CN113282005A - Brushless holder regulation and control method and device, computer equipment and storage medium - Google Patents
Brushless holder regulation and control method and device, computer equipment and storage medium Download PDFInfo
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B13/00—Adaptive control systems, i.e. systems automatically adjusting themselves to have a performance which is optimum according to some preassigned criterion
- G05B13/02—Adaptive control systems, i.e. systems automatically adjusting themselves to have a performance which is optimum according to some preassigned criterion electric
- G05B13/04—Adaptive control systems, i.e. systems automatically adjusting themselves to have a performance which is optimum according to some preassigned criterion electric involving the use of models or simulators
- G05B13/042—Adaptive control systems, i.e. systems automatically adjusting themselves to have a performance which is optimum according to some preassigned criterion electric involving the use of models or simulators in which a parameter or coefficient is automatically adjusted to optimise the performance
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B11/00—Automatic controllers
- G05B11/01—Automatic controllers electric
- G05B11/36—Automatic controllers electric with provision for obtaining particular characteristics, e.g. proportional, integral, differential
- G05B11/42—Automatic controllers electric with provision for obtaining particular characteristics, e.g. proportional, integral, differential for obtaining a characteristic which is both proportional and time-dependent, e.g. P.I., P.I.D.
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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
- G05D3/20—Control of position or direction using feedback using a digital comparing device
Abstract
The application provides a brushless holder regulation and control method, a brushless holder regulation and control device, computer equipment and a storage medium. The method comprises the steps of obtaining attitude operation parameters of the brushless holder; carrying out filtering fusion operation on the attitude operation parameters to obtain an attitude solution value; carrying out deviation adjustment operation on the attitude solution value and a preset attitude value to obtain an attitude adjustment difference value; and adjusting the working state parameters of the brushless motor of the brushless holder according to the attitude adjusting difference value so as to enable the attitude operation parameters to be matched with preset attitude operation parameters. The attitude operation parameters are filtered and fused to obtain an attitude calculation value, the attitude calculation value belongs to the operation of an attitude settlement layer, the attitude adjustment difference value is used as an adjustment condition of the working state of the brushless motor, the working state of the brushless motor is changed, the attitude calculation value belongs to the operation of a motor control layer, and the two layers are controlled in a layered mode, so that the control and output in the control system have high degree of freedom, and the degree of freedom of the control system is improved.
Description
Technical Field
The invention relates to the technical field of brushless holder control, in particular to a brushless holder regulation and control method, a brushless holder regulation and control device, computer equipment and a storage medium.
Background
Along with the development of unmanned aerial vehicle technique, brushless cloud platform's use is becoming mature day by day, and moreover, brushless cloud platform is as main triaxial gesture adjusting device, adjusts its gesture effectively through control software system to realize the transform of appointed gesture. The traditional brushless holder Control technology adopts an FOC (Field-Oriented Control) Control technology, and has an efficient attitude adjusting function.
However, in a processing system corresponding to the conventional FOC control technology, the three degrees of freedom stability and control can only be realized in the three-axis direction, so that the conventional FOC control technology has a low number of adjustments for the degrees of freedom of the brushless holder, and cannot meet the requirements for stability and control of more than three degrees of freedom.
Disclosure of Invention
The invention aims to overcome the defects in the prior art and provides a brushless holder regulating method, a brushless holder regulating device, computer equipment and a storage medium, wherein the number of degrees of freedom is improved.
The purpose of the invention is realized by the following technical scheme:
a brushless pan-tilt control method, the method comprising:
acquiring attitude operation parameters of the brushless holder;
carrying out filtering fusion operation on the attitude operation parameters to obtain an attitude solution value;
carrying out deviation adjustment operation on the attitude solution value and a preset attitude value to obtain an attitude adjustment difference value;
and adjusting the working state parameters of the brushless motor of the brushless holder according to the attitude adjusting difference value so as to enable the attitude operation parameters to be matched with preset attitude operation parameters.
In one embodiment, the acquiring the attitude operation parameter of the brushless holder includes: and acquiring the acceleration and the angular velocity of the brushless holder.
In one embodiment, the acquiring the acceleration and the angular velocity of the brushless holder further includes: and carrying out deflexion operation on the acceleration and the angular velocity to obtain a calibrated acceleration and a calibrated angular velocity.
In one embodiment, the deskewing the acceleration and the angular velocity to obtain a calibrated acceleration and a calibrated angular velocity, and then the method further includes: performing arc tangent operation on the calibrated acceleration to obtain an arc tangent angle; and carrying out filtering operation on the arctan angle to obtain a filtering angle.
In one embodiment, the performing a filtering operation on the arctan angle to obtain a filtering angle further includes: performing integral operation on the calibration angular velocity to obtain an integral angle; and performing complementary fusion operation on the integral angle and the filtering angle to obtain an attitude resolving angle.
