CN115268510A - Holder control method, holder control device, electronic equipment and computer readable storage medium - Google Patents
Holder control method, holder control device, electronic equipment and computer readable storage medium Download PDFInfo
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Abstract
The invention provides a holder control method, a holder control device, electronic equipment and a computer readable storage medium, wherein the holder control method comprises the following steps: acquiring the current joint angular velocity of the holder; determining an initial torque instruction according to the current joint angular velocity and the first expected joint angular velocity through a closed-loop controller corresponding to a target rotating shaft in a holder; the closed-loop controller is established based on a motion model of a target rotating shaft; determining a current torque disturbance value according to the current joint angular velocity through an extended state observer corresponding to the target rotating shaft; and determining a current target torque instruction based on the initial torque instruction and the current torque disturbance value, and controlling a target rotating shaft to rotate based on the current target torque instruction so as to enable the holder to reach a first expected joint angular velocity. The invention can obviously improve the control effect of the holder.
Description
Technical Field
The present invention relates to the field of a pan/tilt/zoom (pan/tilt/zoom) apparatus, and in particular, to a pan/tilt/zoom apparatus, an electronic device, and a computer-readable storage medium.
Background
The existing three-axis airborne holder mechanical structure mostly adopts an orthogonal structure, namely, three rotating shafts are mutually perpendicular in pairs under the initial state, the control algorithm mostly adopts a cascade PID control algorithm, specifically, a torque instruction for controlling the rotation of a motor is generated through the cascade PID control algorithm, so that the control on the angular velocity of a joint is realized by changing the torque of the motor, but the control algorithm has certain blindness, hysteresis and inaccuracy, and the holder control effect is poor.
Disclosure of Invention
In view of this, the present invention provides a pan/tilt control method, device, electronic device and computer readable storage medium, which can significantly improve the pan/tilt control effect.
In a first aspect, an embodiment of the present invention provides a pan/tilt control method, including: acquiring the current joint angular velocity of the holder; determining an initial torque instruction according to the current joint angular velocity and a first expected joint angular velocity through a closed-loop controller corresponding to a target rotating shaft in the holder; wherein the closed-loop controller is established based on a motion model of the target rotating shaft; determining a current torque disturbance value according to the current joint angular velocity through an extended state observer corresponding to the target rotating shaft; and determining a current target torque instruction based on the initial torque instruction and the current torque disturbance value, and controlling the target rotating shaft to rotate based on the current target torque instruction so as to enable the holder to reach the first expected joint angular velocity.
In one embodiment, the cradle head comprises a cradle head base, a cradle head outer frame, a cradle head middle frame and a cradle head inner frame, wherein the cradle head is provided with a yaw rotating shaft, a pitch rotating shaft, a roll rotating shaft, a base inertia measuring structure and an inner frame inertia measuring structure; the step of obtaining the current joint angular velocity of the holder comprises the following steps: acquiring a base rotation angular velocity acquired by the base inertia measurement structure, an inner frame actual rotation angular velocity acquired by the inner frame inertia measurement structure, and a yaw rotation angular velocity of the yaw rotation axis, a pitch rotation angular velocity of the pitch rotation axis, and a roll rotation angular velocity of the roll rotation axis; determining an inner frame estimated rotational angular velocity based on the base rotational angular velocity, the yaw rotational angular velocity, the pitch rotational angular velocity, and the roll rotational angular velocity; and determining the current joint angular velocity of the holder according to the estimated inner frame rotation angular velocity and the actual inner frame rotation angular velocity.
In one embodiment, the step of determining an inner frame estimated rotational angular velocity based on the base rotational angular velocity, the yaw rotational angular velocity, the pitch rotational angular velocity, and the roll rotational angular velocity includes: according to a first direction cosine matrix from the base to the outer frame, performing coordinate conversion on the base rotation angular velocity to obtain a base rotation angular velocity under an outer frame coordinate system, and calculating the sum of the base rotation angular velocity and the yaw rotation angular velocity under the outer frame coordinate system to obtain an outer frame rotation angular velocity; according to a second direction cosine matrix from the outer frame to the middle frame, performing coordinate conversion on the outer frame rotation angular velocity to obtain an outer frame rotation angular velocity under a middle frame coordinate system, and calculating a sum of the outer frame rotation angular velocity and the pitching rotation angular velocity under the middle frame coordinate system to obtain a middle frame rotation angular velocity; and according to a third direction cosine matrix from the middle frame to the inner frame, carrying out coordinate conversion on the rotation angular velocity of the middle frame to obtain the rotation angular velocity of the middle frame under an inner frame coordinate system, and calculating the sum of the rotation angular velocity of the middle frame and the rotation angular velocity of the rolling under the inner frame coordinate system to obtain the estimated rotation angular velocity of the inner frame.
In one embodiment, before the step of determining an initial torque command from the current joint angular velocity and a first expected joint angular velocity by a closed-loop controller corresponding to a target rotation axis in the pan/tilt head, the method further comprises: for a target rotating shaft in the holder, controlling the target rotating shaft to rotate based on a plurality of first torque commands with different frequencies, and obtaining a first actual joint angular velocity corresponding to the first torque commands; constructing a motion model corresponding to the target rotation axis based on the first torque command and the first actual joint angular velocity; and constructing a closed-loop controller corresponding to the target rotating shaft according to the motion model corresponding to the target rotating shaft and preset control parameters.
In one embodiment, after the step of constructing the closed-loop controller corresponding to the target rotation axis according to the motion model corresponding to the target rotation axis and preset control parameters, the method further includes: determining a second torque instruction according to a preset second-period waiting joint angular speed through the closed-loop controller, and controlling the target rotating shaft to rotate based on the second torque instruction to obtain a second actual joint angular speed corresponding to the second torque instruction; and if the difference value between the second actual joint angular velocity and the second period joint angular velocity is larger than a preset threshold value, adjusting the preset control parameter, and building the closed-loop controller corresponding to the target rotating shaft again according to the motion model and the adjusted preset control parameter until the difference value between the second actual joint angular velocity and the second period joint angular velocity is smaller than the preset threshold value.
