CN108702121A - Horizontal stage electric machine control method and corresponding holder - Google Patents
Horizontal stage electric machine control method and corresponding holder Download PDFInfo
- Publication number
- CN108702121A CN108702121A CN201780007022.2A CN201780007022A CN108702121A CN 108702121 A CN108702121 A CN 108702121A CN 201780007022 A CN201780007022 A CN 201780007022A CN 108702121 A CN108702121 A CN 108702121A
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- China
- Prior art keywords
- control instruction
- motor control
- frequency
- current amplitude
- motor
- Prior art date
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Classifications
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
- H02P23/00—Arrangements or methods for the control of AC motors characterised by a control method other than vector control
- H02P23/14—Estimation or adaptation of motor parameters, e.g. rotor time constant, flux, speed, current or voltage
-
- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
- H02P27/00—Arrangements or methods for the control of AC motors characterised by the kind of supply voltage
- H02P27/04—Arrangements or methods for the control of AC motors characterised by the kind of supply voltage using variable-frequency supply voltage, e.g. inverter or converter supply voltage
Abstract
A method of what is executed at holder is used to control motor, including:The current pose data of camera being obtained from Inertial Measurement Unit IMU with first frequency and generating motor control instruction, it is poor relative to the posture of targeted attitude data to correct the current pose data of camera that the motor control instruction is moved for driving motor;And the execution of the motor control instruction is completed with second frequency, the second frequency is higher than the first frequency so that the difference between adjacent motor control instruction reduces;And a kind of corresponding holder.
Description
Copyright statement
This patent document disclosure includes material protected by copyright.The copyright is all for copyright holder.Copyright
Owner do not oppose the patent document in the presence of anyone replicates the proce's-verbal of Patent&Trademark Office and archives or this specially
Profit discloses.
Technical field
The present invention relates to holder technical fields, more particularly to the method for controlling motor that is executed at holder and corresponding
Holder.
Background technology
Holder is for carry load to keep the support workbench of load stabilization.For example, holder can be used for carrying phase
The image documentation equipments such as machine, video camera, to realize photologging.
For the holder of active stabilization, motor is as the critical piece for making holder active stabilization, can band while increasing steady
Come the noise of motor movement and the noise of electric drive.If image documentation equipment is arranged near motor, for example, being also disposed at holder
On, then these noises will be passed in a manner of solid conduction in the taped components of image documentation equipment, lead to recorded sound
There are the noises of motor in frequency.
Currently, reduce noise of motor mode be from change holder on device arrangements (for example, moving element position or increasing
Canadian dollar part) angle set out, for example, by image documentation equipment or only its taped components is placed on the noise brought by motor movement
Smaller position (e.g., being placed on user) is influenced, or damping cotton etc. is added for taped components, by hindering consolidating for noise
The mode of body conduction carries out noise reduction;Alternatively, actively adding filter when recording to filter out noise of motor to realize electricity
Machine noise reduction, however using filter, if the motion artifacts of motor are fallen in the range of human ear sensitivity, filter
Wave device will need the gain that record to reduce together with original, lead to that overall sound is less than normal but recording effect is still bad.
Therefore, it more desirable to it is a kind of can be by the processing of holder internal processor in the existing device arrangements for not changing holder
In the case of the technical solution of motor noise-reducing is better achieved.
Invention content
In view of this, embodiment of the disclosure is proposed from the angle being electronically controlled to motor through change pair
The control mode of motor realizes motor noise-reducing, while without being changed to the existing structure of holder.
According to the first aspect of the embodiments of the present disclosure, a kind of holder is provided, including:
Inertial Measurement Unit (IMU), the current pose data for measuring camera;
Motor;
Processor is configured as executing following operation:Current pose data and the life of camera are obtained from IMU with first frequency
At motor control instruction, the motor control instruction moved for driving motor with correct the current pose data of camera relative to
The posture of targeted attitude data is poor;And the execution of the motor control instruction is completed with second frequency, the second frequency is high
In the first frequency so that the difference between adjacent motor control instruction reduces.
In one exemplary embodiment, the motor control instruction is characterized with current amplitude, and, it is described adjacent
Difference between motor control instruction is the absolute value of the difference for the current amplitude for characterizing adjacent motor control instruction.
In one exemplary embodiment, the second frequency is constant.
In one exemplary embodiment, the second frequency is variable.
In one exemplary embodiment, the processor completes the execution packet of the motor control instruction with second frequency
It includes:The processor adjusts current amplitude with strides such as second frequencies to reach the electricity for characterizing the motor control instruction
Flow amplitude.
In one exemplary embodiment, the processor completes the execution packet of the motor control instruction with second frequency
It includes:The processor is variably adjusted current amplitude to reach described in the characterization motor control instruction with second frequency stride
Current amplitude.