In one embodiment, the performing a complementary fusion operation on the integral angle and the filtering angle to obtain an attitude solution angle further includes: and carrying out matrix conversion operation on the attitude resolving angle to obtain an attitude quaternion matrix.
In one embodiment, the operating condition parameter includes at least one of motor torque, motor speed, motor angular velocity, and number of motor angle measurements.
A brushless pan-tilt control apparatus, the apparatus comprising:
the attitude acquisition module is used for acquiring attitude operation parameters of the brushless holder;
the filtering and fusing module is used for carrying out filtering and fusing operation on the attitude operation parameters to obtain an attitude solution value;
the deviation control module is used for carrying out deviation adjustment operation on the attitude calculation value and a preset attitude value to obtain an attitude adjustment difference value;
and the regulation and control output module is used for regulating the working state parameters of the brushless motor of the brushless holder according to the attitude regulation difference value so as to enable the attitude operation parameters to be matched with preset attitude operation parameters.
A computer device comprising a memory and a processor, the memory storing a computer program, the processor implementing the following steps when executing the computer program:
acquiring attitude operation parameters of the brushless holder;
carrying out filtering fusion operation on the attitude operation parameters to obtain an attitude solution value;
carrying out deviation adjustment operation on the attitude solution value and a preset attitude value to obtain an attitude adjustment difference value;
and adjusting the working state parameters of the brushless motor of the brushless holder according to the attitude adjusting difference value so as to enable the attitude operation parameters to be matched with preset attitude operation parameters.
A computer-readable storage medium, on which a computer program is stored which, when executed by a processor, carries out the steps of:
acquiring attitude operation parameters of the brushless holder;
carrying out filtering fusion operation on the attitude operation parameters to obtain an attitude solution value;
carrying out deviation adjustment operation on the attitude solution value and a preset attitude value to obtain an attitude adjustment difference value;
and adjusting the working state parameters of the brushless motor of the brushless holder according to the attitude adjusting difference value so as to enable the attitude operation parameters to be matched with preset attitude operation parameters.
Compared with the prior art, the invention has at least the following advantages:
the attitude operation parameters are filtered and fused to obtain an attitude calculation value, the attitude calculation value belongs to the operation of an attitude settlement layer, the attitude adjustment difference value is used as an adjustment condition of the working state of the brushless motor, the working state of the brushless motor is changed, the attitude calculation value belongs to the operation of a motor control layer, and the two layers are controlled in a layered mode, so that the control and output in the control system have high degree of freedom, and the degree of freedom of the control system is improved.
Drawings
In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings needed to be used in the embodiments will be briefly described below, it should be understood that the following drawings only illustrate some embodiments of the present invention and therefore should not be considered as limiting the scope, and for those skilled in the art, other related drawings can be obtained according to the drawings without inventive efforts.
FIG. 1 is a flow chart of a brushless holder control method according to an embodiment;
FIG. 2 is a diagram illustrating an internal structure of a computer device according to an embodiment.
Detailed Description
To facilitate an understanding of the invention, the invention will now be described more fully with reference to the accompanying drawings. Preferred embodiments of the present invention are shown in the drawings. This invention may, however, be embodied in many different forms and should not be construed as limited to the embodiments set forth herein. Rather, these embodiments are provided so that this disclosure will be thorough and complete.
It will be understood that when an element is referred to as being "secured to" another element, it can be directly on the other element or intervening elements may also be present. When an element is referred to as being "connected" to another element, it can be directly connected to the other element or intervening elements may also be present. The terms "vertical," "horizontal," "left," "right," and the like as used herein are for illustrative purposes only and do not represent the only embodiments.
Unless defined otherwise, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this invention belongs. The terminology used herein in the description of the invention is for the purpose of describing particular embodiments only and is not intended to be limiting of the invention. As used herein, the term "and/or" includes any and all combinations of one or more of the associated listed items.
The invention relates to a brushless holder regulation and control method. In one embodiment, the brushless holder regulation and control method comprises the steps of obtaining attitude operation parameters of a brushless holder; carrying out filtering fusion operation on the attitude operation parameters to obtain an attitude solution value; carrying out deviation adjustment operation on the attitude solution value and a preset attitude value to obtain an attitude adjustment difference value; and adjusting the working state parameters of the brushless motor of the brushless holder according to the attitude adjusting difference value so as to enable the attitude operation parameters to be matched with preset attitude operation parameters. The attitude operation parameters are filtered and fused to obtain an attitude calculation value, the attitude calculation value belongs to the operation of an attitude settlement layer, the attitude adjustment difference value is used as an adjustment condition of the working state of the brushless motor, the working state of the brushless motor is changed, the attitude calculation value belongs to the operation of a motor control layer, and the two layers are controlled in a layered mode, so that the control and output in the control system have high degree of freedom, and the degree of freedom of the control system is improved.
Please refer to fig. 1, which is a flowchart illustrating a method for adjusting a brushless holder according to an embodiment of the present invention. The brushless holder regulation and control method comprises part or all of the following steps.
