WO2019061359A1

WO2019061359A1 - Method for controlling electric motor on gimbal and corresponding gimbal

Info

Publication number: WO2019061359A1
Application number: PCT/CN2017/104610
Authority: WO
Inventors: 周长兴
Original assignee: 深圳市大疆灵眸科技有限公司
Priority date: 2017-09-29
Filing date: 2017-09-29
Publication date: 2019-04-04
Also published as: CN108702121A

Abstract

A method for controlling an electric motor, which method is executed on a gimbal. The method comprises: obtaining, at a first frequency and from an inertial measurement unit (IMU), current attitude data of a camera and generating an electric motor control instruction, the electric motor control instruction being used for driving an electric motor to move so as to correct the attitude difference of the current attitude data of the camera with respect to target attitude data; and completing, at a second frequency, the execution of the electric motor control instruction, the second frequency being higher than the first frequency, so that the difference between adjacent electric motor control instructions is reduced. Also provided is a corresponding gimbal.

Description

Yuntai motor control method and corresponding pan/tilt

Copyright Notice

The disclosure of this patent document contains material that is subject to copyright protection. This copyright is the property of the copyright holder. The copyright owner has no objection to the reproduction of the patent document or the patent disclosure in the official records and files of the Patent and Trademark Office.

Technical field

The invention relates to the field of cloud platform technology, in particular to a method for controlling a motor executed at a cloud platform and a corresponding cloud platform.

Background technique

The gimbal is a support table for carrying loads to keep the load stable. For example, the pan/tilt can be used to carry image devices such as cameras and cameras to achieve image recording.

For the active stable pan/tilt, the motor acts as the main component for the active stabilization of the gimbal. When it is stabilized, it will bring noise of the motor motion and noise of the electronic drive. If the imaging device is placed near the motor, for example, also on the pan/tilt, then the noise will be transmitted to the recording component of the imaging device in a solid-conducting manner, resulting in motor noise in the recorded audio.

Currently, the way to reduce motor noise is to change the device placement on the gimbal (for example, moving component positions or adding components), for example, placing the imaging device, or only its recording components, in the motion of the motor. A position where the noise is less affected (for example, placed on the user), or a damping cotton is added to the recording element, and noise reduction is performed by means of solid conduction that hinders noise; or, when the recording is performed, a filter is actively added to filter out Motor noise to achieve motor noise reduction, however, in the case of using a filter, if the motor's motion noise falls within the human ear's sensitive range, the filter will be reduced along with the original required recording gain, resulting in a small overall sound. But the recording effect is still not good.

Therefore, it is more desirable to have a technical solution that can better achieve motor noise reduction without changing the existing device arrangement of the pan/tilt through the processing of the pan/tilt internal processor.

Summary of the invention

In view of this, the embodiment of the present disclosure proposes to realize motor noise reduction by changing the control mode of the motor from the viewpoint of electronically controlling the motor, without changing the existing structure of the pan/tilt.

According to a first aspect of an embodiment of the present disclosure, a cloud platform is provided, including:

An inertial measurement unit (IMU) for measuring the current attitude data of the camera;

Motor

a processor configured to: obtain current camera data from the IMU at a first frequency and generate motor control commands for driving motor motion to correct current camera data of the camera relative to target attitude data The gesture is poor; and the execution of the motor control command is completed at a second frequency that is higher than the first frequency such that a difference between adjacent motor control commands is reduced.

In an exemplary embodiment, the motor control command is characterized by a current amplitude, and the difference between the adjacent motor control commands is an absolute value that represents a difference between current amplitudes of adjacent motor control commands. value.

In an exemplary embodiment, the second frequency is unchanged.

In an exemplary embodiment, the second frequency is variable.

In an exemplary embodiment, the processor completing the execution of the motor control instruction at a second frequency comprises: the processor adjusting a current amplitude step by step at a second frequency or the like to achieve characterizing the motor control instruction The current amplitude.

In an exemplary embodiment, the processor completing the execution of the motor control command at a second frequency comprises: the processor variably adjusting a current amplitude at a second frequency step to characterize the motor control The current amplitude of the command.

In an exemplary embodiment, the second frequency is m times the first frequency, and m is an integer.

In an exemplary embodiment, the step of adjusting the magnitude of the current at the second frequency is reduced to 1/ of the difference between the magnitude of the current characterizing the motor control command and the magnitude of the current characterizing the previous motor control command. m.

