WO2019061359A1 - Procédé de commande de moteur électrique sur cardan et cardan correspondant - Google Patents

Procédé de commande de moteur électrique sur cardan et cardan correspondant Download PDF

Info

Publication number
WO2019061359A1
WO2019061359A1 PCT/CN2017/104610 CN2017104610W WO2019061359A1 WO 2019061359 A1 WO2019061359 A1 WO 2019061359A1 CN 2017104610 W CN2017104610 W CN 2017104610W WO 2019061359 A1 WO2019061359 A1 WO 2019061359A1
Authority
WO
WIPO (PCT)
Prior art keywords
motor control
frequency
current
control command
motor
Prior art date
Application number
PCT/CN2017/104610
Other languages
English (en)
Chinese (zh)
Inventor
周长兴
Original Assignee
深圳市大疆灵眸科技有限公司
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by 深圳市大疆灵眸科技有限公司 filed Critical 深圳市大疆灵眸科技有限公司
Priority to PCT/CN2017/104610 priority Critical patent/WO2019061359A1/fr
Priority to CN201780007022.2A priority patent/CN108702121A/zh
Publication of WO2019061359A1 publication Critical patent/WO2019061359A1/fr

Links

Images

Classifications

    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
    • H02P23/00—Arrangements or methods for the control of AC motors characterised by a control method other than vector control
    • H02P23/14—Estimation or adaptation of motor parameters, e.g. rotor time constant, flux, speed, current or voltage
    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
    • H02P27/00—Arrangements or methods for the control of AC motors characterised by the kind of supply voltage
    • H02P27/04—Arrangements or methods for the control of AC motors characterised by the kind of supply voltage using variable-frequency supply voltage, e.g. inverter or converter supply voltage