In one embodiment, the step of determining a current torque disturbance value according to the current joint angular velocity by an extended state observer corresponding to the target rotation axis further includes: inputting a previous target torque command and the current joint angular velocity to an extended state observer corresponding to the target rotating shaft to obtain an output joint angular velocity of the extended state observer; determining a disturbance coefficient based on a difference between the output joint angular velocity and the current joint angular velocity; wherein the perturbation coefficient is positively correlated with the difference; and determining a current torque disturbance value according to the previous torque disturbance value and the disturbance coefficient.
In one embodiment, the step of determining a current target torque command based on the initial torque command and the current torque disturbance value comprises: and determining the sum of the initial torque instruction and the current torque disturbance value as a current target torque instruction.
In a second aspect, an embodiment of the present invention further provides a pan/tilt control apparatus, including: the angular velocity acquisition module is used for acquiring the current joint angular velocity of the holder; the initial instruction determining module is used for determining an initial torque instruction according to the current joint angular velocity and the first-period joint angular velocity through a closed-loop controller corresponding to a target rotating shaft in the holder; wherein the closed-loop controller is established based on a motion model of the target rotating shaft; the disturbance determining module is used for determining a current torque disturbance value according to the current joint angular velocity through an extended state observer corresponding to the target rotating shaft; and the target instruction determining module is used for determining a current target torque instruction based on the initial torque instruction and the current torque disturbance value, and controlling the target rotating shaft to rotate based on the current target torque instruction so as to enable the holder to reach the first expected joint angular velocity.
In a third aspect, an embodiment of the present invention further provides an electronic device, including a processor and a memory, where the memory stores computer-executable instructions that can be executed by the processor, and the processor executes the computer-executable instructions to implement any one of the methods provided in the first aspect.
In a fourth aspect, embodiments of the present invention also provide a computer-readable storage medium storing computer-executable instructions that, when invoked and executed by a processor, cause the processor to implement any one of the methods provided in the first aspect.
The embodiment of the invention provides a holder control method, a holder control device, electronic equipment and a computer readable storage medium. According to the method, the closed-loop controller is established based on the motion model of the target rotating shaft, so that the closed-loop controller generates an initial torque instruction based on the current joint angular velocity and the first-period joint angular velocity, and disturbance compensation is added to the initial torque instruction by combining with a current torque disturbance value generated by the extended state observer based on the current joint angular velocity, so that a target torque instruction with high control precision can be obtained, and the control effect of the holder is remarkably improved.
Additional features and advantages of the invention will be set forth in the description which follows, and in part will be obvious from the description, or may be learned by practice of the invention. The objectives and other advantages of the invention will be realized and attained by the structure particularly pointed out in the written description and claims hereof as well as the appended drawings.
In order to make the aforementioned and other objects, features and advantages of the present invention comprehensible, preferred embodiments accompanied with figures are described in detail below.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, and it is obvious that the drawings in the following description are some embodiments of the present invention, and other drawings can be obtained by those skilled in the art without creative efforts.
Fig. 1 is a schematic flow chart of a pan-tilt control method according to an embodiment of the present invention;
fig. 2 is a schematic view of a cradle head structure according to an embodiment of the present invention;
FIG. 3 is a schematic diagram of a coordinate system according to an embodiment of the present invention;
fig. 4 is a schematic flow chart of another pan-tilt control method according to an embodiment of the present invention;
FIG. 5 is a schematic diagram of an input data-output data according to an embodiment of the present invention;
FIG. 6 is a diagram of a baud graph according to an embodiment of the present invention;
FIG. 7 is a schematic diagram of a response curve provided by an embodiment of the present invention;
fig. 8 is a schematic flow chart of another pan-tilt control method according to an embodiment of the present invention;
fig. 9 is a schematic structural diagram of an extended state observer according to an embodiment of the present invention;
fig. 10 is a structural view of a pan/tilt head control apparatus according to an embodiment of the present invention;
fig. 11 is a schematic structural diagram of an electronic device according to an embodiment of the present invention.
Detailed Description
In order to make the objects, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions of the present invention will be clearly and completely described below with reference to the embodiments, and it is obvious that the described embodiments are some, but not all embodiments of the present invention. All other embodiments, which can be obtained by a person skilled in the art without making any creative effort based on the embodiments in the present invention, belong to the protection scope of the present invention.
At present, an existing three-axis airborne pan/tilt head is fixedly connected with an Inertial Measurement Unit (IMU) at a load end (i.e., a camera end), and assuming that a base is stationary, an angular velocity is measured through the IMU at the load end, a joint angle is measured through sensors such as a magnetic encoder or a linear hall, and the joint angular velocity is converted by combining a matrix. In the prior art, the base needs to be kept unchanged by a mode of converting the angular velocity of the joint through the angular velocity of the camera and the angle of the joint, and if the base is also in a rotating state, the converted angular velocity of the joint is inaccurate, and the final attitude control is inevitably inaccurate. In addition, in the prior art, parameters need to be continuously tried out by adopting a PID control mode, and certain blindness is achieved. Also in counteracting the disturbance, the idea of PID is to eliminate the error by the error, and estimate the disturbance by the error, so there is hysteresis and inaccuracy in nature.
Based on the above, the invention provides a holder control method, a holder control device, an electronic device and a computer-readable storage medium, which can significantly improve the holder control effect.
