the present invention also provides the configurations of holder parameter
The embodiment of device and holder.
It is the embodiment block diagram of the configuration device of holder parameter of the present invention referring to Fig. 4 A：
The device includes：Receiving module 410, control module 420, generation module 430 and configuration module 440.
Receiving module 410, for receiving parameter regulation instruction；
Control module 420 controls the armshaft and executes frequency sweep operation for being instructed according to the parameter regulation；
Generation module 430, for according to the frequency sweep operation as a result, generating the identification mould of the control system of the holder
Type；
Configuration module 440, the correction parameter for configuring the control system by the identification model of the control system；
And configure the control parameter of the control system.
In an optional realization method, the receiving module 410 may include at least one following submodules：
First receiving submodule, for when the holder is in open state, receiving by triggering on the holder
Adjust the parameter regulation instruction that ginseng button obtains；
Second receiving submodule, for when the holder is in open state, receiving the corresponding remote controler of the holder
The parameter regulation instruction sent out.
It is one embodiment frame of control module 420 in Fig. 4 A referring to Fig. 4 B in another optional realization method
Figure：
The control module 420 may include：
Frequency sweep mode triggers submodule 421, enters automatic frequency sweep pattern for triggering the armshaft；
Swept-frequency signal generates submodule 422, under the automatic frequency sweep pattern, generating the company within the scope of predeterminated frequency
Continuous swept-frequency signal.
Wherein, the predeterminated frequency range may include：30 hertz to 300 hertz of frequency range.
It is one embodiment frame of generation module 430 in Fig. 4 A referring to Fig. 4 C in another optional realization method
Figure：
The generation module 430 may include：
Frequency response obtains submodule 431, the frequency response information for obtaining the continuous swept-frequency signal；
Bode diagram generation submodule 432, the Bode diagram for generating the control system according to the frequency response information,
The Bode diagram includes the phase angle figure for characterizing frequency and phase relation, and the width for characterizing frequency and magnitude relation
Value figure.
In one example, when the armshaft includes roll armshaft, pitching armshaft and yaw armshaft, the control system
Bode diagram include corresponding to the Bode diagram of above three armshaft respectively.
It is one embodiment frame of configuration module 440 in Fig. 4 A referring to Fig. 4 D in another optional realization method
Figure：
The configuration module 440 may include：
Intrinsic frequency obtains submodule 441, and the intrinsic frequency of the holder is obtained for analyzing the Bode diagram；
Parameter configuration submodule 442 is corrected, for filtering parameter to be arranged according to the intrinsic frequency, so that the holder exists
Rejection frequency is the signal of the intrinsic frequency in the course of work.
It is another embodiment frame of configuration module 440 in Fig. 4 B referring to Fig. 4 E in another optional realization method
Figure：
The configuration module 440 may include：
Rotary inertia computational submodule 443, the rotary inertia for calculating the holder；
Control parameter configures submodule 444, the velocity feedback for configuring the control system according to the rotary inertia
The dynamics value parameter of control ring and the sensitivity value parameter of position feedback control ring.
In one example, the rotary inertia computational submodule 443 can be specifically used for corresponding to electricity according to the armshaft
The current value of machine obtains the torque value of armshaft, and the angle acceleration of the armshaft is measured by the way that the IMU on the armshaft is arranged
Angle value, and the ratio for calculating the torque value and the angular acceleration values is worth to the rotary inertia of the holder.
As seen from the above-described embodiment, control module is instructed according to the parameter regulation of reception, and control armshaft executes frequency sweep operation,
To generate the identification model of control system by generation module, configuration module configures the correction of control system by the identification model
Parameter and control parameter.Since the device can be with the configuration of automatic adjusument holder parameter, in the shooting for meeting holder work
While demand, the operation that holder user adjusts ginseng repeatedly can be saved, improves the efficiency and precision of parameter configuration.
It is the embodiment block diagram of holder of the present invention referring to Fig. 5：
The holder includes：Fixed mechanism 510, armshaft 520, motor 530, IMU540 and controller 550.
Wherein, the fixed mechanism 510, for the fixed picture pick-up device being equipped on the holder；
The motor 530, for driving corresponding armshaft 520 to rotate, to driving the picture pick-up device at one or
It is moved in person's multiple directions；
The controller 550 controls the armshaft for receiving parameter regulation instruction, and according to parameter regulation instruction
Frequency sweep operation is executed, according to the frequency sweep operation as a result, the identification model of the control system of the holder is generated, by described
The identification model of control system configures the correction parameter of the control system, and the control parameter of the configuration control system.