In an exemplary embodiment, the magnitude of the current is proportional to the moment used to drive the motion of the motor.

In an exemplary embodiment, the pan/tilt further includes: a filter disposed on a feedback branch of the current collected from the motor for filtering out noise introduced at the current feedback end.

In an exemplary embodiment, the target pose data is obtained by a processor.

In an exemplary embodiment, the processor includes a pan/tilt controller and a motor controller, wherein the pan/tilt controller is configured to obtain attitude data of the camera from the IMU at the first frequency and generate a motor control command And the motor controller is configured to complete execution of the motor control command at the second frequency.

In an exemplary embodiment, the attitude data includes a yaw angle/pitch angle/roll angle component.

In an exemplary embodiment, the pan/tilt further includes: a camera and/or a camera interface.

According to a second aspect of an embodiment of the present disclosure, there is provided a method for controlling a motor performed at a pan/tilt, comprising: obtaining a current attitude data of a camera from an IMU at a first frequency and generating a motor control command, the motor Control commands for driving motor motion to correct a difference in attitude of the camera's current attitude data relative to target attitude data; and completing execution of the motor control command at a second frequency that is higher than the first frequency, The difference between adjacent motor control commands is reduced.

In an exemplary embodiment, the motor control command is characterized by a current amplitude, and the difference between the adjacent motor control commands is an absolute value that represents a difference between current amplitudes of adjacent motor control commands. .

In an exemplary embodiment, the second frequency is unchanged.

In an exemplary embodiment, the second frequency is variable.

In an exemplary embodiment, completing the execution of the motor control command at the second frequency comprises: adjusting the current amplitude in steps of a second frequency or the like to achieve the current magnitude characterizing the motor control command.

In an exemplary embodiment, completing the execution of the motor control command at the second frequency comprises variably adjusting the current amplitude at a second frequency step to achieve the current magnitude characterizing the motor control command.

In an exemplary embodiment, the method further includes filtering out noise introduced at the current feedback end by a filter disposed on a feedback branch of the current.

According to the above aspect proposed by the embodiment of the present disclosure, the execution frequency (ie, the second frequency) of the motor control command for driving the motor motion is increased compared to the first frequency at which the motor control command is generated, and the second frequency is completed. Execution of the motor control command, that is, the second frequency at which the motor control command is executed is higher than the first frequency at which the motor control command is generated, and the current amplitude can be adjusted multiple times at an increased second frequency to achieve the characterization The current amplitude of the motor control command, that is, the step of adjusting the current amplitude at a second frequency to achieve the current amplitude of the motor control command is compared to the conventional scheme to generate the motor The first frequency of the control command adjusts the current amplitude at a time to achieve a significant reduction in the step of characterizing the current amplitude of the motor control command, thereby effectively attenuating the magnitude of the motor noise.

In addition, by filtering the noise introduced at the current feedback end by the filter disposed on the feedback branch of the current, the noise of the collected current can be effectively attenuated, thereby effectively reducing the motor noise caused by frequent adjustment of the motor controller due to current noise.

DRAWINGS

The above and/or additional aspects and advantages of the present disclosure will become apparent and readily understood from

1 shows an interpolated schematic diagram of a motor control command for illustrating the basic principles of the present disclosure;

FIG. 2 illustrates a schematic flowchart of a method for controlling a motor performed at a gimbal according to an exemplary embodiment of the present disclosure; FIG.

3A-3D illustrate an interpolated schematic diagram of a motor control command in accordance with an exemplary embodiment of the present disclosure;

FIG. 4 schematically shows a structural block diagram of a pan/tilt head according to an exemplary embodiment of the present disclosure.

Detailed ways

Exemplary embodiments of the present disclosure are described in detail below, which are illustrated in the accompanying drawings, in which the same or similar reference numerals indicate the same or similar elements or elements having the same or similar functions. The embodiments described below with reference to the accompanying drawings are merely illustrative, and are not to be construed as limiting.

Generally, there are two main types of noise generated by motors:

Class 1: High-frequency electromagnetic noise of pulse width modulation (PWM) when the motor is driven to operate stably;

Class 2: Electromagnetic noise generated by PWM changes during motor motion (eg, rotation).

