CN108594862A - A method of each axis of three-axis stabilization system is solved close to horizontal plane singular problem - Google Patents

Abstract

The invention discloses a kind of each axis of solution three-axis stabilization system close to the method for the singular problem of horizontal plane, pass through the method for mathematics, regulate and control the stabilization of three axis, it can ensure that each axis of three-axis stabilization system does not occur shaking or overturning problem close to stage body when horizontal plane, ensure that carried object is injury-free on stage body, under unusual working condition, the pitching and roll of stage body remain to keep stablizing, and many application scenarios are remained to obtain acceptable stablizing effect.

Description

A method of each axis of three-axis stabilization system is solved close to horizontal plane singular problem

Technical field

The invention belongs to shoot field, and in particular to a kind of each axis of solution three-axis stabilization system is asked close to horizontal plane is unusual The method of topic.

Background technology

Three-axis stabilization system is generally made of stage body, inner ring, outer shroud and pedestal.It is cut with scissors by inner axle between stage body and inner ring It connects；It is hinged by inner shaft between inner ring and outer rings；It is hinged by outer shaft between outer shroud and pedestal.Installation is used for test desk on stage body The attitude transducer in inclination angle and orientation combines body relative to the earth.One motor is respectively installed on stage body axis, inner shaft and outer shaft.Stage body One angular transducer is respectively installed on axis, inner shaft and outer shaft.

When three-axis stabilization system stage body axis and outer overlapping of axles, the azimuth deviation angle of stage body relative to the earth can not be driven by motor There are problems that denominator is 0 when moving and corrected, and calculating around outer shaft deviation of directivity angle.Three-axis stabilization system due to the above reasons, System cisco unity malfunction in stage body axis and outer overlapping of axles.In real system stage body axis and outer shaft close to it is parallel when but endless full weight Stage body will appear shake even overturning phenomenon, i.e. singular problem when conjunction.

Not the phenomenon that not occurring inner shaft and the coincidence of outer shaft approximation for the three-axis stabilization system that unmanned plane uses, therefore always can Enough normal works.But for hand-held holder (three-axis stabilization system), the randomness of user movement likely results in it There is the phenomenon that inner shaft and coincidence of outer shaft approximation.If cannot effectively be solved, it is more likely that lead to taking the photograph on holder stage body As equipment is damaged during stage body overturns.

Invention content

A method of solving the problems, such as each axis of three-axis stabilization system close to operation irregularity when horizontal plane, using coordinate system and Pa-rameter symbols are described, and related definition is as follows

Stage body shaft angleIt is defined as interior circular y_FAxis with respect to stage body corner, domain be [- π ,+π)；

Interior shaft angleIt is defined as outer circular x_FAxis with respect to inner ring corner, domain be [- π ,+π)；

Outer shaft angleHandle is defined as around z_FAxis with respect to outer shroud corner, domain be [- π ,+π)；

Stage body system p：It is fixed on stage body, y_pAxis and y_FIt is parallel, x when each shaft angle of holder is 0_FAxis and x_pIt is parallel, x_p、y_pAnd z_pIt constitutes Right hand rectangular coordinate system；

Navigation is n：x_nIt is directed toward east, y_nIt is directed toward north, z_nIt is directed toward day；

Azimuth φ：Navigate the y for being_nAxis is to stage body system y_pFor axis at the angle that horizontal plane projects, north by east is just domain [0,2 π)；

Pitching angle theta：Stage body system y_pAxis projects to y horizontal plane_pAngle, domain [- pi/2 ,+pi/2], y_pAxis is directed toward on ground Otherwise Fang Weizheng is negative；

Roll angle γ：Stage body system is around y_pThe corner of axis Relative Navigation system n, and domain [- π ,+π), polarity meets the right-hand rule；