In an optional realization method：
The controller 550 can be specifically used for when the holder is in open state, receive by triggering the cloud
The parameter regulation instruction that tune ginseng button on platform obtains, or receive the parameter regulation that the corresponding remote controler of the holder is sent out and refer to
It enables.
In another optional realization method：
The controller 550 can be specifically used for the triggering armshaft and enter automatic frequency sweep pattern, in the automatic frequency sweep
Under pattern, the continuous swept-frequency signal within the scope of predeterminated frequency is generated.
Wherein, the predeterminated frequency range may include：30 hertz to 300 hertz of frequency range.
In another optional realization method：
The controller 550 is specifically used for obtaining the frequency response information of the continuous swept-frequency signal, according to the frequency
Response message generates the Bode diagram of the control system, and the Bode diagram includes the phase angle for characterizing frequency and phase relation
Figure, and the amplitude figure for characterizing frequency and magnitude relation.
Wherein, when the armshaft 520 includes roll armshaft, pitching armshaft and yaw armshaft, the primary of the control system
Moral figure includes the Bode diagram for corresponding to above three armshaft respectively.
In another optional realization method：
The controller 550 obtains the intrinsic frequency of the holder specifically for analyzing the Bode diagram, according to described solid
Have set of frequency filtering parameter so that the holder during the work time rejection frequency be the intrinsic frequency signal；
In another optional realization method：
The controller 550 is specifically used for calculating the rotary inertia of the holder, according to rotary inertia configuration
The dynamics value parameter of the speed feedback control ring of control system and the sensitivity value parameter of position feedback control ring.
Wherein, the control 550 can correspond to the electric current of motor when calculating the rotary inertia of holder according to the armshaft
Value obtains the torque value of armshaft, and the angle that the armshaft is measured by the Inertial Measurement Unit IMU being arranged on the armshaft accelerates
Angle value, the ratio for calculating the torque value and the angular acceleration values are worth to the rotary inertia of the holder.
As seen from the above-described embodiment, cradle head controllor can be instructed according to the parameter regulation of reception, and control armshaft execution is swept
Frequency operate, to generate the identification model of control system, then by the identification model configure control system correction parameter with
And control parameter.Since holder can meet the same of the shooting demand of holder work with the configuration of automatic adjusument holder parameter
When, the operation that holder user adjusts ginseng repeatedly can be saved, the efficiency and precision of parameter configuration are improved.
System, device, module or the unit that above-described embodiment illustrates can specifically realize by computer chip or entity,
Or it is realized by the product with certain function.For convenience of description, various lists are divided into function when describing apparatus above
Member describes respectively.It certainly, when implementing the application can be the function of each unit in the same or multiple software and or hardware
It realizes.It should be understood by those skilled in the art that, the embodiment of the present invention can be provided as method, system or computer program production
Product.Therefore, complete hardware embodiment, complete software embodiment or implementation combining software and hardware aspects can be used in the present invention
The form of example.Moreover, can be used can in the computer that one or more wherein includes computer usable program code by the present invention
With the computer program product implemented on storage medium (including but not limited to magnetic disk storage, CD-ROM, optical memory etc.)
Form.
Each embodiment in this specification is described in a progressive manner, identical similar portion between each embodiment
Point just to refer each other, and each embodiment focuses on the differences from other embodiments.Especially for system reality
For applying example, since it is substantially similar to the method embodiment, so description is fairly simple, related place is referring to embodiment of the method
Part explanation.
It should be noted that herein, relational terms such as first and second and the like are used merely to a reality
Body or operation are distinguished with another entity or operation, are deposited without necessarily requiring or implying between these entities or operation
In any actual relationship or order or sequence.The terms "include", "comprise" or its any other variant are intended to non-row
His property includes, so that the process, method, article or equipment including a series of elements includes not only those elements, and
And further include other elements that are not explicitly listed, or further include for this process, method, article or equipment institute it is intrinsic
Element.In the absence of more restrictions, the element limited by sentence "including a ...", it is not excluded that including institute
State in the process, method, article or equipment of element that there is also other identical elements.
Above is only an example of the present application, it is not intended to limit this application.For those skilled in the art
For, the application can have various modifications and variations.It is all within spirit herein and principle made by any modification, equivalent
Replace, improve etc., it should be included within the scope of claims hereof.