For the first type of motor noise, the PWM frequency can be raised outside the sensitive range of the human ear by directly increasing the driving frequency of the PWM to effectively improve the high frequency electromagnetic noise in the steady state. For example, the human ear sensitivity range is 20hz-20khz, which can increase the PWM frequency well above 20khz, such as 40khz or higher, to effectively improve high frequency electromagnetic noise in steady state. The essence does not eliminate the noise, but the noise is moved to a higher frequency range, which is not perceived by the ear, and the result is that such electromagnetic noise is not heard. The present disclosure is not directed to reducing the noise of the first type of motor.

For the second type of motor noise, when the motor is driven, because the motor is controlled by high frequency, the duty cycle of the PWM is frequently changed. The harmonics generated at this time are easily mixed into the sensitive range of the human ear, if the harmonic amplitude High enough, then the human ear will obviously hear it. The present disclosure is directed to reducing the noise of the second type of motor, that is, reducing electromagnetic noise generated by PWM variations in motor motion.

For ease of description, the motor noise referred to below or simply referred to as noise (herein, interchangeably used herein), unless otherwise indicated, refers to electromagnetic noise generated by PWM variations in the present disclosure that are directed to reduced motor motion.

Those skilled in the art will appreciate that the present disclosure is directed to reducing the magnitude of the magnitude of the motor noise as follows with motor control commands typically characterized by current magnitude (I):

If the motor control command generated and supplied to the motor at time T ₀ is I ₀ , and the motor control command generated at time T ₁ and supplied to the motor is I ₁ (referred to as the target motor control command), then: ΔI=|I ₁ The larger the -I ₀ |, the larger the amplitude of the motor noise.

Based on this, the basic principle of the present disclosure is to reduce the amplitude of the motor noise by reducing the magnitude of ΔI, and at the same time, to meet the stabilization requirement of the gimbal, that is, the motor control command provided to the motor at time T ₀ must be I _{0 .} The target motor control command supplied to the motor at time T ₁ must be I ₁ . Accordingly, the present disclosure proposes that the execution of the motor control command is completed at the increased execution frequency by increasing the frequency of execution of the motor control command for driving the motor motion compared to the frequency at which the motor control command is generated, at T ₀ motor control instruction multiple motor control instruction and the target instruction interpolation between T ₁ of the control at the motor, so that a difference between the adjacent motor control instruction is reduced, thereby making the amplitude of the motor noise is reduced.

It should be understood that the difference here refers to the absolute value of the difference between the current amplitudes of the motor control command, and thus whether the current amplitude representing the target motor control command is increased compared to the previous motor control command, or It is within the scope of the present disclosure to characterize that the magnitude of the current of the target motor control command is reduced compared to the previous motor control command. For the sake of brevity, the following description will be made by taking an example in which the current amplitude representing the target motor control command is increased compared to the previous motor control command.

Referring to Figure 1, there is shown an interpolated schematic diagram of a motor control command for illustrating the basic principles of the present disclosure. In the example of Fig. 1, it is assumed that the three-time interpolation of the motor control command is performed at times T ₀₁ , T ₀₂ and T ₀₃ between T ₀ and T ₁ respectively, wherein the current amplitudes characterizing the corresponding motor control commands are respectively I ₀₁ , I ₀₂ , I ₀₃ . Those skilled in the art will appreciate that the cubic interpolation in this example is merely illustrative and not limiting, and in an application, the appropriate number of interpolations can be selected based on actual needs and processor processing capabilities.

As shown in Figure 1, due to the increase of the execution frequency of the motor control command, the motor control command that was originally adjusted from I ₀ to I ₁ becomes four times adjusted to I ₁ , and accordingly, the adjacent motor that affects the motor noise. The difference between the control commands becomes ΔI ₁ =|I ₀₁ -I ₀ |, ΔI ₂ =|I ₀₂ -I ₀₁ |, ΔI ₃ =|I ₀₃ -I ₀₂ |, ΔI ₄ =|I ₁ -I ₀₃ |, each of the differences ΔI ₁ , ΔI ₂ , ΔI ₃ , ΔI ₄ is significantly smaller than the difference ΔI=|I ₁ -I ₀ | between the original target motor control command and the initial motor control command, thus The motor noise between T ₀ and T ₁ is reduced.