To facilitate understanding of the present embodiment, first, a detailed description is given of a pan/tilt head control method disclosed in the present embodiment, referring to a schematic flow chart of the pan/tilt head control method shown in fig. 1, where the method mainly includes the following steps S102 to S108:
and S102, acquiring the current joint angular velocity of the holder. Here, the current joint angular velocity may be understood as a joint angular velocity obtained by controlling the target rotation shaft to rotate based on the target torque command at the previous time. In one embodiment, a base inertial measurement unit (abbreviated as base IMU) is disposed at the base of the pan/tilt head, and the current joint angular velocity of the pan/tilt head can be obtained by collecting the rotational angular velocity of the base via the base IMU and combining the yaw rotational angular velocity of the yaw rotational axis, the pitch rotational angular velocity of the pitch rotational axis, and the roll rotational angular velocity of the roll rotational axis in the pan/tilt head. It should be noted that the head base is stationary with respect to the drone body, looking at the head base and the drone body as a whole, so the base rotation angular velocity can be understood as the overall rotation angular velocity. According to the embodiment of the invention, the base IMU is arranged at the base of the holder, so that the current joint angular velocity with higher accuracy can be calculated and obtained on the basis of the base rotational angular velocity, the yaw rotational angular velocity, the pitch rotational angular velocity and the roll rotational angular velocity.
And step S104, determining an initial torque instruction according to the current joint angular velocity and the first expected joint angular velocity through a closed-loop controller corresponding to a target rotating shaft in the holder. The closed-loop controller is established based on a motion model (also called as a transfer function) of a target rotating shaft, the input of the closed-loop controller is a current joint angular velocity and a first expected joint angular velocity, the output of the closed-loop controller is an initial torque instruction, and the first expected joint angular velocity can be preset or generated according to a work task currently executed by the unmanned aerial vehicle. In one embodiment, the current joint angular velocity and the first expected joint angular velocity are input to the closed-loop controller, and the initial torque command output by the closed-loop controller is obtained.
And S106, determining a current torque disturbance value according to the current joint angular velocity through an extended state observer corresponding to the target rotating shaft. The current torque disturbance value may be used to perform disturbance compensation on the initial torque command, and the input of an Extended State Observer (ESO) is a target torque command and a current joint angular velocity at a previous time, and the output includes the current torque disturbance value, a predicted joint angular velocity, and a joint angular acceleration. In one embodiment, the motion model of the target rotating shaft may be added to a conventional ESO to obtain the ESO used in the embodiment of the present invention, and the target torque command and the current joint angular velocity are input to the ESO to obtain a more realistic current torque disturbance value through estimation.
And S108, determining a current target torque instruction based on the initial torque instruction and the current torque disturbance value, and controlling a target rotating shaft to rotate based on the current target torque instruction so as to enable the holder to reach a first expected joint angular velocity. In an embodiment, a sum of the initial torque command and the current torque disturbance value may be used as a target torque command (for short, a current target torque command) at the current time, and the target rotating shaft is controlled to rotate by the current target torque command, that is, the pan/tilt head may be better controlled to reach the first expected joint angular velocity. In a specific implementation, the cradle head is provided with a plurality of rotating shafts, each rotating shaft corresponds to a closed-loop controller and an extended state observer, and the closed-loop controller and the extended state observer corresponding to each rotating shaft are obtained based on a motion model of the corresponding rotating shaft, so that the closed-loop controller and the extended state observer corresponding to different rotators have different outputs and different outputs, current target torque instructions corresponding to each rotating shaft can be obtained by executing the steps S104 to S108, and the corresponding rotating shafts are respectively controlled to rotate based on each current target torque instruction, so that the whole cradle head can reach the first-term joint angular velocity.
According to the holder control method provided by the embodiment of the invention, the closed-loop controller is established based on the motion model of the target rotating shaft, so that the closed-loop controller generates the initial torque instruction based on the current joint angular velocity and the first-period joint angular velocity, and the disturbance compensation is added to the initial torque instruction by combining the current torque disturbance value generated by the extended state observer based on the current joint angular velocity, so that the target torque instruction with higher control precision can be obtained, and the holder control effect is obviously improved.
To facilitate understanding of the foregoing embodiments, the embodiment of the present invention provides a schematic view of a tripod head structure as shown in fig. 2, where fig. 2 illustrates that the three-axis tripod head structure includes a tripod head base, a tripod head outer frame, a tripod head middle frame, and a tripod head inner frame (also referred to as a camera), the tripod head is provided with a yaw rotation axis, a pitch rotation axis, a roll rotation axis, a base inertia measurement structure, and an inner frame inertia measurement structure (abbreviated as an inner frame IMU), the base IMU is disposed at the tripod head base and configured to acquire a base rotation angular velocity, the inner frame is disposed at the tripod head inner frame and configured to acquire an actual rotation angular velocity of the inner frame, the yaw rotation axis is configured to drive the tripod head outer frame to rotate, the pitch rotation axis is configured to drive the tripod head middle frame to rotate, and the roll rotation axis is configured to drive the tripod head inner frame to rotate.
In order to facilitate description of the attitude of the inner frame of the holder and the joint angle of the holder, the euler angles of the z-y-x sequence are adopted in the embodiment of the invention, and the joint angle of the orthogonal three-axis holder can be the euler angle of the inner frame of the holder relative to the holder base, so that the attitude of the inner frame of the holder and the joint angle of the holder can be conveniently and uniformly described by adopting the euler angle definition sequence of the z-y-x sequence. It should be noted that the pitch rotation axis understood in the prior art is a roll rotation axis in theoretical analysis and control, and the roll rotation axis understood in the prior art is a pitch rotation axis in theoretical analysis and control.
In addition, the north-east-earth right-hand coordinate system is selected as the reference coordinate system, and the front-right-lower coordinate system is selected as the body coordinate system, so that the yaw rotation angular velocity is positive when the yaw rotation axis rotates rightwards, and is negative when the yaw rotation axis rotates leftwards; the pitch rotation angular velocity is positive when the pitch rotation shaft rotates upward, and the pitch rotation angular velocity is negative when the pitch rotation shaft rotates downward; the roll rotation axis is positive when rotating to the right, and negative when rotating to the left. Referring to fig. 3, a schematic diagram of a coordinate system is shown, wherein E is a reference coordinate system, B is a base coordinate system, O is an outer frame coordinate system (not shown), M is an inner frame coordinate system (not shown), and I is an inner frame (camera) coordinate system.