In one exemplary embodiment, the second frequency is m times of the first frequency, and m is integer.
In one exemplary embodiment, the stride that current amplitude is adjusted with second frequency is reduced to the characterization motor control
The 1/m of the current amplitude of instruction and the difference for the current amplitude for characterizing previous motor control instruction.
In one exemplary embodiment, current amplitude is directly proportional to the torque for driving motor movement.
In one exemplary embodiment, the holder further includes:Feedback branch in the electric current acquired at motor is set
On filter, for filtering out the noise introduced in current feedback terminal.
In one exemplary embodiment, the targeted attitude data are obtained by processor.
In one exemplary embodiment, the processor includes cradle head controllor and electric machine controller, wherein the holder
Controller is configured as obtaining the attitude data of camera from IMU with the first frequency and generates motor control instruction;And institute
Electric machine controller is stated to be configured as completing the execution of the motor control instruction with the second frequency.
In one exemplary embodiment, the attitude data includes yaw angle/pitch angle/roll angle component.
In one exemplary embodiment, the holder further includes:Camera and/or camera interface.
According to the second aspect of the embodiment of the present disclosure, a kind of side for controlling motor executed at holder is provided
Method, including:The current pose data of camera are obtained from IMU and generate motor control instruction with first frequency, the motor control
It is poor relative to the posture of targeted attitude data to correct the current pose data of camera that instruction is moved for driving motor;And with
Second frequency completes the execution of the motor control instruction, and the second frequency is higher than the first frequency so that adjacent electricity
Difference between machine control instruction reduces.
In one exemplary embodiment, the motor control instruction is characterized and described adjacent with current amplitude
Difference between motor control instruction is the absolute value of the difference for the current amplitude for characterizing adjacent motor control instruction.
In one exemplary embodiment, the second frequency is constant.
In one exemplary embodiment, the second frequency is variable.
In one exemplary embodiment, the execution for the motor control instruction being completed with second frequency includes:With the second frequency
The strides such as rate current amplitude is adjusted to reach the current amplitude for characterizing the motor control instruction.
In one exemplary embodiment, the execution for the motor control instruction being completed with second frequency includes:With the second frequency
Rate stride is variably adjusted current amplitude to reach the current amplitude for characterizing the motor control instruction.
In one exemplary embodiment, the second frequency is m times of the first frequency, and m is integer.
In one exemplary embodiment, the stride that current amplitude is adjusted with second frequency is reduced to the characterization motor control
The 1/m of the current amplitude of instruction and the difference for the current amplitude for characterizing previous motor control instruction.
In one exemplary embodiment, current amplitude is directly proportional to the torque for driving motor movement.
In one exemplary embodiment, the method further includes:By the way that the filter on the feedback branch of electric current is arranged,
Filter out the noise introduced in current feedback terminal.
In one exemplary embodiment, the attitude data includes yaw angle/pitch angle/roll angle component.
The said program proposed in accordance with an embodiment of the present disclosure, compared in the first frequency for generating motor control instruction
The execution frequency (that is, second frequency) for improving the motor control instruction for driving motor movement, the electricity is completed with second frequency
The execution of machine control instruction, that is, make the second frequency of the execution motor control instruction higher than the generation motor control instruction
First frequency, current amplitude can be adjusted several times with the second frequency of raising to reach the characterization motor control instruction
Current amplitude, that is, make to adjust current amplitude several times with second frequency to reach the electricity for characterizing the motor control instruction
Flow amplitude stride compared in traditional scheme still with generate the first frequency of motor control instruction once adjust current amplitude with
The stride for reaching the current amplitude for characterizing the motor control instruction is substantially reduced, and is made an uproar so as to effectively weaken motor
The amplitude of sound.
In addition, the noise introduced in current feedback terminal is filtered out by the way that the filter on the feedback branch of electric current is arranged, it can
Effectively to weaken the noise of acquisition electric current, to effectively reduce electric machine controller caused by current noise is frequently adjusted
Noise of motor.
Description of the drawings
The disclosure is above-mentioned and/or additional aspect and advantage are from the description below in conjunction with the accompanying drawings to exemplary embodiment
It will be apparent and be readily appreciated that, wherein:
Fig. 1 shows the interpolation schematic diagram of the motor control instruction for illustrating disclosure basic principle;
Fig. 2 shows showing according to the method for controlling motor executed at holder of disclosure exemplary embodiment
Meaning property flow chart;
Fig. 3 A-3D show the interpolation schematic diagram according to the motor control instruction of disclosure exemplary embodiment;And
Fig. 4 schematically shows the structure diagrams according to the holder of disclosure exemplary embodiment..