It can also be seen from the example shown in FIG. 1 that the present disclosure is not intended to impose any further limitation on the relationship between the frequency of generation of the motor control command and the frequency of execution of the motor control command, as long as the execution frequency of the motor control command is high. The generation frequency of the motor control command may be, and the execution frequency of the motor control command may be changed or constant, and the visual reflection in the example of FIG. 1 is the interval between adjacent motor control commands (for example, , T ₀₁ -T ₀ , T ₀₂ -T ₀₁ , T ₀₃ -T ₀₂ , T ₁ -T ₀₃ ) may be unequal in time axis t (ie corresponding to frequency conversion), or may be equal (ie, Corresponding to fixed frequency).

Accordingly, the present disclosure is also not intended to any further limit the difference between adjacent motor control commands, which may be equally stepped or variable in amplitude as long as all differences are present. The sum of the values is equal to the sum of the original differences, or finally the magnitude of the current that characterizes the target motor control command. In conjunction with the example of Figure 1, ΔI = ΔI ₁ + ΔI ₂ + ΔI ₃ + ΔI ₄ or finally It can be achieved by I ₁ .

Therefore, the step adjustment is performed at a frequency higher than the frequency of generation of the motor control command, and the step is adjusted at a higher frequency than the frequency at which the motor control command is generated, and is higher than the motor control command. It is within the scope of the present disclosure to convert the frequency-generating variable frequency for variable step adjustment or to perform variable step adjustment at a fixed frequency higher than the frequency at which the motor control command is generated.

After the basic principle of the present disclosure is described in detail, a method for controlling a motor performed at a gimbal according to an exemplary embodiment of the present disclosure will be described below with reference to FIG.

FIG. 2 illustrates a schematic flow diagram of a method 200 for controlling a motor performed at a gimbal, in accordance with an exemplary embodiment of the present disclosure. As shown in FIG. 2, method 200 includes steps S201 and S202.

In step S201, the head may be a first frequency f ₁ of the current attitude IMU data obtained from the camera, and generates the motor control instruction (i.e., the target motor control commands). Here, the first frequency f ₁ is the frequency at which the motor control command is generated.

The motor control command is used to drive motor motion to correct a difference in attitude of the camera's current attitude data relative to the target attitude data. As previously mentioned, the motor control command can be characterized by a current amplitude (I). Those skilled in the art will appreciate that the magnitude of the current is proportional to the moment used to drive the motion of the motor.

The IMU can be used to measure the camera's current pose data.

In an exemplary embodiment, the camera may be included in the pan/tilt or may be connected to the pan/tilt as a separate peripheral through a camera interface included in the pan/tilt.

In an exemplary embodiment, the attitude data measured by the IMU may include a yaw/pitch/roll component.

In some exemplary embodiments, the target pose data may be preset by a user or may be obtained by a processor of the pan/tilt, for example, by a processor. In an exemplary embodiment, the target pose data may be reference pose data.

In step S202, the head may be performed to complete the motor control command to a second frequency f _2, so that a difference between the adjacent motor control commands is reduced. Here, f ₂ is the execution frequency of the motor control command for driving the motor motion. As previously mentioned, according to the basic principles of the present disclosure, f ₂ >f ₁ .

Completing the execution of the motor control command at the second frequency f ₂ such that multiple interpolation of the motor control command is performed between the initial motor control command at T ₀ and the target motor control command at T ₁ , such that adjacent motors The difference between the control commands is reduced, thus reducing the magnitude of the motor noise.

In an exemplary embodiment, f ₂ may remain constant, ie, adjacent motor control commands may be equally spaced on the time axis. For example, f ₂ may be an integer multiple of f ₁ .

In an embodiment of the exemplary embodiment, step S202 may specifically include: adjusting the current amplitude in steps of a constant frequency f ₂ to achieve a current amplitude indicative of the generated target motor control command.

In this embodiment, if f ₂ is m times f ₁ , where m is an integer, the step of adjusting the current amplitude with f ₂ can be reduced to represent the current amplitude of the target motor control command and characterize the previous motor control. The difference in the magnitude of the commanded current is 1/m.