On the basis of the foregoing embodiment, the embodiment of the present invention provides an implementation manner for acquiring the current joint angular velocity of the pan/tilt head with respect to the foregoing step S102, and refer to the following steps 1 to 3:
step 1, acquiring a base rotation angular velocity acquired by the base inertia measurement structure, an inner frame actual rotation angular velocity acquired by the inner frame inertia measurement structure, and acquiring a yaw rotation angular velocity of the yaw rotation axis, a pitch rotation angular velocity of the pitch rotation axis, and a roll rotation angular velocity of the roll rotation axis.
And 2, determining the estimated rotation angular velocity of the inner frame based on the rotation angular velocity of the base, the yaw rotation angular velocity, the pitch rotation angular velocity and the roll rotation angular velocity. In one embodiment, the estimated inner frame angular velocity may be determined according to steps 2.1 to 2.3 as follows:
and 2.1, performing coordinate conversion on the base rotation angular velocity according to a first direction cosine matrix from the base to the outer frame to obtain the base rotation angular velocity under an outer frame coordinate system, and calculating the sum of the base rotation angular velocity and the yaw rotation angular velocity under the outer frame coordinate system to obtain the outer frame rotation angular velocity. In one embodiment, the joint angle comprises a yaw joint angle
Angle of pitch joint
Angle of rolling joint
Defining the angular velocity of the base rotation
Is composed of
Angle of rotation of the baseThe velocity can be measured by a base IMU attached to the pan/tilt base. Based on the above, the cosine matrix of the first direction from the base to the outer frame
Expressed as:
angular velocity of rotation of the base under the outer frame coordinate system
Expressed as:
since the yaw rotation angle of the yaw rotation axis is
Angular velocity of rotation of the outer frame
Expressed as:
and 2.2, performing coordinate conversion on the outer frame rotation angular velocity according to a second direction cosine matrix from the outer frame to the middle frame to obtain an outer frame rotation angular velocity under a middle frame coordinate system, and calculating a sum of the outer frame rotation angular velocity and the pitching rotation angular velocity under the middle frame coordinate system to obtain the middle frame rotation angular velocity. In one embodiment, the second direction cosine matrix from the outer frame to the middle frame
Expressed as:
outer frame rotation angular velocity under middle frame coordinate system
Expressed as:
since the pitch rotation angular velocity of the pitch rotation axis is
So that the angular velocity of rotation of the center frame
Comprises the following steps:
step 2.3, according to the third direction cosine matrix from the middle frame to the inner frame, the rotation angular velocity of the middle frame is subjected to coordinate conversion to obtain the rotation angular velocity of the middle frame under the coordinate system of the inner frame, and calculating the sum of the rotation angular velocity of the middle frame and the rotation angular velocity of the rolling under the coordinate system of the inner frame to obtain the estimated rotation angular velocity of the inner frame. In one embodiment, the third directional cosine matrix from the middle frame to the inner frame
Expressed as:
rotation angular velocity of middle frame under inner frame coordinate system
Expressed as:
the rolling rotation angular velocity of the rolling rotation axis is
So that the angular velocity of rotation of the inner frame
Comprises the following steps:
and 3, determining the current joint angular velocity of the holder according to the estimated rotation angular velocity of the inner frame and the actual rotation angular velocity of the inner frame. In one embodiment, the actual angular velocity of the inner frame may be measured by an inner frame IMU attached to the inner frame of the head, which is defined as
. Theoretically, the estimated rotation angular velocity of the inner frame is equal to the actual rotation angular velocity of the inner frame, and therefore:
In an alternative embodiment, the above formula is arranged as
And (3) a non-secondary linear equation system in a form, and the joint angular velocity can be obtained by the kramer rule:
wherein the content of the first and second substances,
is a matrix
The determinant (c) of (a),
is a handle
The element in the ith column is correspondingly changed into a constant term, and the rest columns are kept unchanged to obtain the determinant.
To facilitate understanding of the foregoing steps 1 to 3, the embodiment of the present invention provides an application example of determining the current joint angular velocity, referring to a flowchart of another pan-tilt control method shown in fig. 4, where the method mainly includes the following steps S402 to S418:
in step S402, the base IMU acquires a base rotational angular velocity.
Step S404, determining the angular velocity of the outer frame (i.e., the angular velocity of the base rotation in the outer frame coordinate system) without movement of the yaw rotation axis
）。
In step S406, when the yaw rotation axis moves, the angular velocity of the outer frame is superimposed on the angular velocity generated by the yaw rotation axis, and the actual outer frame rotational angular velocity is obtained.
Step S408, in the case where the pitch rotation axis does not move, determines the angular velocity of the middle frame (i.e., the middle frame sitting position)Angular velocity of rotation of outer frame under mark
）。
In step S410, when the pitch rotation axis moves, the angular velocity of the middle frame is superimposed on the angular velocity generated by the pitch rotation axis, and the actual rotation angular velocity of the middle frame is obtained.
Step S412, under the condition that the rolling rotating shaft does not move, determining the angular velocity of the inner frame (namely, the rotation angular velocity of the middle frame under the coordinate system of the inner frame)
）。
And step S414, under the condition that the rolling rotating shaft moves, the angular velocity of the outer frame is superposed with the angular velocity generated by the rolling rotating shaft to obtain the estimated rotating angular velocity of the inner frame.
In step S416, the inner frame IMU is used to acquire the actual inner frame rotational angular velocity.
And step S418, based on the inner frame estimated rotation angular velocity and the inner frame actual rotation angular velocity, solving the current joint angular velocity.
Before the foregoing step S104 is executed, the embodiment of the present invention further provides an implementation manner of constructing a closed-loop controller corresponding to each rotating shaft, and in a specific implementation, a construction process of the closed-loop controller corresponding to each rotating shaft is the same, so that the embodiment of the present invention takes one of the rotating shafts as an example, see the following steps a to e:
step a, controlling a target rotating shaft in the holder to rotate based on a plurality of first torque commands with different frequencies, and obtaining a first actual joint angular speed corresponding to the first torque commands. For example, the first torque command is sinusoidal input with different frequencies, the first actual joint angular velocity may be calculated through the foregoing steps 1 to 3, which is not described herein again in the embodiments of the present invention, and the output of the initial motion model may be referred to as an estimated joint angular velocity.