Specific implementation mode
The exemplary embodiment of the disclosure is described below in detail, the exemplary embodiment is shown in the accompanying drawings, wherein certainly
Begin to indicate same or similar element or element with the same or similar functions to same or similar label eventually.Below by
The embodiment being described with reference to the drawings is exemplary, and is only used for explaining the disclosure, and is not construed to any of the disclosure
Limitation.
In general, there are two main classes for the noise of motor generation:
1st class:The high frequency electromagnetic noise of pulse width modulation (PWM) when motor drives stable operation;And
2nd class:The electromagnetic noise that PWM variations generate when motor movement (for example, rotation).
For the 1st class noise of motor, it is quick that PWM frequency can be increased to human ear by directly promoting the driving frequency of PWM
Feel except range, the electromagnetic noise of high frequency when effectively improving stable state.For example, human ear sensitive range is 20hz-20khz, it can
Even higher far above 20khz, such as 40khz being increased to PWM frequency, the electromagnetism of high frequency is made an uproar when effectively improving stable state
Sound.There is no elimination noises for its essence, but noise is allowed to be moved to higher frequency range, and human ear can not be perceived, ties
Fruit is to can't hear this kind of electromagnetic noise.The disclosure is not related to reducing the 1st class noise of motor.
Because motor is controlled by high frequency, thus can continually it be changed for the 2nd class noise of motor when motor is driven
The duty ratio of PWM, the harmonic wave generated at this time is easy to be mixed into human ear sensitive range, if harmonic amplitude is sufficiently high, human ear
It can obviously hear.The disclosure is dedicated to reducing the 2nd class noise of motor, that is, when reducing motor movement caused by PWM variations
Electromagnetic noise.
For ease of description, unless otherwise specified, noise of motor mentioned below or abbreviation noise (herein, the two
May be used interchangeably) refer both to the disclosure be dedicated to reduce motor movement when PWM variation caused by electromagnetic noise.
Those skilled in the art will be appreciated that, the disclosure be dedicated to the amplitude size of the noise of motor reduced with usually with
There are following relationships for the motor control instruction of current amplitude (I) characterization:
If in T0The motor control instruction that moment is generated and provided to motor is I0, in T1Moment is generated and provided to electricity
The motor control instruction of machine is I1(being known as target motor control instruction), then:△ I=|I1-I0|It is bigger, the amplitude of noise of motor
It is bigger.
Based on this, the basic principle of the disclosure is:The amplitude of noise of motor is reduced by reducing the size of △ I, together
When need the steady demand of the increasing for meeting holder, that is, T0The motor control instruction for being supplied to motor at moment is necessary for I0, T1Moment
It is supplied to the target motor control instruction of motor to be necessary for I1.Thus, the disclosure proposes, refers to compared in generation motor control
The frequency of order improves the execution frequency of the motor control instruction for driving motor movement, is completed with the execution frequency of raising
The execution of the motor control instruction, in T0The motor control instruction and T at place1Motor is carried out between the target motor control instruction at place
The multiple interpolation of control instruction, so that the difference between adjacent motor control instruction reduces, so that noise of motor
Amplitude reduce.
It should be understood that difference here refers to the absolute value of the difference of the current amplitude of characterization motor control instruction, thus nothing
By be characterize target motor control instruction current amplitude increases compared to previous motor control instruction the case where or characterize mesh
The case where current amplitude of mark motor control instruction reduces compared to previous motor control instruction each falls within the protection model of the disclosure
Within enclosing.For simplicity, following only to characterize the current amplitude of target motor control instruction compared to previous motor control instruction
It is illustrated in case of increase.
The interpolation schematic diagram of the motor control instruction for illustrating disclosure basic principle is shown referring to Fig. 1, Fig. 1.
In the example of Fig. 1, it is assumed that in T0With T1Between T01,T02,T03Moment has carried out the cubic interpolation of motor control instruction respectively,
The current amplitude of middle characterization corresponding motor control instruction is respectively I01,I02,I03.It will be understood by those skilled in the art that in this example
In cubic interpolation it is merely illustrative and not restrictive, in the application, can be according to the processing of actual demand and processor
The suitable interpolation number of ability selection.
As shown in Figure 1, the raising of the execution frequency due to motor control instruction, originally from I0By once adjusting to I1's
Motor control instruction becomes adjusting to I by four times1, correspondingly, between the adjacent motor control instruction for influencing noise of motor
Difference becomes △ I1=|I01-I0|, △ I2=|I02-I01|, △ I3=|I03-I02|, △ I4=|I1-I03|, therein each poor
Value △ I1,△I2,△I3,△I4It is significantly less than between original target motor control instruction and initial motor control instruction
Difference △ I=|I1-I0|, thus reduce T0With T1Between noise of motor.