S100: and acquiring attitude operation parameters of the brushless holder.
In this embodiment, the attitude operation parameter is an operation numerical value corresponding to the attitude of the brushless holder, and the attitude operation parameter is used for reflecting the current attitude of the brushless holder, so that the attitude quantity of the brushless holder is converted into a corresponding digital quantity, thereby facilitating the subsequent analysis of the attitude of the brushless holder and further facilitating the subsequent adjustment of the attitude of the brushless holder.
S200: and carrying out filtering fusion operation on the attitude operation parameters to obtain an attitude solution value.
In this embodiment, the attitude operation parameters include multiple parameters, for example, the attitude operation parameters include a pitch axis slip angle, a roll axis slip angle, and a yaw axis slip angle, the filter fusion operation is filter fusion of each attitude operation parameter, and the filter fusion operation is used for interference filtering and dominance compensation of each attitude operation parameter, that is, filtering interference parameters mixed in each attitude operation parameter, and dominance compensation between each filtered attitude operation parameter, where dominance compensation is to use a parameter that performs well in a training model in the attitude operation parameters in different stages as a main parameter, for example, the attitude operation parameters under different frequencies are correspondingly selected according to anti-interference capability of the attitude operation parameters to interference signals of different frequencies therein.
S300: and carrying out deviation adjustment operation on the attitude solution value and a preset attitude value to obtain an attitude adjustment difference value.
In this embodiment, the preset attitude value is an input value sent to the brushless holder by the remote controller, and the preset attitude value is used as a standard attitude reference value, for example, an attitude value corresponding to an attitude adjustment signal sent by the remote controller, and has the same attribute as the attitude solution value. After the attitude calculation value is obtained, performing deviation adjustment operation on the attitude calculation value and the preset attitude value, namely comparing the current attitude calculation value of the brushless holder with a standard value, namely comparing the current attitude of the brushless holder with a standard attitude, wherein the obtained attitude adjustment difference value is used for displaying the difference between the current attitude of the brushless holder and the attitude sent by the remote controller, so that the attitude of the brushless holder can be adjusted conveniently according to the attitude adjustment difference value.
S400: and adjusting the working state parameters of the brushless motor of the brushless holder according to the attitude adjusting difference value so as to enable the attitude operation parameters to be matched with preset attitude operation parameters.
In this embodiment, the attitude adjustment difference is an expression of a difference between the current attitude of the brushless holder and the standard attitude, and after the attitude adjustment difference is obtained, the current attitude of the brushless holder is updated according to a numerical value of the attitude adjustment difference, so that the attitude of the brushless holder approaches to the standard attitude sent by the remote controller, and the attitude of the brushless holder is maintained at an accurate attitude.
In each of the above embodiments, the attitude operation parameters are filtered and fused to obtain an attitude solution value, which belongs to the operation of an attitude settlement layer, and the attitude adjustment difference value is used as an adjustment condition of the working state of the brushless motor, and the working state of the brushless motor is changed, which belongs to the operation of a motor control layer, and the two layers are controlled hierarchically, so that the control and output in the control system have high degrees of freedom, and the number of degrees of freedom of the control system is increased.
In one embodiment, the acquiring the attitude operation parameter of the brushless holder includes: and acquiring the acceleration and the angular velocity of the brushless holder. In this embodiment, the attitude operation parameters include an acceleration acquired by an accelerometer of the brushless pan/tilt and an angular velocity acquired by a gyroscope of the brushless pan/tilt. The acceleration and the angular velocity of the brushless holder are collected, so that the attitude parameters corresponding to the brushless holder can be conveniently analyzed through subsequent calculation, the attitude parameters of the brushless holder are mainly reflected through the acceleration and the angular velocity, namely the acceleration and the angular velocity of the brushless holder can be directly converted into the attitude parameters of the brushless holder through analysis, and for example, the acceleration and the angular velocity are converted into the attitude deflection angle of the brushless holder.
Further, the acquiring the acceleration and the angular velocity of the brushless holder further includes: and carrying out deflexion operation on the acceleration and the angular velocity to obtain a calibrated acceleration and a calibrated angular velocity. In this embodiment, the acceleration and the angular velocity are both representative of the attitude of the brushless pan/tilt, the acceleration is acquired by an accelerometer of the brushless pan/tilt, and the angular velocity is acquired by a gyroscope of the brushless pan/tilt. Before the acceleration and the angular velocity are input into the analysis module, interference values are doped in the acquired acceleration and the acquired angular velocity due to the fact that the acceleration and the angular velocity are uncertain of acquisition interference, particularly offset at a zero point position, namely offset in a stable state. In order to reduce the influence of the offset on the acceleration and the angular velocity, that is, to improve the accuracy of the acquired acceleration and angular velocity, the acceleration and the angular velocity are subjected to a deskewing operation, that is, zero offset compensation is performed on the acceleration and the angular velocity, that is, a zero offset value in the acceleration and the angular velocity is removed, so that the acceleration and the angular velocity are output more accurately, and the final accurate adjustment of the posture of the brushless holder is ensured.