A schematic diagram of the interpolation of the corresponding motor control commands can be seen in Figure 3A. Similar to the example of FIG. 1, the example of FIG. 3A also assumes that cubic interpolation of motor control commands is performed at times T ₀₁ , T ₀₂ , and T ₀₃ between T ₀ and T ₁ , respectively, in which the currents of the corresponding motor control commands are characterized. The amplitudes are I ₀₁ , I ₀₂ , I _{03 , respectively} . Again, those skilled in the art will appreciate that the cubic interpolation in this example is merely illustrative and not limiting, and in the application, the appropriate number of interpolations can be selected based on actual needs and processor processing capabilities.

As shown in FIG. 3A, adjacent motor control commands are equally spaced on the time axis, and the difference between the current amplitudes characterizing adjacent motor control commands is also equal step, ie, T ₀₁ -T ₀ =T ₀₂ -T ₀₁ =T ₀₃ -T ₀₂ =T ₁ -T ₀₃ , corresponding to f ₂ =4f ₁ , and ΔI _A1 =ΔI _A2 =ΔI _A3 =ΔI _A4 =ΔI _A /4.

In another embodiment of the exemplary embodiment, step S202 may specifically include variably adjusting the current amplitude at a fixed frequency f ₂ step to achieve a current amplitude characterizing the generated target motor control command.

A schematic diagram of the interpolation of the corresponding motor control commands can be seen in Figure 3B. Similar to the examples of FIGS. 1 and 3A, the example of FIG. 3B also assumes that cubic interpolation of motor control commands is performed at times T ₀₁ , T ₀₂ , and T ₀₃ between T ₀ and T ₁ , respectively, in which the corresponding motor control commands are characterized. The current amplitudes are I ₀₁ , I ₀₂ , and I _{03 , respectively} . Again, those skilled in the art will appreciate that the cubic interpolation in this example is merely illustrative and not limiting, and in the application, the appropriate number of interpolations can be selected based on actual needs and processor processing capabilities.

As shown in FIG. 3B, adjacent motor control commands are equally spaced on the time axis, and the difference between the current amplitudes characterizing adjacent motor control commands may be unequal stride, ie, T ₀₁ -T ₀ =T ₀₂ -T ₀₁ =T ₀₃ -T ₀₂ =T ₁ -T ₀₃ , corresponding to f ₂ =4f ₁ , and ΔI _B1 , ΔI _B2 , ΔI _B3 , ΔI _B4 are not all equal.

In another exemplary embodiment, f ₂ may be variable, ie, adjacent motor control commands may be unequal intervals on the time axis.

In an embodiment of the exemplary embodiment, step S202 may specifically include: adjusting the current amplitude in steps of frequency conversion f ₂ or the like to achieve a current amplitude that characterizes the generated target motor control command.

A schematic diagram of the interpolation of the corresponding motor control commands can be seen in Figure 3C. Similar to the examples of FIGS. 1, 3A and 3B, the example of FIG. 3C also assumes that cubic interpolation of motor control commands is performed at times T ₀₁ , T ₀₂ , T ₀₃ between T ₀ and T ₁ , respectively, wherein the corresponding motor is characterized The current amplitudes of the control commands are I ₀₁ , I ₀₂ , and I _{03 , respectively} . Again, those skilled in the art will appreciate that the cubic interpolation in this example is merely illustrative and not limiting, and in the application, the appropriate number of interpolations can be selected based on actual needs and processor processing capabilities.

As shown in FIG. 3C, adjacent motor control commands are unequal intervals on the time axis, and the difference between the current amplitudes characterizing adjacent motor control commands is equal to the step size, ie, T ₀₁ - T ₀ , T ₀₂ -T ₀₁ , T ₀₃ -T ₀₂ , T ₁ -T ₀₃ are not all equal, and ΔI _C1 =ΔI _C2 =ΔI _C3 =ΔI _C4 =ΔI _C /4.

In another embodiment of the exemplary embodiment, step S202 may specifically include variably adjusting the current amplitude in a frequency conversion f ₂ step to achieve a current amplitude characterizing the generated target motor control command.

A schematic diagram of the interpolation of the corresponding motor control commands can be seen in Figure 3D. Similar to the examples of FIGS. 1 and 3A-3C, the example of FIG. 3D also assumes that cubic interpolation of motor control commands is performed at times T ₀₁ , T ₀₂ , and T ₀₃ between T ₀ and T ₁ , respectively, wherein the corresponding motor is characterized The current amplitudes of the control commands are I ₀₁ , I ₀₂ , and I _{03 , respectively} . Again, those skilled in the art will appreciate that the cubic interpolation in this example is merely illustrative and not limiting, and in the application, the appropriate number of interpolations can be selected based on actual needs and processor processing capabilities.