It is normal condition and unusual two kinds of working conditions, algorithm performs mistake by system according to inner shaft and outer shaft whether close to overlapping Cheng Zhong, each controlling cycle judge what the angular transducer in inner shaft measuredWhether close to ± 90 °：IfKeep off ± 90 ° then decision-making system be in normal condition；IfClose to ± 90 ° then decision-making system be in unusual state, to avoid shaft angle from existing Judge that minor change causes judging result to switch repeatedly when near border, sluggish link is added in judgment method；

Using conventional three-axis stabilization control mode when system is in normal operating conditions, system uses platform when being in unusual state Body pitching and roll be stable, outer shaft locking control mode, stage body pitching and roll is stable, control mode of outer shaft locking can be with It realizes under unusual working condition, the pitching and roll of stage body keep stablizing, and the azimuth of stage body is rotated together with pedestal.

The present invention has the advantages that：It can ensure that each axis of three-axis stabilization system does not occur close to stage body when horizontal plane Shake overturns problem, ensures that carried object is injury-free on stage body, under unusual working condition, the pitching and roll of stage body are still It can keep stablizing, many application scenarios are remained to obtain acceptable stablizing effect.

Description of the drawings

Fig. 1 is the three-axis stabilization system stage body axis and outer shaft coincidence pattern of the present invention；

Fig. 2 is the shaft angle schematic diagram of the present invention；

Fig. 3 is the working condition transfer figure of the present invention.

Specific implementation mode

With reference to Fig. 1 to Fig. 3, the specific implementation mode of the present invention is described in further detail, following embodiment is used In illustrating the present invention, but it is not limited to the scope of the present invention.

As shown in Figure 1, stage body shaft angleIt is defined as interior circular y_FAxis with respect to stage body corner, domain be [- π ,+π)；

Interior shaft angleIt is defined as outer circular x_FAxis with respect to inner ring corner, domain be [- π ,+π)；

Outer shaft angleHandle is defined as around z_FAxis with respect to outer shroud corner, domain be [- π ,+π)；

Stage body system p：It is fixed on stage body, y_pAxis and y_FIt is parallel, x when each shaft angle of holder is 0_FAxis and x_pIt is parallel, x_p、y_pAnd z_pIt constitutes Right hand rectangular coordinate system；

Navigation is n：x_nIt is directed toward east, y_nIt is directed toward north, z_nIt is directed toward day；

Azimuth φ：Navigate the y for being_nAxis is to stage body system y_pFor axis at the angle that horizontal plane projects, north by east is just domain [0,2 π)；

Pitching angle theta：Stage body system y_pAxis projects to y horizontal plane_pAngle, domain [- pi/2 ,+pi/2], y_pAxis is directed toward on ground Otherwise Fang Weizheng is negative；

Roll angle γ：Stage body system is around y_pThe corner of axis Relative Navigation system n, and domain [- π ,+π), polarity meets the right-hand rule；

It is normal condition and unusual two kinds of working conditions by system according to inner shaft and outer shaft whether close to overlapping：When algorithm starts Initialization system is operated in normal condition；If system is in normal condition, andThen judge system into Enter unusual state；If system is in normal condition, andThen judge system still in normal condition； If system is in unusual state, andThen judge that system enters normal condition；If system is in Unusual state, andThen judge system still in unusual state, θ in criterion_InRealm＜ θ_OutRealm, this Kind processing mode is known as the unusual condition adjudgement with stagnant ring, it is possible to prevente effectively fromIn when judging near border, by InMinor change make judging result between the two states frequent switching the problem of；

Using conventional three-axis stabilization control mode when system is in normal operating conditions, system uses platform when being in unusual state The control mode of body pitching and roll stabilization, outer shaft locking；

Use following matrix representation hereinafter for sake of convenience

Wherein, α is any angle,

The attitude matrix of outer shroud in stage body pitching and roll stabilization, the control mode of outer shaft lockingFor

Wherein：The stage body attitude matrix measured is combined for attitude transducer；Attitude matrix for inner ring with respect to stage body； Attitude matrix for outer shroud with respect to inner ring；