From example shown in FIG. 1 it can also be seen that the disclosure be not intended to generation frequency to motor control instruction with
Relationship between the execution frequency of motor control instruction makes any further restriction, as long as motor control instruction executes frequency
Rate is higher than the generation frequency of motor control instruction, and the execution frequency of motor control instruction can be variation, can also be
Constant, intuitive reflection in the example of fig. 1 is that the interval between adjacent motor control instruction is (for example, T01-T0,T02-
T01,T03-T02,T1-T03) can be not equal (that is, corresponding frequency conversion) on time shaft t, can also be equal (that is, corresponding fixed
Frequently).
Correspondingly, the disclosure is also not intended to the difference between adjacent motor control instruction and makes any further limit
Fixed, the difference can also be that stride is variable either wait strides, if the sum of all differences be equal to original error value it
With or say be finally reached characterization target motor control instruction current amplitude meet △ I=in conjunction with the example of Fig. 1
△I1+△I2+△I3+△I4It is finally reached I in other words1.
Therefore, the frequency conversion for no matter being higher than the generation frequency of motor control instruction carries out equal strides adjustment, to be higher than electricity
The equal strides adjustment of determining that frequency carries out of the generation frequency of machine control instruction, with the frequency conversion of the generation frequency higher than motor control instruction into
Adjust to row variable stride, be also higher than motor control instruction generation frequency determine frequency carry out variable stride adjust,
It falls within the protection domain of the disclosure.
After the basic principle to the disclosure has been described in detail, hereinafter with reference to Fig. 2, to according to the exemplary reality of the disclosure
The method for controlling motor executed at holder for applying example is described.
Fig. 2 shows the methods 200 for controlling motor executed at holder according to disclosure exemplary embodiment
Schematic flow chart.As shown in Fig. 2, method 200 includes step S201 and S202.
In step s 201, holder can be with first frequency f1The current pose data of camera are obtained from IMU and generate electricity
Machine control instruction (that is, target motor control instruction).Here, first frequency f1It is the frequency for generating motor control instruction.
The motor control instruction is moved for driving motor to correct the current pose data of camera relative to target appearance
The posture of state data is poor.As previously mentioned, the motor control instruction can be characterized with current amplitude (I).Art technology
Personnel will be appreciated that current amplitude is directly proportional to the torque for driving motor movement.
IMU can be used for measuring the current pose data of camera.
In one exemplary embodiment, camera may include that or can pass through cloud as independent peripheral hardware in holder
Camera interface included by platform is connect with holder.
In one exemplary embodiment, the attitude data measured by IMU may include yaw angle (yaw)/pitch angle
(pitch)/roll angle (roll) component.
In some exemplary embodiments, the targeted attitude data can be preset by user, or can be passed through
The processor of holder obtains, for example, being generated by processor.In one exemplary embodiment, targeted attitude data can be base
Quasi- attitude data.
In step S202, holder can be with second frequency f2Complete the execution of the motor control instruction so that adjacent
Motor control instruction between difference reduce.Here, f2It is the execution of the motor control instruction moved for driving motor
Frequency.As previously mentioned, according to the basic principle of the disclosure, f2> f1。
With second frequency f2The execution for completing the motor control instruction makes in T0The initial motor control instruction and T at place1
The multiple interpolation of motor control instruction has been carried out between the target motor control instruction at place, to adjacent motor control instruction it
Between difference reduce, thus the amplitude of noise of motor is made to reduce.
In one exemplary embodiment, f2It can keep constant, that is, adjacent motor control instruction on a timeline can be with
It is equally spaced.For example, f2Can be f1Integral multiple.
In a kind of embodiment of the exemplary embodiment, step S202 can be specifically included:To determine frequency f2Equal strides
Ground adjusts current amplitude to reach the current amplitude for characterizing generated target motor control instruction.
In this embodiment, if f2For f1M times, wherein m be integer, then with f2The stride for adjusting current amplitude can
To be reduced to the difference of the current amplitude and the current amplitude for characterizing previous motor control instruction of characterization target motor control instruction
1/m.
The interpolation schematic diagram of corresponding motor control instruction may refer to Fig. 3 A.It is similar with the example of Fig. 1, the example of Fig. 3 A
In also assume in T0With T1Between T01,T02,T03Moment has carried out the cubic interpolation of motor control instruction respectively, wherein characterizing phase
It is respectively I to answer the current amplitude of motor control instruction01,I02,I03.Equally, it will be understood by those skilled in the art that in this example
Cubic interpolation it is merely illustrative and not restrictive, in the application, can be according to the processing energy of actual demand and processor
The suitable interpolation number of power selection.