As shown in FIG. 3D, adjacent motor control commands are unequal intervals on the time axis, and the difference between the current amplitudes characterizing adjacent motor control commands is also unequal stride, ie, T ₀₁ -T ₀ , T ₀₂ -T ₀₁ , T ₀₃ -T ₀₂ , T ₁ -T ₀₃ are not all equal, and ΔI _A1 , ΔI _A2 , ΔI _A3 , ΔI _{A4 are} not all equal.

Thus, it is to be understood that the present disclosure is not intended to be any qualitative limitation of the relationship between f ₁ and f ₂ as long as f _{2 is} higher than f ₁ , and f ₂ may be either varied or constant. Accordingly, the present disclosure is also not intended to any further limit the difference between adjacent motor control commands, which may be equally stepped or variable in amplitude as long as all differences are present. The sum of the values is equal to the sum of the original differences, or finally reaches the current amplitude characterizing the target motor control command and the absolute value of each interpolation is less than the absolute value of the original interpolation. Preferably, the amplitude is monotonically varied.

In an exemplary embodiment, method 200 may further include a step (not shown): by setting A filter on the feedback branch of the current filters out the noise introduced at the current feedback. This can effectively weaken the noise of the collected current, thereby effectively reducing the motor noise caused by frequent adjustment of the motor controller due to current noise.

The structure of the pan/tilt head according to an exemplary embodiment of the present invention will be described below with reference to FIG. FIG. 4 schematically shows a structural block diagram of a pan/tilt head 400 according to an exemplary embodiment of the present invention. In order to avoid obscuring the subject matter of the present disclosure, in this schematic structural block diagram, only the main components related to the exemplary embodiment of the present disclosure in the pan/tilt are shown, and other common components in the pan/tilt, such as a transceiver, etc., are omitted. . The pan/tilt 400 can be used to perform the method 200 described with reference to FIG. For the sake of brevity, only the schematic structure of the pan/tilt according to an exemplary embodiment of the present disclosure will be described herein, and the details already detailed in the method 200 as previously described with reference to FIG. 2 are omitted, and the method 200 may be specifically referred to. Description in .

As shown in FIG. 4, the pan/tilt head 400 can include an IMU 401, a processor 402, and a motor 403.

The IMU 401 can be used to measure the current pose data of the camera.

In an exemplary embodiment, the attitude data measured by the IMU 401 may include a yaw/pitch angle/roll angle component.

The processor 402 can be configured to: obtain the current pose data of the camera from the IMU 401 at a first frequency f ₁ and generate a motor control command for driving the motor 403 to modify the current pose data of the camera The attitude difference with respect to the target attitude data; and the execution of the motor control command is completed at a second frequency f ₂ , where f ₂ > f ₁ such that the difference between adjacent motor control commands is reduced. Those skilled in the art will appreciate that the motor control commands are characterized by current amplitude and that the current amplitude is proportional to the torque used to drive the motor motion.

In some exemplary embodiments, the target gesture data may be preset by a user or may be obtained by the processor 402, for example, by the processor 402.

In one embodiment of the exemplary embodiment, processor 402 may be further configured to adjust the current amplitude in steps of a constant frequency f ₂ to achieve a current magnitude characterizing the generated target motor control command. A schematic diagram of the interpolation of the corresponding motor control commands can be seen in Figure 3A.

In another embodiment of the exemplary embodiment, the processor 402 may be further configured to variably adjust the current amplitude at a fixed frequency f ₂ step to achieve a current magnitude characterizing the generated target motor control command . A schematic diagram of the interpolation of the corresponding motor control commands can be seen in Figure 3B.

In one embodiment of this exemplary embodiment, the processor 402 may be further configured to: frequency f ₂ and other steps to adjust the magnitude of the current to achieve the current magnitude generated by characterizing the target motor control command. A schematic diagram of the interpolation of the corresponding motor control commands can be seen in Figure 3C.

In another embodiment of the exemplary embodiment, processor 402 may be further configured to variably adjust the current amplitude in a frequency conversion f ₂ step to achieve a current magnitude characterizing the generated target motor control command. A schematic diagram of the interpolation of the corresponding motor control commands can be seen in Figure 3D.