The real-time measurement values sensed by stage body shaft angleIt determines

The real-time measurement values sensed by interior shaft angleIt determines

Formula (5) and formula (6) are substituted into the real-time attitude matrix that formula (4) can be obtained outer shroudIt willResult of calculation note at Element form is

Thus target pitch angle θ is obtained_d, target roll angle γ_d, target stage body shaft angleWith shaft angle in targetCalculating knot Fruit,

If a upper beat, η_dThen this bat still requires that η to ∈ (- 0.5 π ,+0.5 π)_d∈(-0.5π,+0.5π)

If a upper beat, η_d∈ (0.5 π, π] then this bat still requires that η to ∪ (- π, -0.5 π)_d∈(0.5π,π]∪(-π,-0.5π)

The outer shaft angle of targetIt takes into the instantaneous outer shaft angle of unusual state；

According toThe shaft angle measured in real time with angular transducerOnly poor progress feedback control is Each axis of three-axis stabilization system can be solved close to the singular problem of horizontal plane.

The above description is merely a specific embodiment, but scope of protection of the present invention is not limited thereto, any The change or replacement expected without creative work, should be covered by the protection scope of the present invention.Therefore, of the invention Protection domain should be determined by the scope of protection defined in the claims.

Claims (1)

1. a kind of solve the problems, such as each axis of three-axis stabilization system close to the method for operation irregularity when horizontal plane, it is characterised in that：

It is normal condition and unusual two kinds of working conditions, algorithm performs mistake by system according to inner shaft and outer shaft whether close to overlapping Cheng Zhong, each controlling cycle judge what the angular transducer in inner shaft measuredWhether close to ± 90 °：IfKeep off ± 90 ° then decision-making system be in normal condition；IfClose to ± 90 ° then decision-making system be in unusual state；

To avoid shaft angle minor change when judging near border that judging result is caused to switch repeatedly, it is slow to be added in judgment method Stagnant link, stage body shaft angleIt is defined as interior circular y_FAxis with respect to stage body corner, domain be [- π ,+π), interior shaft angleDefinition For outer circular x_FAxis with respect to inner ring corner, domain be [- π ,+π), outer shaft angleHandle is defined as around z_FAxis is with respect to outer shroud Corner, domain be [- π ,+π), be fixed on stage body, y_pAxis and y_FIt is parallel, x when each shaft angle of holder is 0_FAxis and x_pIt is parallel, x_p、 y_pAnd z_pConstitute right hand rectangular coordinate system, x_nIt is directed toward east, y_nIt is directed toward north, z_nDay is directed toward,：Azimuth φ：Navigate the y for being_nAxis is to platform System y_pAxis at the angle that horizontal plane projects, north by east be just, domain [0,2 π), pitching angle theta：Stage body system y_pAxis is in horizontal plane Project to y_pAngle, domain [- pi/2 ,+pi/2], y_pAxis be directed toward above the ground be just, be otherwise negative, roll angle γ：Stage body system around y_pThe corner of axis Relative Navigation system n, and domain [- π ,+π), polarity meets the right-hand rule；

WhereinThe stage body attitude matrix measured is combined for attitude transducer；It is the opposite stage body of inner ring Attitude matrix；Attitude matrix for outer shroud with respect to inner ring,The real-time measurement values sensed by stage body shaft angleIt determines The real-time measurement values sensed by interior shaft angleIt determines,By formula (5) and formula (6) Substitution formula (4) can be obtained the real-time attitude matrix of outer shroudIt willResult of calculation remember and at element form be

If a upper beat, η_d∈ (- 0.5 π ,+0.5 π), then this bat still requires that η_d∈ (- 0.5 π ,+0.5 π),

If a upper beat, η_d∈ (0.5 π, π] ∪ (- π, -0.5 π), then this bat still requires that η_d∈(0.5π,π]∪(-π,-0.5 π),

The outer shaft angle of targetIt takes into the instantaneous outer shaft angle of unusual state；

According toThe shaft angle measured in real time with angular transducerOnly poor carry out feedback control, from And each axis of three-axis stabilization system is solved close to the singular problem of horizontal plane.