And b, constructing a motion model corresponding to the target rotating shaft based on the first torque command and the first actual joint angular velocity. In one embodiment, assuming that the input data is a first torque command, the estimated output data is an estimated joint angular velocity, such as a schematic diagram of input data-output data shown in fig. 5, and the actual output data is a first actual joint angular velocity, the construction process is to continuously correct parameters of the initial motion model by using an error between the estimated joint angular velocity and the first actual joint angular velocity through a correlation algorithm, so as to obtain the motion model corresponding to the rotation axis. With continued reference to fig. 5, fig. 5 also illustrates that as the frequency of the input data increases, the output data of the system also changes.
In practical applications, in order to obtain the motion model of each rotating shaft of the pan/tilt head, the system may be regarded as a black box, sinusoidal inputs (i.e., the first torque command) with different frequencies are applied to the system under an open-loop condition, and the motion model of each rotating shaft of the system may be obtained by using a system identification method by recording the sinusoidal input and output data (i.e., estimating the angular velocity of the joint) of the system.
In an alternative embodiment, the input data and output data can be input into the system identification toolbox through the system identification toolbox of matlab, and the system is set to have no zero and only one pole, then the identified motion model is:
And c, constructing a closed-loop controller corresponding to the target rotating shaft according to the motion model corresponding to the target rotating shaft and preset control parameters. In one embodiment, control parameters (which may also be referred to as system performance requirements) may be preset, and may include phase margin and bandwidth.
Optionally, a loop forming controller (i.e., a closed-loop controller) may be quickly designed according to the system performance requirement through the ssotool of matlab, and taking the setting of the system bandwidth of 200rad/s and the second-order controller as an example, the generated closed-loop controller is:
in practical application, the phase margin of the closed-loop controller is 87.6 degrees, the amplitude-frequency characteristic at the crossing frequency is-20 db/10 frequency multiplication, and the system has better stability and dynamic performance, and a baud graph is shown in fig. 6. In addition, the step response is quick and has no overshoot, and the response curve is shown in FIG. 7.
In an alternative embodiment, the closed-loop controller may be discretized by a 0.001s period, resulting in a discretized controller as shown below:
and d, determining a second torque instruction according to a preset second-period joint angular speed through the closed-loop controller, and controlling the target rotating shaft to rotate based on the second torque instruction to obtain a second actual joint angular speed corresponding to the second torque instruction. In an embodiment, the closed-loop controller may be verified in the pan/tilt embedded platform, that is, a second torque instruction is generated by using the closed-loop controller based on a preset second expected joint angular velocity and a current joint angular velocity, a corresponding rotating shaft is controlled to rotate according to the torque instruction, and a second actual joint angular velocity corresponding to the second torque instruction is calculated according to the foregoing steps 1 to 3.
And e, if the difference value between the second actual joint angular velocity and the second period joint angular velocity is larger than the preset threshold value, adjusting the preset control parameter, and building the closed-loop controller corresponding to the target rotating shaft again according to the motion model and the adjusted preset control parameter until the difference value between the second actual joint angular velocity and the second period joint angular velocity is smaller than the preset threshold value. In an embodiment, if the difference between the second actual joint angular velocity and the second expected joint angular velocity is greater than a preset threshold, it indicates that the control effect of the closed-loop controller is poor, because the complete fitting of the motion model and the system performance requirements are different, the control parameters of the closed-loop controller need to be adjusted, the closed-loop controller is generated by utilizing the ssotool of matlab based on the adjusted control parameters and the motion model, and the steps are repeated until the closed-loop controller passes the verification, so that a more ideal control effect is achieved.
For convenience of understanding, an embodiment of the present invention further provides a schematic flow chart of another pan/tilt head control method as shown in fig. 8, where the method mainly includes the following steps S802 to S810:
step S802, performing open-loop frequency sweeping on the system and acquiring input data and output data.
Step S804, perform system identification on the system to obtain an approximate motion model.
And step S806, solving the closed-loop controller of the S domain based on the motion model and the system performance index by adopting a loop forming method.
And step S808, discretizing the closed-loop controller of the S domain, and verifying on the embedded platform.
Step S810, determining whether the closed-loop controller passes the verification. If the number of the data packets is more than the preset value, finishing; if not, step S806 is performed.
According to the embodiment of the invention, the closed-loop controller required to be added can be calculated on the premise of acquiring a more accurate motion model according to the system performance requirement, so that the blindness of debugging parameters is avoided.
For the foregoing step S106, the embodiment of the present invention further provides an implementation manner of determining the current torque disturbance value according to the current joint angular velocity by the extended state observer corresponding to the target rotation axis, which is shown in the following (1) to (3):
(1) Inputting a previous target torque instruction and a current joint angular velocity to an extended state observer corresponding to a target rotating shaft to obtain an output joint angular velocity of the extended state observer; (2) Based on the difference between the output joint angular velocity and the current joint angular velocity
Determining a disturbance coefficientThe disturbance coefficient includes a first disturbance coefficient
And a second disturbance coefficient
(ii) a (3) And determining the current torque disturbance value according to the previous torque disturbance value and the disturbance coefficient.
The embodiment of the invention designs a reasonable ESO (extended state observer), in the presence of input
And status output
On the premise that the phase is slightly advanced
Is/are as follows
Not measurable
And total disturbance
. In the control of the pan/tilt/zoom (PTZ),
i.e. the target torque command at the previous time,
as the angular velocity of the current joint,
in order to predict the angular velocity of the joint,
in order to obtain the angular acceleration of the joint,
for the current torque disturbance value, a structural diagram of an extended state observer such as that shown in fig. 9 is shown.