In an exemplary embodiment, processor 402 may be further configured to include: pan/tilt controller 4021 and motor controller 4022, as shown in dashed lines in processor 402 in FIG.

Specifically, the pan/tilt controller 4021 may be configured to perform the following operations at f ₁ : acquiring from the IMU 401 to obtain current attitude data of the camera, obtaining a posture difference of the camera by comparing with the target posture data, and generating a motor control instruction, The motor control command is used to drive the motor 403 to move to correct the attitude difference of the camera's current attitude data with respect to the target attitude data. Motor controller 4022 may be configured to f ₂ of the motor control instruction to complete execution.

In an embodiment of the exemplary embodiment, the motor controller 4022 can be further configured to: adjust the current amplitude at a constant frequency f ₂ or the like to achieve a current magnitude indicative of the generated target motor control command. . A schematic diagram of the interpolation of the corresponding motor control commands can be seen in Figure 3A.

In another embodiment of the exemplary embodiment, motor controller 4022 can be further configured to variably adjust the current amplitude at a fixed frequency f ₂ step to achieve a current amplitude characterizing the generated target motor control command value. A schematic diagram of the interpolation of the corresponding motor control commands can be seen in Figure 3B.

In one embodiment of this exemplary embodiment, the motor controller 4022 may be further configured to: frequency f ₂ and other steps to adjust the magnitude of the current to achieve the current magnitude generated by characterizing the target motor control command. A schematic diagram of the interpolation of the corresponding motor control commands can be seen in Figure 3C.

In another embodiment of the exemplary embodiment, motor controller 4022 can be further configured to variably adjust the current amplitude in a frequency conversion f ₂ step to achieve a current magnitude characterizing the generated target motor control command . A schematic diagram of the interpolation of the corresponding motor control commands can be seen in Figure 3D.

In an exemplary embodiment, the pan/tilt head 400 may further include: a filter (not shown) disposed on a feedback branch of the current collected from the motor for filtering noise introduced at the current feedback end, thereby being effective Reduce motor noise caused by frequent adjustments of the motor controller due to current noise.

The program running on the device according to the present disclosure may be a program that causes a computer to implement the functions of the embodiments of the present disclosure by controlling a central processing unit (CPU). The program or information processed by the program may be temporarily stored in a volatile memory (such as a random access memory RAM), a hard disk drive (HDD), a non-volatile memory (such as a flash memory), or other memory system.

A program for realizing the functions of the embodiments of the present disclosure may be recorded on a computer readable recording medium. The corresponding functions can be realized by causing a computer system to read programs recorded on the recording medium and execute the programs. The so-called "computer system" herein may be a computer system embedded in the device, and may include an operating system or hardware (such as a peripheral device). The "computer readable recording medium" may be a semiconductor recording medium, an optical recording medium, a magnetic recording medium, a recording medium of a short-term dynamic storage program, or any other recording medium readable by a computer.

The various features or functional blocks of the apparatus used in the above embodiments may be implemented or executed by circuitry (e.g., monolithic or multi-chip integrated circuits). Designed to perform the functions described in this manual The circuitry may include a general purpose processor, a digital signal processor (DSP), an application specific integrated circuit (ASIC), a field programmable gate array (FPGA), or other programmable logic device, discrete gate or transistor logic, discrete hardware components, Or any combination of the above devices. A general purpose processor may be a microprocessor or any existing processor, controller, microcontroller, or state machine. The above circuit may be a digital circuit or an analog circuit. One or more embodiments of the present disclosure may also be implemented using these new integrated circuit technologies in the context of new integrated circuit technologies that replace existing integrated circuits due to advances in semiconductor technology.

As above, the embodiments of the present disclosure have been described in detail with reference to the accompanying drawings. However, the specific structure is not limited to the above embodiments, and the present disclosure also includes any design changes that do not deviate from the gist of the present disclosure. In addition, various modifications of the present disclosure are possible within the scope of the claims, and the embodiments obtained by appropriately combining the technical means disclosed in the different embodiments are also included in the technical scope of the present disclosure. Further, the components having the same effects described in the above embodiments may be substituted for each other.