As shown in Figure 3A, adjacent motor control instruction is equally spaced on a timeline, characterizes adjacent motor control
Difference between the current amplitude of instruction is also equal strides, that is, T01-T0=T02-T01=T03-T02=T1-T03, corresponding f2=
4f1, and △ IA1=△ IA2=△ IA3=△ IA4=△ IA/4。
In another embodiment of the exemplary embodiment, step S202 can be specifically included:To determine frequency f2Stride can
Become ground adjustment current amplitude to reach the current amplitude for characterizing generated target motor control instruction.
The interpolation schematic diagram of corresponding motor control instruction may refer to Fig. 3 B.It is similar with the example of Fig. 1 and 3A, Fig. 3 B's
Also assume in T in example0With T1Between T01,T02,T03Moment has carried out the cubic interpolation of motor control instruction, wherein table respectively
The current amplitude for levying corresponding motor control instruction is respectively I01,I02,I03.Equally, it will be understood by those skilled in the art that originally showing
Cubic interpolation in example is merely illustrative and not restrictive, in the application, can be according to the place of actual demand and processor
The suitable interpolation number of reason ability selection.
As shown in Figure 3B, adjacent motor control instruction is motor control that is equally spaced, and characterizing adjacent on a timeline
It can not wait strides to make the difference between the current amplitude of instruction, that is, T01-T0=T02-T01=T03-T02=T1-T03, right
Answer f2=4f1, and △ IB1,△IB2,△IB3,△IB4It is not all of equal.
In a further exemplary embodiment, f2Can be variable, that is, adjacent motor control instruction on a timeline may be used
To be unequal interval.
In a kind of embodiment of the exemplary embodiment, step S202 can be specifically included:With frequency conversion f2Equal strides
Ground adjusts current amplitude to reach the current amplitude for characterizing generated target motor control instruction.
The interpolation schematic diagram of corresponding motor control instruction may refer to Fig. 3 C.It is similar with the example of Fig. 1,3A and 3B, figure
Also assume in T in the example of 3C0With T1Between T01,T02,T03Moment has carried out the cubic interpolation of motor control instruction respectively,
The current amplitude of middle characterization corresponding motor control instruction is respectively I01,I02,I03.Equally, it will be understood by those skilled in the art that
Cubic interpolation in this example is merely illustrative and not restrictive, in the application, can be according to actual demand and processor
The suitable interpolation number of processing capacity selection.
As shown in Figure 3 C, adjacent motor control instruction is unequal interval on a timeline, and characterizes adjacent motor
Difference between the current amplitude of control instruction is equal strides, that is, T01-T0,T02-T01,T03-T02,T1-T03It is not all of phase
Deng, and △ IC1=△ IC2=△ IC3=△ IC4=△ IC/4。
In another embodiment of the exemplary embodiment, step S202 can be specifically included:It can with frequency conversion f2 strides
Become ground adjustment current amplitude to reach the current amplitude for characterizing generated target motor control instruction.
The interpolation schematic diagram of corresponding motor control instruction may refer to Fig. 3 D.It is similar with the example of Fig. 1 and 3A-3C, figure
Also assume in T in the example of 3D0With T1Between T01,T02,T03Moment has carried out the cubic interpolation of motor control instruction respectively,
The current amplitude of middle characterization corresponding motor control instruction is respectively I01,I02,I03.Equally, it will be understood by those skilled in the art that
Cubic interpolation in this example is merely illustrative and not restrictive, in the application, can be according to actual demand and processor
The suitable interpolation number of processing capacity selection.
As shown in Figure 3D, adjacent motor control instruction is unequal interval on a timeline, and characterizes adjacent motor
Difference between the current amplitude of control instruction is also not equal strides, that is, T01-T0,T02-T01,T03-T02,T1-T03It is not complete
Portion is equal, and △ IA1,△IA2,△IA3,△IA4Nor all equal.
It follows that the disclosure is not intended to f1With f2Between relationship make any qualitative restriction, as long as f2It is higher than
f1, f2Either variation can also be constant.Correspondingly, the disclosure is also not intended to refer to the control of adjacent motor
Difference between order makes any further restriction, and the difference can also be that stride is variable either wait strides,
As long as the sum of all differences be equal to the sum of original error value or says be finally reached the current amplitude for characterizing target motor control instruction and
The absolute value of each interpolation is less than the absolute value of former interpolation.Preferably, amplitude is to be monotonically changed.
In one exemplary embodiment, method 200 can also include step (not shown):By the way that the feedback in electric current is arranged
The filter of branch road filters out the noise introduced in current feedback terminal.This can effectively weaken the noise of acquisition electric current, to
Effectively reduce the noise of motor caused by electric machine controller is frequently adjusted current noise.