Further, the deskewing operation is performed on the acceleration and the angular velocity to obtain a calibrated acceleration and a calibrated angular velocity, and then the method further includes: performing arc tangent operation on the calibrated acceleration to obtain an arc tangent angle; and carrying out filtering operation on the arctan angle to obtain a filtering angle. In this embodiment, the calibrated acceleration is a standard acceleration sampled by an accelerometer, that is, after the accelerometer acquires the acceleration, a zero offset in the acceleration is removed through a deskew operation, so that the calibrated acceleration is an actual acceleration, and the calibrated acceleration is closer to an accurate acceleration. After the calibrated acceleration is obtained, performing arc tangent operation on the calibrated acceleration to obtain an angle of the calibrated acceleration, wherein the calibrated acceleration is used as a vector, so that the calibrated acceleration comprises acceleration components on the corresponding axis and corresponding angles, and the angle of the calibrated acceleration can be conveniently obtained through the arc tangent operation. In order to better match with the hardware drive of the brushless holder, the filtering operation is performed on the arc tangent angle obtained by the arc tangent operation, for example, first-order lag filtering is performed on the arc tangent angle, and the obtained filtering angle is a lag filtering angle.
Still further, the performing a filtering operation on the arctan angle to obtain a filtering angle further includes: performing integral operation on the calibration angular velocity to obtain an integral angle; and performing complementary fusion operation on the integral angle and the filtering angle to obtain an attitude resolving angle. In this embodiment, the calibrated angular velocity is a standard angular velocity sampled by a gyroscope, and after the gyroscope obtains the angular velocity, the angular velocity is also subjected to a deskew operation, and zero point offset in the angular velocity is removed, so that the calibrated angular velocity is an actual angular velocity, and the calibrated angular velocity is closer to an accurate angular velocity. Because the calibration angular velocity is a variable changing along with time, the total amount of the calibration angular velocity is obtained by performing integral operation on the calibration angular velocity and taking time as an integral variable, so that a numerical value obtained after the integral operation is a deflection angle measured by the gyroscope, namely the integral angle, and the accurate attitude angle on the gyroscope is conveniently obtained.
Because the integral angle is sampled by the gyroscope, the gyroscope has low-frequency interference in the sampling process, namely the sampling of the gyroscope in a low-frequency vibration environment has larger interference, namely the gyroscope is sensitive to low-frequency signals, so that the gyroscope has larger low-frequency interference in the vibration environment; the filtering angle is obtained through the accelerometer, and the accelerometer has high-frequency interference in the sampling process, namely the accelerometer has great interference in the sampling under the high-frequency vibration environment, namely the accelerometer is sensitive to high-frequency signals, so that the accelerometer has great high-frequency interference in the vibration environment. In order to effectively solve the interference of different conditions, correspondingly selecting accurate sampling with less interference under frequency, and performing complementary fusion operation on the integral angle and the filter angle to ensure that the angular velocity acquired by the gyroscope is mainly used as a parameter for solving the deflection angle of the brushless cradle head in a high-frequency environment, namely in a high-frequency vibration environment, the angular velocity acquired by the gyroscope is used as a main basic parameter for solving the deflection angle of the brushless cradle head; in a low-frequency environment, the acceleration acquired by the angular velocity meter is mainly used as a parameter for solving the deflection angle of the brushless holder, namely, in a low-frequency vibration environment, the acceleration acquired by the accelerometer is used as a main basic parameter for solving the deflection angle of the brushless holder. The deflection angle of the brushless holder can be obtained by adjusting the weights of the integral angle and the filtering angle, namely the attitude calculation angle enables low-frequency interference signals from a gyroscope and high-frequency interference signals from an accelerometer in the attitude angle of the brushless holder to be effectively removed, so that the attitude calculation angle of the brushless holder is closer to the actual attitude angle under different frequencies, and the accuracy of obtaining the real-time attitude angle of the brushless holder is improved. In another embodiment, the weights of the integral angle and the filter angle are modified correspondingly according to different frequencies, for example, in a high-frequency vibration environment, the weight of the integral angle is greater than that of the filter angle; and under the low-frequency vibration environment, the weight of the integral angle is smaller than that of the filtering angle. Therefore, under different vibration environments, the weights of the integral angle and the filtering angle are correspondingly adjusted, so that interference signals in the attitude resolving angle are further reduced, and the accuracy of obtaining the attitude angle of the brushless holder is further improved.