Claims

A method for controlling a motor performed at a gimbal, comprising:

Obtaining current attitude data of the camera from the inertial measurement unit IMU at a first frequency and generating a motor control command for driving motor motion to correct a posture difference of the current attitude data of the camera with respect to the target attitude data;

Execution of the motor control command is completed at a second frequency that is higher than the first frequency such that a difference between adjacent motor control commands is decreased.
The method of claim 1 wherein said motor control command is characterized by a current magnitude and said difference between said adjacent motor control commands is a difference between current amplitudes indicative of adjacent motor control commands. Absolute value.
A method according to claim 1 or 2, wherein said second frequency is unchanged.
A method according to claim 1 or 2, wherein said second frequency is variable.
The method of any one of claims 2 to 4, wherein performing the execution of the motor control command at a second frequency comprises: adjusting a current amplitude in steps of a second frequency or the like to achieve characterizing the motor control command The current amplitude.
The method of any one of claims 2 to 4, wherein performing the execution of the motor control command at a second frequency comprises variably adjusting a current amplitude at a second frequency step to characterize the motor control The current amplitude of the command.
The method according to any one of claims 2 to 3, wherein the second frequency is m times the first frequency, and m is an integer.
The method of claim 7 wherein the step of adjusting the magnitude of the current at the second frequency is reduced to a difference between the magnitude of the current characterizing the motor control command and a magnitude of current indicative of a previous motor control command. 1/m.
A method according to any one of claims 2 to 8, wherein the magnitude of the current is proportional to the moment used to drive the motion of the motor.
A method according to any one of claims 1 to 9, further comprising:

The noise introduced at the current feedback terminal is filtered out by a filter placed on the feedback branch of the current.
The method according to any one of claims 1 to 10, wherein the attitude data comprises a yaw/pitch angle/roll angle component.
A pan/tilt that includes:

An inertial measurement unit IMU for measuring current attitude data of the camera;

Motor

The processor is configured to do the following:

Obtaining attitude data of the camera from the IMU at a first frequency and generating a motor control command for driving motor motion to correct a posture difference of the current attitude data of the camera with respect to the target attitude data;

Execution of the motor control command is completed at a second frequency that is higher than the first frequency such that a difference between adjacent motor control commands is decreased.
The pan/tilt head according to claim 12, wherein said motor control command is characterized by a current amplitude, and wherein a difference between said adjacent motor control commands is a difference between current amplitudes indicative of adjacent motor control commands The absolute value.
A pan/tilt head according to claim 12 or 13, wherein said second frequency is unchanged.
A pan/tilt head according to claim 12 or 13, wherein said second frequency is variable.
The pan/tilt head according to any one of claims 13 to 15, wherein the processor performing the execution of the motor control command at a second frequency comprises: the processor adjusting the current amplitude in steps of a second frequency or the like A value is reached to achieve the magnitude of the current characterizing the motor control command.
A pan/tilt according to any one of claims 13 to 15, wherein said processor completing said execution of said motor control command at a second frequency comprises said processor variably adjusting current at a second frequency step The magnitude is such that the magnitude of the current characterizing the motor control command is reached.
The pan/tilt head according to any one of claims 13 to 14, wherein the second frequency is m times the first frequency, and m is an integer.
The pan/tilt head according to claim 18, wherein the step of adjusting the magnitude of the current at the second frequency is reduced to a difference between the magnitude of the current characterizing the motor control command and the magnitude of the current characterizing the previous motor control command 1/m.
A pan/tilt head according to any one of claims 13 to 19, wherein the magnitude of the current is proportional to the moment used to drive the motion of the motor.
The pan/tilt head according to any one of claims 12 to 20, further comprising:

A filter on the feedback branch of the current drawn from the motor is used to filter out the noise introduced at the current feedback.
A pan/tilt according to any one of claims 12 to 21, wherein the target pose data is obtained by a processor.
A pan/tilt according to any one of claims 12 to 22, wherein the processor comprises a pan/tilt controller and a motor controller, wherein the pan/tilt controller is configured to obtain from the IMU at the first frequency The attitude data of the camera and generates a motor control command; and the motor controller is configured to complete execution of the motor control command at the second frequency.
A pan/tilt head according to any one of claims 12 to 23, wherein the attitude data comprises a yaw angle/pitch angle/roll angle component.
The pan/tilt head according to any one of claims 12 to 24, further comprising: a camera and/or a camera interface.