Hereinafter with reference to Fig. 4, the structure of holder according to an exemplary embodiment of the present invention is described.Fig. 4 is schematic
Ground shows the structure diagram of holder 400 according to an exemplary embodiment of the present invention.In order not to make the purport of the disclosure obscure,
In this schematic block diagram, the relevant primary clustering with disclosure exemplary embodiment in holder is only shown, and is omitted
Other common components in holder, for example, transceiver etc..Holder 400 can be used for executing the method 200 described with reference to figure 2.For
Simplicity, is herein only described the schematic structure of the holder according to disclosure exemplary embodiment, and is omitted as preceding
With reference to the details being described in detail in the method 200 that figure 2 describes, the description in method 200 specifically can refer to.
As shown in figure 4, holder 400 may include IMU 401, processor 402 and motor 403.
IMU 401 can be used for measuring the current pose data of camera.
In one exemplary embodiment, camera may include that or can pass through cloud as independent peripheral hardware in holder
Camera interface included by platform is connect with holder.
In one exemplary embodiment, the attitude data measured by IMU 401 may include yaw angle/pitch angle/rolling
Angle component.
Processor 402 can be configured as the following operation of execution:With first frequency f1The current of camera is obtained from IMU 401
Attitude data simultaneously generates motor control instruction, and the motor control instruction is moved for driving motor 403 to correct working as camera
Preceding attitude data is poor relative to the posture of targeted attitude data;And with second frequency f2Complete holding for the motor control instruction
Row, wherein f2> f1So that the difference between adjacent motor control instruction reduces.Those skilled in the art will be appreciated that, the electricity
Machine control instruction is characterized with current amplitude, and current amplitude is directly proportional to the torque for driving motor movement.
In some exemplary embodiments, the targeted attitude data can be preset by user, or can be passed through
Processor 402 obtains, for example, being generated by processor 402.
With second frequency f2The execution for completing the motor control instruction makes in T0The initial motor control instruction and T at place1
The multiple interpolation of motor control instruction has been carried out between the target motor control instruction at place, to adjacent motor control instruction it
Between difference reduce, thus the amplitude of noise of motor is made to reduce.
In one exemplary embodiment, f2It can keep constant, that is, adjacent motor control instruction on a timeline can be with
It is equally spaced.For example, f2Can be f1Integral multiple.
In a kind of embodiment of the exemplary embodiment, processor 402 can be configured to:To determine frequency f2
Equal strides current amplitude is adjusted to reach the current amplitude for characterizing generated target motor control instruction.Corresponding motor control
The interpolation schematic diagram of system instruction may refer to Fig. 3 A.
In this embodiment, if f2For f1M times, wherein m be integer, then with f2The stride for adjusting current amplitude can
To be reduced to the difference of the current amplitude and the current amplitude for characterizing previous motor control instruction of characterization target motor control instruction
1/m.
In another embodiment of the exemplary embodiment, processor 402 can be configured to:To determine frequency f2
Stride is variably adjusted current amplitude to reach the current amplitude for characterizing generated target motor control instruction.Corresponding motor
The interpolation schematic diagram of control instruction may refer to Fig. 3 B.
In a further exemplary embodiment, f2Can be variable, that is, adjacent motor control instruction on a timeline may be used
To be unequal interval.
In a kind of embodiment of the exemplary embodiment, processor 402 can be configured to:With frequency conversion f2
Equal strides current amplitude is adjusted to reach the current amplitude for characterizing generated target motor control instruction.Corresponding motor control
The interpolation schematic diagram of system instruction may refer to Fig. 3 C.
In another embodiment of the exemplary embodiment, processor 402 can be configured to:With frequency conversion f2
Stride is variably adjusted current amplitude to reach the current amplitude for characterizing generated target motor control instruction.Corresponding motor
The interpolation schematic diagram of control instruction may refer to Fig. 3 D.
In one exemplary embodiment, processor 402 can be configured to include:Cradle head controllor 4021 and electricity
Machine controller 4022, as in Fig. 4 in processor 402 it is shown in dotted line.
Specifically, cradle head controllor 4021 can be configured as with f1Execute following operation:It is acquired from IMU 401 to obtain
The current pose data of camera, it is poor by the posture for being compared to obtain camera with targeted attitude data, and generate motor control
Instruction, the motor control instruction are moved for driving motor 403 to correct the current pose data of camera relative to target appearance
The posture of state data is poor.Electric machine controller 4022 can be configured as with f2Complete the execution of the motor control instruction.
In one exemplary embodiment, f2It can keep constant, that is, adjacent motor control instruction on a timeline can be with
It is equally spaced.For example, f2Can be f1Integral multiple.