Claims (27)
1. a kind of configuration method of holder parameter, which is characterized in that the holder includes armshaft and motor, and the motor is for driving
The dynamic armshaft rotation, to drive the picture pick-up device being equipped on the holder to move in one or more directions, institute
The method of stating includes：
Receive parameter regulation instruction；
It is instructed according to the parameter regulation, controls the armshaft and execute frequency sweep operation；
According to the frequency sweep operation as a result, generating the identification model of the control system of the holder；
The correction parameter of the control system, and the configuration control system are configured by the identification model of the control system
Control parameter.
2. according to the method described in claim 1, it is characterized in that, by following either types, parameter regulation instruction is received：
When the holder is in open state, receives the parameter regulation obtained by the tune ginseng button triggered on the holder and refer to
It enables；
When the holder is in open state, the parameter regulation instruction that the corresponding remote controler of the holder is sent out is received.
3. according to the method described in claim 1, it is characterized in that, the control armshaft execution frequency sweep operation includes：
It triggers the armshaft and enters automatic frequency sweep pattern；
Under the automatic frequency sweep pattern, the continuous swept-frequency signal within the scope of predeterminated frequency is generated.
4. according to the method described in claim 3, it is characterized in that, the predeterminated frequency range includes：30 hertz to 300 hertz
Frequency range.
5. according to the method described in claim 3, it is characterized in that, it is described according to the frequency sweep operation as a result, generate described in
The identification model of the control system of holder includes：
Obtain the frequency response information of the continuous swept-frequency signal；
The Bode diagram of the control system is generated according to the frequency response information, the Bode diagram includes for characterizing frequency
With the phase angle figure of phase relation, and the amplitude figure for characterizing frequency and magnitude relation.
6. according to the method described in claim 5, it is characterized in that, when the armshaft include roll armshaft, pitching armshaft and partially
When boat armshaft, the Bode diagram of the control system includes corresponding to the Bode diagram of above three armshaft respectively.
7. according to the method described in claim 5, it is characterized in that, the identification model by the control system configures the control
The correction parameter of system processed includes：
Analyze the intrinsic frequency that the Bode diagram obtains the holder；
Filtering parameter is set according to the intrinsic frequency, so that rejection frequency is the intrinsic frequency to the holder during the work time
The signal of rate.
8. according to the method described in claim 5, it is characterized in that, the control parameter of the configuration control system includes：
Calculate the rotary inertia of the holder；
The dynamics value parameter and position feedback of the speed feedback control ring of the control system are configured according to the rotary inertia
The sensitivity value parameter of control ring.
9. according to the method described in claim 8, it is characterized in that, the rotary inertia for calculating the holder includes：
The current value that motor is corresponded to according to the armshaft obtains the torque value of armshaft；
The angular acceleration values of the armshaft are measured by the Inertial Measurement Unit IMU being arranged on the armshaft；
The ratio for calculating the torque value and the angular acceleration values is worth to the rotary inertia of the holder.
10. a kind of configuration device of holder parameter, which is characterized in that the holder includes armshaft and motor, and the motor is used for
The armshaft is driven to rotate, to drive the picture pick-up device being equipped on the holder to move in one or more directions,
Described device includes：
Receiving module, for receiving parameter regulation instruction；
Control module controls the armshaft and executes frequency sweep operation for being instructed according to the parameter regulation；
Generation module, for according to the frequency sweep operation as a result, generating the identification model of the control system of the holder；
Configuration module, the correction parameter for configuring the control system by the identification model of the control system；And match
Set the control parameter of the control system.
11. device according to claim 10, which is characterized in that the receiving module includes at least one following submodules
Block：
First receiving submodule, for when the holder is in open state, receiving by triggering the tune ginseng on the holder
The parameter regulation instruction that button obtains；
Second receiving submodule, for when the holder is in open state, receiving the corresponding remote controler of the holder and sending out
Parameter regulation instruction.
12. device according to claim 10, which is characterized in that the control module includes：
Frequency sweep mode triggers submodule, enters automatic frequency sweep pattern for triggering the armshaft；
Swept-frequency signal generates submodule, under the automatic frequency sweep pattern, generating the continuous frequency sweep within the scope of predeterminated frequency
Signal.
13. device according to claim 12, which is characterized in that the predeterminated frequency range includes：30 hertz to 300 hertz
Frequency range hereby.
14. device according to claim 12, which is characterized in that the generation module includes：
Frequency response obtains submodule, the frequency response information for obtaining the continuous swept-frequency signal；
Bode diagram generation submodule, the Bode diagram for generating the control system according to the frequency response information, described primary
Moral figure includes the phase angle figure for characterizing frequency and phase relation, and the amplitude figure for characterizing frequency and magnitude relation.