Still further, the performing complementary fusion operation on the integral angle and the filtering angle to obtain an attitude solution angle, and then further comprising: and carrying out matrix conversion operation on the attitude resolving angle to obtain an attitude quaternion matrix. In this embodiment, the integral angle and the filtering angle are subjected to complementary fusion operation, and the obtained attitude solution angle is a fusion attitude angle of the brushless holder, that is, the attitude solution angle is close to an actual attitude angle of the brushless holder. In order to facilitate the update of the subsequent attitude angle, the attitude resolving angle is converted into a corresponding matrix, namely the attitude resolving angle is converted into an attitude quaternion matrix through the matrix conversion operation, and the attitude quaternion matrix is represented by a hypercomplex number of the attitude angle, so that the attitude resolving angle is correspondingly converted into an appointed quaternion, and the conversion of the attitude angle of the brushless holder is facilitated. In another embodiment, the attitude quaternion matrix is subjected to a three-axis solution operation to obtain a three-axis solution value, wherein the three-axis solution value is an axial numerical value of three mutually perpendicular axes, and corresponds to a predicted position of the brushless holder on each axis, so that subsequent three-axis angular positions of the brushless holder are updated, and different attitude solution angles are correspondingly converted into three-axis angular positions, so that parameters acquired by the gyroscope and the accelerometer are accurately converted into positions in a three-axis coordinate system.
In one embodiment, performing a deviation adjustment operation on the attitude solution value and a preset attitude value to obtain an attitude adjustment difference value includes: and solving a deviation value between the attitude solution value and the preset attitude value. In this embodiment, the preset attitude value is a standard attitude value when the remote controller sends the preset attitude value to the brushless pan/tilt head in a wireless transmission manner, and the preset attitude value is a standard attitude value when the brushless pan/tilt head is adjusted in attitude, that is, a standard reference value used as the attitude solution value, that is, a final approximate value of the attitude solution value. And the attitude adjusting difference value is a difference value between the attitude solution value and the preset attitude value and is used for reflecting the deviation condition between the attitude currently solved by the brushless holder and the attitude sent by the remote controller. The deviation adjusting operation is a PID (proportional-Integral-Differential) operation, which facilitates performing partial Differential Integral control on the attitude solution value and the preset attitude value, so that the attitude adjustment difference value more easily represents the difference degree between the attitude solution value and the preset attitude value. And adjusting the working state parameters of the brushless motor of the brushless holder according to the attitude adjustment difference value is to fine-tune the three-axis brushless motor of the brushless holder, and for three different brushless motors, comparing the values of the same elements according to the attitude quaternion matrix and the quaternion matrix corresponding to the preset attitude value, so as to determine the operating parameters of the brushless motor corresponding to three different coordinate axes, thereby facilitating the adjustment of the operating parameters of each brushless motor, namely adjusting at least one of the motor torque, the motor speed, the motor angular velocity and the motor angle measurement times of the brushless motor, so that the attitude operating parameters are matched with the preset attitude operating parameters, and facilitating the subsequent adjustment of the attitude of the brushless holder to the attitude specified by the remote controller.
It should be understood that, although the steps in the flowchart of fig. 1 are shown in order as indicated by the arrows, the steps are not necessarily performed in order as indicated by the arrows. The steps are not performed in the exact order shown and described, and may be performed in other orders, unless explicitly stated otherwise. Moreover, at least a portion of the steps in fig. 1 may include multiple steps or multiple stages, which are not necessarily performed at the same time, but may be performed at different times, which are not necessarily performed in sequence, but may be performed in turn or alternately with other steps or at least a portion of the other steps or stages.
The application also provides a brushless holder regulation and control device which is realized by adopting the brushless holder regulation and control method in any embodiment. In one embodiment, the brushless holder control device has functional modules corresponding to the steps of the brushless holder control method. Brushless cloud platform regulation and control device includes gesture collection module, filtering fusion module, deviation control module and regulation and control output module, wherein:
the attitude acquisition module is used for acquiring attitude operation parameters of the brushless holder;
the filtering and fusing module is used for carrying out filtering and fusing operation on the attitude operation parameters to obtain an attitude solution value;
the deviation control module is used for carrying out deviation adjustment operation on the attitude calculation value and a preset attitude value to obtain an attitude adjustment difference value;
and the regulation and control output module is used for regulating the working state parameters of the brushless motor of the brushless holder according to the attitude regulation difference value so as to enable the attitude operation parameters to be matched with preset attitude operation parameters.
In this embodiment, the filtering fusion module performs filtering fusion on the attitude operation parameters to obtain an attitude solution value, and belongs to the operation of an attitude settlement layer, and the deviation control module uses the attitude adjustment difference value as an adjustment condition of the working state of the brushless motor and changes the working state of the brushless motor, and belongs to the operation of a motor control layer, and the two layers are subjected to layered control, so that the control and output in the control system have high degree of freedom, and the number of degrees of freedom of the control system is increased.