Definitions

  • 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.
  • the gimbal is a support table for carrying loads to keep the load stable.
  • the pan/tilt can be used to carry image devices such as cameras and cameras to achieve image recording.
  • 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.
  • 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.
  • 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.
  • 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.
  • a cloud platform including:
  • IMU inertial measurement unit
  • 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.
  • the motor control command is characterized by a current amplitude
  • 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.
  • the second frequency is unchanged.
  • the second frequency is variable.
  • 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.
  • 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.
  • the second frequency is m times the first frequency, and m is an integer.
  • 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.
  • the magnitude of the current is proportional to the moment used to drive the motion of the motor.
  • 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.
  • the target pose data is obtained by a processor.
  • 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.
  • the attitude data includes a yaw angle/pitch angle/roll angle component.
  • the pan/tilt further includes: a camera and/or a camera interface.
  • 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.
  • the motor control command is characterized by a current amplitude
  • the difference between the adjacent motor control commands is an absolute value that represents a difference between current amplitudes of adjacent motor control commands.
  • the second frequency is unchanged.
  • the second frequency is variable.
  • 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.
  • 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.
  • the second frequency is m times the first frequency, and m is an integer.
  • 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.
  • the magnitude of the current is proportional to the moment used to drive the motion of the motor.
  • the method further includes filtering out noise introduced at the current feedback end by a filter disposed on a feedback branch of the current.
  • the attitude data includes a yaw angle/pitch angle/roll angle component.
  • 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.
  • 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.
  • FIG. 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
  • 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.
  • 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).
  • 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.
  • 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.
  • 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.
  • noise refers to electromagnetic noise generated by PWM variations in the present disclosure that are directed to reduced motor motion.
  • the basic principle of the present disclosure is to reduce the amplitude of the motor noise by reducing the magnitude of ⁇ I, 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 .
  • 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.
  • 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.
  • FIG. 1 there is shown an interpolated schematic diagram of a motor control command for illustrating the basic principles of the present disclosure.
  • 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 .
  • 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.
  • 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).
  • 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.
  • ⁇ I ⁇ I 1 + ⁇ I 2 + ⁇ I 3 + ⁇ I 4 or finally It can be achieved by I 1 .
  • 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.
  • 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.
  • 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).
  • 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.
  • the motor control command can be characterized by a current amplitude (I).
  • I current amplitude
  • the IMU can be used to measure the camera's current pose data.
  • 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.
  • the attitude data measured by the IMU may include a yaw/pitch/roll component.
  • 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.
  • the target pose data may be reference pose data.
  • 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.
  • f 2 is the execution frequency of the motor control command for driving the motor motion.
  • f 2 >f 1 .
  • f 2 may remain constant, ie, adjacent motor control commands may be equally spaced on the time axis.
  • f 2 may be an integer multiple of f 1 .
  • 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.
  • 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.
  • FIG. 3A 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 .
  • 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.
  • 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.
  • FIG. 3B 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 .
  • 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.
  • f 2 may be variable, ie, adjacent motor control commands may be unequal intervals on the time axis.
  • 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.
  • FIG. 3C 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 .
  • 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.
  • 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.
  • FIG. 3D 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 .
  • 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.
  • 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 ⁇ I A1 , ⁇ I A2 , ⁇ I A3 , ⁇ I A4 are not all equal.
  • 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.
  • 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.
  • FIG. 4 schematically shows a structural block diagram of a pan/tilt head 400 according to an exemplary embodiment of the present invention.
  • FIG. 4 schematically shows a structural block diagram of a pan/tilt head 400 according to an exemplary embodiment of the present invention.
  • the pan/tilt 400 can be used to perform the method 200 described with reference to FIG.
  • 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.
  • 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.
  • 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.
  • 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.
  • the target gesture data may be preset by a user or may be obtained by the processor 402, for example, by the processor 402.
  • f 2 may remain constant, ie, adjacent motor control commands may be equally spaced on the time axis.
  • f 2 may be an integer multiple of f 1 .
  • 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.
  • 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.
  • 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.
  • f 2 may be variable, ie, adjacent motor control commands may be unequal intervals on the time axis.
  • 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.
  • 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.
  • 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.
  • 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.
  • f 2 may remain constant, ie, adjacent motor control commands may be equally spaced on the time axis.
  • f 2 may be an integer multiple of f 1 .
  • 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.
  • 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.
  • 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.
  • f 2 may be variable, ie, adjacent motor control commands may be unequal intervals on the time axis.
  • 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.
  • 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.
  • 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 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 volatile memory such as a random access memory RAM
  • HDD hard disk drive
  • non-volatile memory such as a flash memory
  • 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.
  • 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.

Landscapes

  • Engineering & Computer Science (AREA)
  • Power Engineering (AREA)
  • Studio Devices (AREA)
  • Control Of Electric Motors In General (AREA)

Abstract

L'invention concerne un procédé de commande d'un moteur électrique, lequel procédé est exécuté sur un cardan. Le procédé comprend : l'obtention, à une première fréquence et auprès d'une unité de mesure inertielle (UMI), de données d'attitude actuelles d'une caméra et la génération d'une instruction de commande de moteur électrique, l'instruction de commande de moteur électrique étant utilisée pour mettre un moteur électrique en mouvement de façon à corriger la différence d'attitude des données d'attitude actuelles de la caméra par rapport à des données d'attitude cibles ; et la réalisation, à une seconde fréquence, de l'exécution de l'instruction de commande de moteur électrique, la seconde fréquence étant supérieure à la première fréquence, de manière que la différence entre des instructions de commande de moteur électrique adjacentes soit réduite. L'invention concerne également un cardan correspondant.
PCT/CN2017/104610 2017-09-29 2017-09-29 Procédé de commande de moteur électrique sur cardan et cardan correspondant WO2019061359A1 (fr)

Priority Applications (2)

Application Number Priority Date Filing Date Title
PCT/CN2017/104610 WO2019061359A1 (fr) 2017-09-29 2017-09-29 Procédé de commande de moteur électrique sur cardan et cardan correspondant
CN201780007022.2A CN108702121A (zh) 2017-09-29 2017-09-29 云台电机控制方法及相应的云台

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
PCT/CN2017/104610 WO2019061359A1 (fr) 2017-09-29 2017-09-29 Procédé de commande de moteur électrique sur cardan et cardan correspondant