In a kind of embodiment of the exemplary embodiment, electric machine controller 4022 can be configured to:With
Determine frequency f2Equal strides current amplitude is adjusted to reach the current amplitude for characterizing generated target motor control instruction.It is corresponding
The interpolation schematic diagram of motor control instruction may refer to Fig. 3 A.
In this embodiment, if f2For f1M times, wherein m be integer, then with f2The stride for adjusting current amplitude can
To be reduced to the difference of the current amplitude and the current amplitude for characterizing previous motor control instruction of characterization target motor control instruction
1/m.
In another embodiment of the exemplary embodiment, electric machine controller 4022 can be configured to:With
Determine frequency f2Stride is variably adjusted current amplitude to reach the current amplitude for characterizing generated target motor control instruction.It is corresponding
The interpolation schematic diagram of motor control instruction may refer to Fig. 3 B.
In a further exemplary embodiment, f2Can be variable, that is, adjacent motor control instruction on a timeline may be used
To be unequal interval.
In a kind of embodiment of the exemplary embodiment, electric machine controller 4022 can be configured to:With
Frequency conversion f2Equal strides current amplitude is adjusted to reach the current amplitude for characterizing generated target motor control instruction.It is corresponding
The interpolation schematic diagram of motor control instruction may refer to Fig. 3 C.
In another embodiment of the exemplary embodiment, electric machine controller 4022 can be configured to:With
Frequency conversion f2Stride is variably adjusted current amplitude to reach the current amplitude for characterizing generated target motor control instruction.It is corresponding
The interpolation schematic diagram of motor control instruction may refer to Fig. 3 D.
In one exemplary embodiment, holder 400 can also include:Feedback branch in the electric current acquired at motor is set
The filter (not shown) of road, for filtering out the noise introduced in current feedback terminal, to effectively reduce electric machine controller by
Caused noise of motor is frequently adjusted in current noise.
The program operated in the equipment according to the disclosure can make calculating by controlling central processing unit (CPU)
Machine realizes the program of embodiment of the disclosure function.The program or the information handled by the program can be temporarily stored in volatibility
Memory (such as random access memory ram), hard disk drive (HDD), nonvolatile memory (such as flash memory) or its
In his storage system.
Program for realizing each embodiment function of the disclosure can record on a computer readable recording medium.It can lead to
Crossing makes computer system read the program being recorded in the recording medium and executes these programs to realize corresponding function.This
So-called " computer system " at place can be built-in the computer system in the equipment, may include operating system or hardware
(such as peripheral equipment)." computer readable recording medium storing program for performing " can be semiconductor recording medium, optical record medium, magnetic recording Jie
Matter, the in short-term recording medium of dynamic memory program or any other computer-readable recording medium.
It can be by circuit (for example, monolithic or more with the various feature or function modules of equipment in the above-described embodiments
Piece integrated circuit) it realizes or executes.The circuit for being designed to carry out this specification described function may include general place
Reason device, digital signal processor (DSP), application-specific integrated circuit (ASIC), field programmable gate array (FPGA) or other can compile
The arbitrary combination of journey logical device, discrete door or transistor logic, discrete hardware component or above-mentioned device.General procedure
Device can be microprocessor, can also be any existing processor, controller, microcontroller or state machine.Foregoing circuit can
Can also be analog circuit to be digital circuit.Occur the new of the existing integrated circuit of replacement because of the progress of semiconductor technology
Integrated circuit technique in the case of, one or more other embodiments of the present disclosure can also use these new integrated circuit techniques
To realize.
As above, embodiment of the disclosure is described in detail by reference to attached drawing.But specific structure not office
It is limited to above-described embodiment, the disclosure also includes any design change without departing from disclosure purport.Furthermore it is possible in claim
In the range of the disclosure is variously changed, it is obtained by being appropriately combined technological means disclosed in different embodiments
Embodiment is also contained in scope of the presently disclosed technology.In addition, the component with same effect described in above-described embodiment
It can be substituted for each other.
Claims (25)
1. a kind of method for controlling motor executed at holder, including:
The current pose data of camera are obtained from Inertial Measurement Unit IMU and generate motor control instruction with first frequency, it is described
Motor control instruction is moved for driving motor to correct posture of the current pose data of camera relative to targeted attitude data
Difference;And
The execution of the motor control instruction is completed with second frequency, the second frequency is higher than the first frequency so that phase
Difference between adjacent motor control instruction reduces.
2. according to the method described in claim 1, the wherein described motor control instruction is characterized and described with current amplitude
Difference between adjacent motor control instruction is the absolute value of the difference for the current amplitude for characterizing adjacent motor control instruction.
3. method according to claim 1 or 2, wherein the second frequency is constant.