In one embodiment, the attitude acquisition module is further configured to acquire an acceleration and an angular velocity of the brushless holder. In this embodiment, the attitude operation parameters collected by the attitude collection module include acceleration and angular velocity, the acceleration is collected by an accelerometer of the brushless pan/tilt, and the angular velocity is collected by a gyroscope of the brushless pan/tilt. The acceleration and the angular velocity of the brushless holder are acquired through the attitude acquisition module, so that the attitude parameters corresponding to the brushless holder can be conveniently analyzed through subsequent calculation, the attitude parameters of the brushless holder are mainly embodied through the acceleration and the angular velocity, namely the acceleration and the angular velocity of the brushless holder can be directly converted into the attitude parameters of the brushless holder through analysis, and for example, the acceleration and the angular velocity are converted into the attitude deflection angle of the brushless holder.
Further, the filtering fusion module is further configured to perform a deskew operation on the acceleration and the angular velocity to obtain a calibrated acceleration and a calibrated angular velocity. In this embodiment, the acceleration and the angular velocity collected by the filtering fusion module are all the representations of the attitude of the brushless pan/tilt, the acceleration is collected by an accelerometer of the brushless pan/tilt, and the angular velocity is collected by a gyroscope of the brushless pan/tilt. Before the acceleration and the angular velocity are input into the analysis module, interference values are doped in the acquired acceleration and the acquired angular velocity due to the fact that the acceleration and the angular velocity are uncertain of acquisition interference, particularly offset at a zero point position, namely offset in a stable state. In order to reduce the influence of the offsets on the acceleration and the angular velocity, that is, to improve the accuracy of the acquired acceleration and angular velocity, the filtering and fusing module performs a deskewing operation on the acceleration and the angular velocity, that is, performs zero offset compensation on the acceleration and the angular velocity, that is, removes a zero offset value in the acceleration and the angular velocity, so that the acceleration and the angular velocity are output more accurately, and the final accurate adjustment of the posture of the brushless holder is ensured.
Furthermore, the filtering fusion module is further configured to perform arc tangent operation on the calibrated acceleration to obtain an arc tangent angle; and carrying out filtering operation on the arctan angle to obtain a filtering angle. In this embodiment, the calibrated acceleration is a standard acceleration sampled by an accelerometer, that is, after the accelerometer obtains the acceleration, the filtering and fusing module removes zero offset in the acceleration through a deskewing operation, so that the calibrated acceleration is an actual acceleration, and the calibrated acceleration is closer to an accurate acceleration. After the calibrated acceleration is obtained, the filtering fusion module performs arc tangent operation on the calibrated acceleration to obtain an angle, and the calibrated acceleration is used as a vector, so that the calibrated acceleration comprises acceleration components on the axis and corresponding angles, and the angle of the calibrated acceleration can be conveniently obtained through the arc tangent operation. In order to better match with the hardware drive of the brushless pan-tilt, the filtering operation is performed on the arc tangent angle obtained by the arc tangent operation, for example, the filtering fusion module is further configured to perform first-order lag filtering on the arc tangent angle, and the obtained filtering angle is a lag filtering angle, and in the process of performing the first-order lag filtering on the arc tangent angle by the filtering fusion module, the lag filtering angle after the previous first-order lag filtering and the lag filtering angle of this time are subjected to the first-order lag filtering, that is, two parameters of each first-order lag filtering operation are the lag filtering angles of the previous time and the next time respectively, so that the filtering angles of the two adjacent times are fused in an iterative manner, and thus, an accurate filtering angle is conveniently obtained.
Furthermore, the filtering fusion module is further configured to perform an integral operation on the calibrated angular velocity to obtain an integral angle; and performing complementary fusion operation on the integral angle and the filtering angle to obtain an attitude resolving angle. In this embodiment, the calibrated angular velocity is a standard angular velocity sampled by a gyroscope, and after the gyroscope obtains the angular velocity, the angular velocity is also subjected to a deskew operation, and zero point offset in the angular velocity is removed, so that the calibrated angular velocity is an actual angular velocity, and the calibrated angular velocity is closer to an accurate angular velocity. Because the calibration angular velocity is a variable changing along with time, the filtering fusion module calculates the total amount of the calibration angular velocity by performing integral operation on the calibration angular velocity and taking time as an integral variable, so that a numerical value obtained after the integral operation is a deflection angle measured by a gyroscope, namely the integral angle, and the accurate attitude angle on the gyroscope can be conveniently calculated.