Conventional ESO, default input
The relation with the angular acceleration is proportional relation without any interference, and all the items except the proportional term, including unmodeled items, disturbance items and the like are regarded as total disturbance. However, from the above-described swept frequency modeling, the input is input without interference
And output
Are not integral, so the input
And with
Nor are they proportional. By adding the identified model to the ESO, the angular acceleration generated by the control input can be predicted more accurately, and the true interference can be estimated better. The model-based ESO is shown below, among others
To control without disturbance
Discrete transfer function to angular acceleration.
Wherein, the first and the second end of the pipe are connected with each other,
for the predicted joint angular velocity at the previous time instant,
is the angular acceleration of the joint at the previous moment,
for the value of the previous torque disturbance,
、
、
is a preset coefficient. Fal () function represents that the perturbation coefficient is positively correlated with the difference. In the practical application of the method, the material is,
as a predicted joint angular acceleration, for use in control feedback,
as joint angular acceleration, in control to increase system damping,
the current torque disturbance value is used for providing accurate disturbance compensation so as to improve the disturbance rejection characteristic of the system.
With respect to the foregoing step S108, the embodiment of the present invention further provides an implementation manner of determining the current target torque command based on the initial torque command and the current torque disturbance value, and the sum of the initial torque command and the current torque disturbance value may be determined as the current target torque command.
In summary, the pan-tilt control method provided by the embodiment of the invention can obtain more accurate pan-tilt joint angular velocity by adding the base IMU; compared with the traditional PID (proportion integration differentiation) parameter adjusting mode, the closed-loop controller design mode based on loop forming can more efficiently design a feedback controller and can quantificationally meet the proposed performance index; by adding the extended state observer with the motion model, the total disturbance (namely, a torque disturbance value) of the system can be accurately estimated, disturbance compensation can be added in the control process according to the total disturbance, and the anti-disturbance characteristic of the system is improved. In addition, through carrying on the unmanned aerial vehicle to carry on the experiment and comparing, the cloud terrace control method that the embodiment of the invention provides has great promotion in the stability of the cloud terrace, promote to plus or minus 0.05 degree from original plus or minus 0.2 degree, even if the camera digital zooms 30 times, still can present the picture steadily.
As for the pan/tilt head control method provided in the foregoing embodiment, an embodiment of the present invention provides a pan/tilt head control apparatus, referring to a structural view of the pan/tilt head control apparatus shown in fig. 10, the apparatus mainly includes the following components:
an angular velocity obtaining module 1002, configured to obtain a current joint angular velocity of the pan/tilt head;
an initial instruction determining module 1004, configured to determine an initial torque instruction according to a current joint angular velocity and a first expected joint angular velocity through a closed-loop controller corresponding to a target rotation axis in the pan-tilt; the closed-loop controller is established based on a motion model of a target rotating shaft;
a disturbance determining module 1006, configured to determine a current torque disturbance value according to the current joint angular velocity through an extended state observer corresponding to the target rotation axis;
and a target command determining module 1008, configured to determine a current target torque command based on the initial torque command and the current torque disturbance value, and control the target rotating shaft to rotate based on the current target torque command, so that the pan-tilt reaches the first expected joint angular velocity.
The holder control device provided by the embodiment of the invention establishes the closed-loop controller based on the motion model of the target rotating shaft, so that the closed-loop controller generates an initial torque instruction based on the current joint angular velocity and the first-period joint angular velocity, and adds disturbance compensation to the initial torque instruction by combining the current torque disturbance value generated by the extended state observer based on the current joint angular velocity, thereby obtaining a target torque instruction with higher control precision and further remarkably improving the holder control effect.
In one embodiment, the cradle head comprises a cradle head base, a cradle head outer frame, a cradle head middle frame and a cradle head inner frame, wherein the cradle head is provided with a yaw rotating shaft, a pitch rotating shaft, a roll rotating shaft, a base inertia measuring structure and an inner frame inertia measuring structure; the angular velocity acquisition module 1002 is further configured to: acquiring a base rotation angular velocity acquired by the base inertia measurement structure, an inner frame actual rotation angular velocity acquired by the inner frame inertia measurement structure, and acquiring a yaw rotation angular velocity of the yaw rotation shaft, a pitch rotation angular velocity of the pitch rotation shaft, and a roll rotation angular velocity of the roll rotation shaft; determining an estimated rotation angular velocity of the inner frame based on the rotation angular velocity of the base, the yaw rotation angular velocity, the pitch rotation angular velocity and the roll rotation angular velocity; and determining the current joint angular velocity of the holder according to the estimated rotation angular velocity of the inner frame and the actual rotation angular velocity of the inner frame.
In one embodiment, the angular velocity obtaining module 1002 is further configured to: according to a first direction cosine matrix from the base to the outer frame, carrying out coordinate conversion on the base rotation angular velocity to obtain a base rotation angular velocity under an outer frame coordinate system, and calculating a sum of the base rotation angular velocity and the yaw rotation angular velocity under the outer frame coordinate system to obtain an outer frame rotation angular velocity; according to a second direction cosine matrix from the outer frame to the middle frame, carrying out coordinate conversion on the outer frame rotation angular velocity to obtain an outer frame rotation angular velocity under a middle frame coordinate system, and calculating a sum of the outer frame rotation angular velocity and the pitching rotation angular velocity under the middle frame coordinate system to obtain a middle frame rotation angular velocity; and according to the third direction cosine matrix from the middle frame to the inner frame, carrying out coordinate conversion on the rotation angular velocity of the middle frame to obtain the rotation angular velocity of the middle frame under the coordinate system of the inner frame, and calculating the sum of the rotation angular velocity of the middle frame and the rotation angular velocity of the rolling under the coordinate system of the inner frame to obtain the estimated rotation angular velocity of the inner frame.