4. method according to claim 1 or 2, wherein the second frequency is variable.
5. method according to any one of claim 2 to 4, wherein completing the motor control instruction with second frequency
Execution includes:Current amplitude is adjusted with strides such as second frequencies to reach the electric current width for characterizing the motor control instruction
Value.
6. method according to any one of claim 2 to 4, wherein completing the motor control instruction with second frequency
Execution includes:It is variably adjusted current amplitude with second frequency stride to reach the electric current for characterizing the motor control instruction
Amplitude.
7. the method according to any one of claim 2 to 3, wherein the second frequency is m times of the first frequency,
M is integer.
8. according to the method described in claim 7, the stride for wherein adjusting current amplitude with second frequency is reduced to described in characterization
The 1/m of the current amplitude of motor control instruction and the difference for the current amplitude for characterizing previous motor control instruction.
9. the method according to any one of claim 2 to 8, wherein current amplitude and the torque for driving motor movement
It is directly proportional.
10. method according to any one of claim 1 to 9, further includes:
By the way that the filter on the feedback branch of electric current is arranged, the noise introduced in current feedback terminal is filtered out.
11. method according to any one of claim 1 to 10, wherein the attitude data include yaw angle/pitch angle/
Roll angle component.
12. a kind of holder, including:
Inertial Measurement Unit IMU, the current pose data for measuring camera;
Motor;
Processor is configured as executing following operation:
The attitude data of camera being obtained from IMU with first frequency and generating motor control instruction, the motor control instruction is used for
Driving motor movement is poor relative to the posture of targeted attitude data to correct the current pose data of camera;And
The execution of the motor control instruction is completed with second frequency, the second frequency is higher than the first frequency so that phase
Difference between adjacent motor control instruction reduces.
13. holder according to claim 12, wherein the motor control instruction is characterized with current amplitude, Yi Jisuo
State the absolute value of the difference that the difference between adjacent motor control instruction is the current amplitude for characterizing adjacent motor control instruction.
14. holder according to claim 12 or 13, wherein the second frequency is constant.
15. holder according to claim 12 or 13, wherein the second frequency is variable.
16. the holder according to any one of claim 13 to 15, wherein described in the processor completed with second frequency
The execution of motor control instruction includes:The processor adjusts current amplitude with strides such as second frequencies to reach described in characterization
The current amplitude of motor control instruction.
17. the holder according to any one of claim 13 to 15, wherein described in the processor completed with second frequency
The execution of motor control instruction includes:The processor is variably adjusted current amplitude to reach characterization institute with second frequency stride
State the current amplitude of motor control instruction.
18. the holder according to any one of claim 13 to 14, wherein the second frequency is the m of the first frequency
Times, m is integer.
19. holder according to claim 18, wherein the stride for adjusting current amplitude with second frequency is reduced to characterization institute
State the 1/m of the current amplitude and the difference for the current amplitude for characterizing previous motor control instruction of motor control instruction.
20. the holder according to any one of claim 13 to 19, wherein current amplitude with for driving motor movement
Torque is directly proportional.
21. the holder according to any one of claim 12 to 20, further includes:
Filter on the feedback branch of the electric current acquired at motor is set, is made an uproar what current feedback terminal introduced for filtering out
Sound.
22. the holder according to any one of claim 12 to 21, wherein the targeted attitude data are obtained by processor.
23. the holder according to any one of claim 12 to 22, wherein the processor includes cradle head controllor and electricity
Machine controller, wherein the cradle head controllor is configured as obtaining attitude data and the life of camera from IMU with the first frequency
At motor control instruction;And the electric machine controller is configured as completing the motor control instruction with the second frequency
It executes.
24. the holder according to any one of claim 12 to 23, wherein the attitude data includes yaw angle/pitching
Angle/roll angle component.
25. the holder according to any one of claim 12 to 24, further includes:Camera and/or camera interface.
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| PCT/CN2017/104610 WO2019061359A1 (en) | 2017-09-29 | 2017-09-29 | Method for controlling electric motor on gimbal and corresponding gimbal |
Publications (1)
| Publication Number | Publication Date |
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| CN108702121A true CN108702121A (en) | 2018-10-23 |
Family
ID=63844093
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201780007022.2A Pending CN108702121A (en) | 2017-09-29 | 2017-09-29 | Horizontal stage electric machine control method and corresponding holder |
Country Status (2)
| Country | Link |
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| CN (1) | CN108702121A (en) |
| WO (1) | WO2019061359A1 (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113721450A (en) * | 2021-08-05 | 2021-11-30 | 杭州海康威视数字技术股份有限公司 | Terminal equipment and control method and device thereof |
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| Publication number | Publication date |
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| WO2019061359A1 (en) | 2019-04-04 |
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