Because the integral angle is sampled by the gyroscope, the gyroscope has low-frequency interference in the sampling process, namely the sampling of the gyroscope in a low-frequency vibration environment has larger interference, namely the gyroscope is sensitive to low-frequency signals, so that the gyroscope has larger low-frequency interference in the vibration environment; the filtering angle is obtained through the accelerometer, and the accelerometer has high-frequency interference in the sampling process, namely the accelerometer has great interference in the sampling under the high-frequency vibration environment, namely the accelerometer is sensitive to high-frequency signals, so that the accelerometer has great high-frequency interference in the vibration environment. In order to effectively solve the interference of different conditions, accurate sampling with less interference under frequency is correspondingly selected, and the filtering fusion module performs complementary fusion operation on the integral angle and the filtering angle, so that the angular velocity acquired by the gyroscope is mainly used as a parameter for solving the deflection angle of the brushless holder in a high-frequency environment, namely the angular velocity acquired by the gyroscope is used as a main basic parameter for solving the deflection angle of the brushless holder in a high-frequency vibration environment; in a low-frequency environment, the acceleration acquired by the angular velocity meter is mainly used as a parameter for solving the deflection angle of the brushless holder, namely, in a low-frequency vibration environment, the acceleration acquired by the accelerometer is used as a main basic parameter for solving the deflection angle of the brushless holder. The deflection angle of the brushless holder can be obtained by adjusting the weights of the integral angle and the filtering angle, namely the attitude calculation angle enables low-frequency interference signals from a gyroscope and high-frequency interference signals from an accelerometer in the attitude angle of the brushless holder to be effectively removed, so that the attitude calculation angle of the brushless holder is closer to the actual attitude angle under different frequencies, and the accuracy of obtaining the real-time attitude angle of the brushless holder is improved. In another embodiment, the weights of the integral angle and the filter angle are modified correspondingly according to different frequencies, for example, in a high-frequency vibration environment, the weight of the integral angle is greater than that of the filter angle; and under the low-frequency vibration environment, the weight of the integral angle is smaller than that of the filtering angle. Therefore, under different vibration environments, the weights of the integral angle and the filtering angle are correspondingly adjusted, so that interference signals in the attitude resolving angle are further reduced, and the accuracy of obtaining the attitude angle of the brushless holder is further improved.
Still further, the filtering fusion module is further configured to perform matrix conversion operation on the attitude resolving angle to obtain an attitude quaternion matrix. In this embodiment, the filtering fusion module performs a complementary fusion operation on the integral angle and the filtering angle, and the obtained attitude solution angle is a fusion attitude angle of the brushless holder, that is, the attitude solution angle is close to an actual attitude angle of the brushless holder. In order to facilitate the update of the subsequent attitude angle, the filtering and fusing module converts the attitude resolving angle into a corresponding matrix, namely converts the attitude resolving angle into an attitude quaternion matrix through the matrix conversion operation, wherein the attitude quaternion matrix is represented by a hypercomplex number of the attitude angle, so that the attitude resolving angle is correspondingly converted into an appointed quaternion, and the filtering and fusing module is convenient for converting the attitude angle of the brushless holder. In another embodiment, the filtering fusion module is further configured to perform a three-axis solution operation on the attitude quaternion matrix to obtain a three-axis solution value, where the three-axis solution value is an axial numerical value of three mutually perpendicular axes, and corresponds to a predicted position of the brushless holder on each axis, so as to facilitate subsequent update of three-axis angular positions of the brushless holder, and correspondingly convert different attitude solution angles into three-axis angular positions, so that parameters acquired by the gyroscope and the accelerometer are accurately converted into positions in a three-axis coordinate system.
In one embodiment, the deviation control module is further configured to calculate a deviation value between the attitude solution value and the preset attitude value. In this embodiment, the preset attitude value is a standard attitude value when the remote controller sends the preset attitude value to the brushless pan/tilt head in a wireless transmission manner, and the preset attitude value is a standard attitude value when the brushless pan/tilt head is adjusted in attitude, that is, a standard reference value used as the attitude solution value, that is, a final approximate value of the attitude solution value. And the attitude adjusting difference value obtained by the deviation control module is a difference value between the attitude solution value and the preset attitude value, and is used for reflecting the deviation condition between the currently solved attitude of the brushless holder and the attitude sent by the remote controller. The deviation adjusting operation is a PID (proportional-Integral-Differential) operation, which is convenient for a deviation control module to perform partial Differential Integral control on the attitude solution value and the preset attitude value, so that the attitude adjusting difference value more easily represents the difference degree between the attitude solution value and the preset attitude value. And adjusting the working state parameters of the brushless motor of the brushless holder according to the attitude adjustment difference value is to fine-tune the three-axis brushless motor of the brushless holder, and for three different brushless motors, comparing the values of the same elements according to the attitude quaternion matrix and the quaternion matrix corresponding to the preset attitude value, so as to determine the operating parameters of the brushless motor corresponding to three different coordinate axes, thereby facilitating the adjustment of the operating parameters of each brushless motor, namely adjusting at least one of the motor torque, the motor speed, the motor angular velocity and the motor angle measurement times of the brushless motor, so that the attitude operating parameters are matched with the preset attitude operating parameters, and facilitating the subsequent adjustment of the attitude of the brushless holder to the attitude specified by the remote controller.
For specific limitations of the brushless pan/tilt control apparatus, reference may be made to the above limitations of the brushless pan/tilt control method, which are not described herein again. All modules in the brushless holder control device can be completely or partially realized through software, hardware and a combination thereof. The modules can be embedded in a hardware form or independent from a processor in the computer device, and can also be stored in a memory in the computer device in a software form, so that the processor can call and execute operations corresponding to the modules.