In one embodiment, the apparatus further comprises a controller building module configured to: for a target rotating shaft in a holder, controlling the target rotating shaft to rotate based on a plurality of first torque commands with different frequencies to obtain a first actual joint angular velocity corresponding to the first torque commands; constructing a motion model corresponding to the target rotating shaft based on the first torque instruction and the first actual joint angular velocity; and constructing a closed-loop controller corresponding to the target rotating shaft according to the motion model corresponding to the target rotating shaft and preset control parameters.
In one embodiment, the controller building module is further configured to: determining a second torque instruction according to a preset second-period waiting joint angular speed through a closed-loop controller, and controlling a target rotating shaft to rotate based on the second torque instruction to obtain a second actual joint angular speed corresponding to the second torque instruction; and if the difference value between the second actual joint angular velocity and the second-period joint angular velocity is larger than the preset threshold value, adjusting the preset control parameter, and building the closed-loop controller corresponding to the target rotating shaft again according to the motion model and the adjusted preset control parameter until the difference value between the second actual joint angular velocity and the second-period joint angular velocity is smaller than the preset threshold value.
In one embodiment, the disturbance determination module 1006 is further configured to: inputting a previous target torque instruction and a current joint angular velocity to an extended state observer corresponding to a target rotating shaft to obtain an output joint angular velocity of the extended state observer; determining a disturbance coefficient based on a difference value between the output joint angular velocity and the current joint angular velocity; wherein the disturbance coefficient is positively correlated with the difference value; and determining the current torque disturbance value according to the previous torque disturbance value and the disturbance coefficient.
In one embodiment, the target instruction determination module 1008 is further configured to: and determining the sum of the initial torque instruction and the current torque disturbance value as the current target torque instruction.
The device provided by the embodiment of the present invention has the same implementation principle and technical effect as the method embodiments, and for the sake of brief description, reference may be made to the corresponding contents in the method embodiments without reference to the device embodiments.
The embodiment of the invention provides electronic equipment, which particularly comprises a processor and a storage device; the storage means has stored thereon a computer program which, when executed by the processor, performs the method of any of the above described embodiments.
Fig. 11 is a schematic structural diagram of an electronic device 100 according to an embodiment of the present invention, where the electronic device 100 includes: the system comprises a processor 110, a memory 111, a bus 112 and a communication interface 113, wherein the processor 110, the communication interface 113 and the memory 111 are connected through the bus 112; the processor 110 is adapted to execute executable modules, such as computer programs, stored in the memory 111.
The Memory 111 may include a high-speed Random Access Memory (RAM) and may also include a non-volatile Memory (non-volatile Memory), such as at least one disk Memory. The communication connection between the network element of the system and at least one other network element is realized through at least one communication interface 113 (which may be wired or wireless), and the internet, a wide area network, a local network, a metropolitan area network, and the like can be used.
The bus 112 may be an ISA bus, PCI bus, EISA bus, or the like. The bus may be divided into an address bus, a data bus, a control bus, etc. For ease of illustration, only one double-headed arrow is shown in FIG. 11, but that does not indicate only one bus or one type of bus.
The memory 111 is used for storing a program, the processor 110 executes the program after receiving an execution instruction, and the method executed by the apparatus defined by the flow process disclosed in any of the foregoing embodiments of the present invention may be applied to the processor 110, or implemented by the processor 110.
The processor 110 may be an integrated circuit chip having signal processing capabilities. In implementation, the steps of the above method may be performed by integrated logic circuits of hardware or instructions in the form of software in the processor 110. The Processor 110 may be a general-purpose Processor, and includes a Central Processing Unit (CPU), a Network Processor (NP), and the like; the device can also be a Digital Signal Processor (DSP), an Application Specific Integrated Circuit (ASIC), a Field-Programmable Gate Array (FPGA), or other Programmable logic devices, discrete Gate or transistor logic devices, discrete hardware components. The various methods, steps, and logic blocks disclosed in the embodiments of the present invention may be implemented or performed. A general purpose processor may be a microprocessor or the processor may be any conventional processor or the like. The steps of the method disclosed in connection with the embodiments of the present invention may be directly implemented by a hardware decoding processor, or implemented by a combination of hardware and software modules in the decoding processor. The software module may be located in ram, flash memory, rom, prom, or eprom, registers, etc. storage media as is well known in the art. The storage medium is located in the memory 111, and the processor 110 reads the information in the memory 111 and completes the steps of the method in combination with the hardware thereof.
The computer program product of the readable storage medium provided in the embodiment of the present invention includes a computer readable storage medium storing a program code, where instructions included in the program code may be used to execute the method described in the foregoing method embodiment, and specific implementation may refer to the foregoing method embodiment, which is not described herein again.
The functions, if implemented in the form of software functional units and sold or used as a stand-alone product, may be stored in a computer readable storage medium. Based on such understanding, the technical solution of the present invention may be embodied in the form of a software product, which is stored in a storage medium and includes instructions for causing a computer device (which may be a personal computer, a server, or a network device) to execute all or part of the steps of the method according to the embodiments of the present invention. And the aforementioned storage medium includes: a U-disk, a removable hard disk, a Read-Only Memory (ROM), a Random Access Memory (RAM), a magnetic disk or an optical disk, and other various media capable of storing program codes.
Finally, it should be noted that: the above-mentioned embodiments are only specific embodiments of the present invention, which are used for illustrating the technical solutions of the present invention and not for limiting the same, and the protection scope of the present invention is not limited thereto, although the present invention is described in detail with reference to the foregoing embodiments, those skilled in the art should understand that: any person skilled in the art can modify or easily conceive the technical solutions described in the foregoing embodiments or equivalent substitutes for some technical features within the technical scope of the present disclosure; such modifications, changes or substitutions do not depart from the spirit and scope of the embodiments of the present invention, and they should be construed as being included therein. Therefore, the protection scope of the present invention shall be subject to the protection scope of the claims.