15. device according to claim 14, which is characterized in that when the armshaft include roll armshaft, pitching armshaft and
When yawing armshaft, the Bode diagram of the control system includes corresponding to the Bode diagram of above three armshaft respectively.
16. device according to claim 14, which is characterized in that the configuration module includes：
Intrinsic frequency obtains submodule, and the intrinsic frequency of the holder is obtained for analyzing the Bode diagram；
Parameter configuration submodule is corrected, for filtering parameter to be arranged according to the intrinsic frequency, so that the holder is worked
Rejection frequency is the signal of the intrinsic frequency in journey.
17. device according to claim 14, which is characterized in that the dispensing unit includes：
Rotary inertia computational submodule, the rotary inertia for calculating the holder；
Control parameter configures submodule, the speed feedback control ring for configuring according to the rotary inertia control system
The sensitivity value parameter of dynamics value parameter and position feedback control ring.
18. device according to claim 17, which is characterized in that
The rotary inertia computational submodule is specifically used for corresponding to the torque of the current value acquisition armshaft of motor according to the armshaft
Value, and the angular acceleration values of the armshaft are measured by the way that the IMU on the armshaft is arranged, and calculate the torque value and institute
The ratio for stating angular acceleration values is worth to the rotary inertia of the holder.
19. a kind of holder, which is characterized in that the holder includes：Fixed mechanism, one or more armshafts, motor, IMU and
Controller, wherein
The fixed mechanism, for the fixed picture pick-up device being equipped on the holder；
The motor, for driving corresponding armshaft to rotate, to drive the picture pick-up device in one or more direction
Upper movement；
The controller for receiving parameter regulation instruction, and controls the armshaft execution according to parameter regulation instruction and sweeps
Frequency operation, according to the frequency sweep operation as a result, generating the identification model of the control system of the holder, passing through the control is
The identification model of system configures the correction parameter of the control system, and the control parameter of the configuration control system.
20. according to holder described in claim 19, which is characterized in that
The controller is specifically used for when the holder is in open state, receives by triggering the tune ginseng on the holder
The parameter regulation instruction that button obtains, or receive the parameter regulation instruction that the corresponding remote controler of the holder is sent out.
21. holder according to claim 19, which is characterized in that
The controller enters automatic frequency sweep pattern specifically for triggering the armshaft, under the automatic frequency sweep pattern, generates
Continuous swept-frequency signal within the scope of predeterminated frequency.
22. holder according to claim 21, which is characterized in that the predeterminated frequency range includes：30 hertz to 300 hertz
Frequency range hereby.
23. holder according to claim 21, which is characterized in that
The controller is specifically used for obtaining the frequency response information of the continuous swept-frequency signal, be believed according to the frequency response
Breath generates the Bode diagram of the control system, and the Bode diagram includes the phase angle figure for characterizing frequency and phase relation, with
And the amplitude figure for characterizing frequency and magnitude relation.
24. holder according to claim 23, which is characterized in that when the armshaft include roll armshaft, pitching armshaft and
When yawing armshaft, the Bode diagram of the control system includes corresponding to the Bode diagram of above three armshaft respectively.
25. holder according to claim 23, which is characterized in that
The controller obtains the intrinsic frequency of the holder specifically for analyzing the Bode diagram, according to the intrinsic frequency
Be arranged filtering parameter so that the holder during the work time rejection frequency be the intrinsic frequency signal.
26. holder according to claim 23, which is characterized in that
The controller, is specifically used for calculating the rotary inertia of the holder, and configuring the control according to the rotary inertia is
The dynamics value parameter of the speed feedback control ring of system and the sensitivity value parameter of position feedback control ring.
27. holder according to claim 26, which is characterized in that
The controller is specifically used for corresponding to the torque value of the current value acquisition armshaft of motor according to the armshaft, passes through setting
Inertial Measurement Unit IMU on the armshaft measures the angular acceleration values of the armshaft, calculates the torque value and the angle
The ratio of acceleration value is worth to the rotary inertia of the holder.
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| PCT/CN2017/073791 WO2018148906A1 (en) | 2017-02-16 | 2017-02-16 | Method of configuring mounting device parameter, device, and mounting device |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN108496139A true CN108496139A (en) | 2018-09-04 |
Family
ID=63169141
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201780005469.6A Pending CN108496139A (en) | 2017-02-16 | 2017-02-16 | Configuration method, device and the holder of holder parameter |
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| WO (1) | WO2018148906A1 (en) |
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