The application also provides a computer device, which can be a terminal, and the internal structure diagram of the computer device can be shown in fig. 2. The computer device includes a processor, a memory, a communication interface, a display screen, and an input device connected by a system bus. Wherein the processor of the computer device is configured to provide computing and control capabilities. The memory of the computer device comprises a nonvolatile storage medium and an internal memory. The non-volatile storage medium stores an operating system and a computer program. The internal memory provides an environment for the operation of an operating system and computer programs in the non-volatile storage medium. The communication interface of the computer device is used for carrying out wired or wireless communication with an external terminal, and the wireless communication can be realized through WIFI, an operator network, NFC (near field communication) or other technologies. The computer program is executed by a processor to realize the brushless holder regulation and control method. The display screen of the computer equipment can be a liquid crystal display screen or an electronic ink display screen, and the input device of the computer equipment can be a touch layer covered on the display screen, a key, a track ball or a touch pad arranged on the shell of the computer equipment, an external keyboard, a touch pad or a mouse and the like.
Those skilled in the art will appreciate that the architecture shown in fig. 2 is merely a block diagram of some of the structures associated with the disclosed aspects and is not intended to limit the computing devices to which the disclosed aspects apply, as particular computing devices may include more or less components than those shown, or may combine certain components, or have a different arrangement of components.
In one embodiment, the present application further provides a computer device, which includes a memory and a processor, where the memory stores a computer program, and the processor implements the steps in the above method embodiments when executing the computer program.
In one embodiment, the present application further provides a computer-readable storage medium on which a computer program is stored, which, when executed by a processor, implements the steps in the above-described method embodiments.
The above-mentioned embodiments only express several embodiments of the present invention, and the description thereof is more specific and detailed, but not construed as limiting the scope of the invention. It should be noted that, for a person skilled in the art, several variations and modifications can be made without departing from the inventive concept, which falls within the scope of the present invention. Therefore, the protection scope of the present patent shall be subject to the appended claims.
Claims (10)
1. A brushless holder regulation and control method is characterized by comprising the following steps:
acquiring attitude operation parameters of the brushless holder;
carrying out filtering fusion operation on the attitude operation parameters to obtain an attitude solution value;
carrying out deviation adjustment operation on the attitude solution value and a preset attitude value to obtain an attitude adjustment difference value;
and adjusting the working state parameters of the brushless motor of the brushless holder according to the attitude adjusting difference value so as to enable the attitude operation parameters to be matched with preset attitude operation parameters.
2. The method for controlling the brushless holder according to claim 1, wherein the obtaining of the attitude operation parameter of the brushless holder comprises:
and acquiring the acceleration and the angular velocity of the brushless holder.
3. The method according to claim 2, wherein the obtaining of the acceleration and the angular velocity of the brushless pan/tilt further comprises:
and carrying out deflexion operation on the acceleration and the angular velocity to obtain a calibrated acceleration and a calibrated angular velocity.
4. The method for controlling a brushless holder according to claim 3, wherein the de-skewing operation is performed on the acceleration and the angular velocity to obtain a calibrated acceleration and a calibrated angular velocity, and then further comprising:
performing arc tangent operation on the calibrated acceleration to obtain an arc tangent angle;
and carrying out filtering operation on the arctan angle to obtain a filtering angle.
5. The method according to claim 4, wherein the filtering operation is performed on the arctan angle to obtain a filtering angle, and then further comprising:
performing integral operation on the calibration angular velocity to obtain an integral angle;
and performing complementary fusion operation on the integral angle and the filtering angle to obtain an attitude resolving angle.
6. The brushless holder control method according to claim 5, wherein the complementary fusion operation is performed on the integral angle and the filter angle to obtain an attitude solution angle, and then the method further comprises:
and carrying out matrix conversion operation on the attitude resolving angle to obtain an attitude quaternion matrix.
7. The method according to claim 1, wherein the operating condition parameter comprises at least one of a motor torque, a motor speed, a motor angular velocity, and a number of motor angle measurements.
8. A brushless holder regulation and control device, characterized in that, the device includes:
the attitude acquisition module is used for acquiring attitude operation parameters of the brushless holder;
the filtering and fusing module is used for carrying out filtering and fusing operation on the attitude operation parameters to obtain an attitude solution value;
the deviation control module is used for carrying out deviation adjustment operation on the attitude calculation value and a preset attitude value to obtain an attitude adjustment difference value;
and the regulation and control output module is used for regulating the working state parameters of the brushless motor of the brushless holder according to the attitude regulation difference value so as to enable the attitude operation parameters to be matched with preset attitude operation parameters.
9. A computer device comprising a memory and a processor, the memory storing a computer program, wherein the processor implements the steps of the method of any one of claims 1 to 7 when executing the computer program.
10. A computer-readable storage medium, on which a computer program is stored, which, when being executed by a processor, carries out the steps of the method according to any one of claims 1 to 7.
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