Claims (10)
1. A holder control method is characterized by comprising the following steps:
acquiring the current joint angular velocity of the holder;
determining an initial torque instruction according to the current joint angular velocity and a first expected joint angular velocity through a closed-loop controller corresponding to a target rotating shaft in the holder; wherein the closed-loop controller is established based on a motion model of the target rotating shaft;
determining a current torque disturbance value according to the current joint angular velocity through an extended state observer corresponding to the target rotating shaft;
and determining a current target torque instruction based on the initial torque instruction and the current torque disturbance value, and controlling the target rotating shaft to rotate based on the current target torque instruction so as to enable the holder to reach the first expected joint angular velocity.
2. The method according to claim 1, wherein the pan-tilt comprises a pan-tilt base, a pan-tilt outer frame, a pan-tilt middle frame and a pan-tilt inner frame, the pan-tilt being provided with a yaw rotation axis, a pitch rotation axis, a roll rotation axis, a base inertia measurement structure and an inner frame inertia measurement structure;
the step of obtaining the current joint angular velocity of the holder comprises the following steps:
acquiring a base rotation angular velocity acquired by the base inertia measurement structure, an inner frame actual rotation angular velocity acquired by the inner frame inertia measurement structure, and a yaw rotation angular velocity of the yaw rotation axis, a pitch rotation angular velocity of the pitch rotation axis, and a roll rotation angular velocity of the roll rotation axis;
determining an inner frame estimated rotation angular velocity based on the base rotation angular velocity, the yaw rotation angular velocity, the pitch rotation angular velocity, and the roll rotation angular velocity;
and determining the current joint angular velocity of the holder according to the estimated inner frame rotation angular velocity and the actual inner frame rotation angular velocity.
3. The method of claim 2, wherein the step of determining an inner frame estimate rotational angular velocity based on the base rotational angular velocity, the yaw rotational angular velocity, the pitch rotational angular velocity, and the roll rotational angular velocity comprises:
according to a first direction cosine matrix from the base to the outer frame, performing coordinate conversion on the base rotation angular velocity to obtain a base rotation angular velocity under an outer frame coordinate system, and calculating the sum of the base rotation angular velocity and the yaw rotation angular velocity under the outer frame coordinate system to obtain an outer frame rotation angular velocity;
according to a second direction cosine matrix from the outer frame to the middle frame, performing coordinate conversion on the outer frame rotation angular velocity to obtain an outer frame rotation angular velocity under a middle frame coordinate system, and calculating a sum of the outer frame rotation angular velocity and the pitching rotation angular velocity under the middle frame coordinate system to obtain a middle frame rotation angular velocity;
and according to a third direction cosine matrix from the middle frame to the inner frame, carrying out coordinate conversion on the rotation angular velocity of the middle frame to obtain the rotation angular velocity of the middle frame under an inner frame coordinate system, and calculating the sum of the rotation angular velocity of the middle frame and the rotation angular velocity of the rolling under the inner frame coordinate system to obtain the estimated rotation angular velocity of the inner frame.
4. The method of claim 1, wherein prior to the step of determining an initial torque command from the current joint angular velocity and a first expected joint angular velocity via a closed-loop controller corresponding to a target axis of rotation in the pan/tilt head, the method further comprises:
for a target rotating shaft in the holder, controlling the target rotating shaft to rotate based on a plurality of first torque commands with different frequencies, and obtaining a first actual joint angular velocity corresponding to the first torque commands;
constructing a motion model corresponding to the target rotation axis based on the first torque command and the first actual joint angular velocity;
and constructing a closed-loop controller corresponding to the target rotating shaft according to the motion model corresponding to the target rotating shaft and preset control parameters.
5. The method according to claim 4, wherein after the step of constructing the closed-loop controller corresponding to the target rotation axis according to the motion model corresponding to the target rotation axis and preset control parameters, the method further comprises:
determining a second torque instruction according to a preset second-period waiting joint angular speed through the closed-loop controller, and controlling the target rotating shaft to rotate based on the second torque instruction to obtain a second actual joint angular speed corresponding to the second torque instruction;
and if the difference value between the second actual joint angular velocity and the second period joint angular velocity is larger than a preset threshold value, adjusting the preset control parameter, and building the closed-loop controller corresponding to the target rotating shaft again according to the motion model and the adjusted preset control parameter until the difference value between the second actual joint angular velocity and the second period joint angular velocity is smaller than the preset threshold value.
6. The method according to claim 1, wherein the step of determining a current torque disturbance value according to the current joint angular velocity through an extended state observer corresponding to the target rotation axis further comprises:
inputting a previous target torque command and the current joint angular velocity to an extended state observer corresponding to the target rotating shaft to obtain an output joint angular velocity of the extended state observer;
determining a disturbance coefficient based on a difference between the output joint angular velocity and the current joint angular velocity; wherein the perturbation coefficient is positively correlated with the difference;
and determining a current torque disturbance value according to the previous torque disturbance value and the disturbance coefficient.
7. The method of claim 1, wherein the step of determining a current target torque command based on the initial torque command and the current torque disturbance value comprises:
and determining the sum of the initial torque instruction and the current torque disturbance value as a current target torque instruction.
8. A pan/tilt control device, comprising:
the angular velocity acquisition module is used for acquiring the current joint angular velocity of the holder;
the initial instruction determining module is used for determining an initial torque instruction according to the current joint angular velocity and the first-period joint angular velocity through a closed-loop controller corresponding to a target rotating shaft in the holder; wherein the closed-loop controller is established based on a motion model of the target rotating shaft;
the disturbance determining module is used for determining a current torque disturbance value according to the current joint angular velocity through an extended state observer corresponding to the target rotating shaft;
and the target instruction determining module is used for determining a current target torque instruction based on the initial torque instruction and the current torque disturbance value, and controlling the target rotating shaft to rotate based on the current target torque instruction so as to enable the holder to reach the first expected joint angular velocity.
9. An electronic device comprising a processor and a memory, the memory storing computer-executable instructions executable by the processor, the processor executing the computer-executable instructions to implement the method of any of claims 1 to 7.
10. A computer-readable storage medium having computer-executable instructions stored thereon which, when invoked and executed by a processor, cause the processor to implement the method of any of claims 1 to 7.
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