Publications (1)

Publication Number Publication Date
WO2019061359A1 true WO2019061359A1 (fr) 2019-04-04

Family

ID=63844093

Family Applications (1)

Application Number Title Priority Date Filing Date
PCT/CN2017/104610 WO2019061359A1 (fr) 2017-09-29 2017-09-29 Procédé de commande de moteur électrique sur cardan et cardan correspondant

Country Status (2)

Country Link
CN (1) CN108702121A (fr)
WO (1) WO2019061359A1 (fr)

Families Citing this family (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN113721450A (zh) * 2021-08-05 2021-11-30 杭州海康威视数字技术股份有限公司 一种终端设备及其控制方法和装置

Citations (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US6140793A (en) * 1999-08-19 2000-10-31 Bristol-Myers Squibb Company Stepper motor controller for microstepping a stepper motor and a method for microstepping a stepper motor
CN101276178A (zh) * 2007-03-29 2008-10-01 三星电子株式会社 成像装置和方法
CN102474244A (zh) * 2009-08-07 2012-05-23 飞思卡尔半导体公司 脉宽调制的频率转换
CN105048902A (zh) * 2015-08-06 2015-11-11 杭州瑞盟科技有限公司 微步进低噪声步进电机驱动控制器
CN105228054A (zh) * 2015-10-15 2016-01-06 深圳市大疆创新科技有限公司 飞行装置、拍摄装置及其录音降噪装置和方法
CN106873641A (zh) * 2017-03-20 2017-06-20 普宙飞行器科技（深圳）有限公司 三轴微型云台及其控制方法

Family Cites Families (9)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPH01181108A (ja) * 1988-01-14 1989-07-19 Yokogawa Electric Corp デジタルサーボ装置
JP2705093B2 (ja) * 1988-04-18 1998-01-26 ダイキン工業株式会社 インバータのパルス幅変調制御装置
JP3708292B2 (ja) * 1997-06-17 2005-10-19 三菱電機株式会社 Ｐｗｍインバータ装置の制御方法および制御装置
CN1227806C (zh) * 2003-05-23 2005-11-16 南开大学 全数字细分型高精度步进电机控制器
KR100819301B1 (ko) * 2006-12-20 2008-04-03 삼성전자주식회사 모바일 기기용 카메라 모듈의 손떨림 보정 방법 및 장치
DE102011118044A1 (de) * 2011-11-09 2013-05-16 Conti Temic Microelectronic Gmbh Verfahren zur Steuerung eines Motors mittels Pulsweitenmodulation (PWM)
JP6622983B2 (ja) * 2015-05-25 2019-12-18 株式会社東芝 ステッピングモータ駆動回路
CN105978441A (zh) * 2016-06-15 2016-09-28 零度智控（北京）智能科技有限公司 无人机、电机控制装置及方法
CN106950950A (zh) * 2017-03-02 2017-07-14 广东工业大学 一种基于摄像头的汽车并线辅助系统和控制方法

Patent Citations (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US6140793A (en) * 1999-08-19 2000-10-31 Bristol-Myers Squibb Company Stepper motor controller for microstepping a stepper motor and a method for microstepping a stepper motor
CN101276178A (zh) * 2007-03-29 2008-10-01 三星电子株式会社 成像装置和方法
CN102474244A (zh) * 2009-08-07 2012-05-23 飞思卡尔半导体公司 脉宽调制的频率转换
CN105048902A (zh) * 2015-08-06 2015-11-11 杭州瑞盟科技有限公司 微步进低噪声步进电机驱动控制器
CN105228054A (zh) * 2015-10-15 2016-01-06 深圳市大疆创新科技有限公司 飞行装置、拍摄装置及其录音降噪装置和方法
CN106873641A (zh) * 2017-03-20 2017-06-20 普宙飞行器科技（深圳）有限公司 三轴微型云台及其控制方法

Also Published As

Publication number Publication date
CN108702121A (zh) 2018-10-23

Similar Documents

Publication Publication Date Title
US11252301B2 (en) Adjusting sharpness and details in upscaling output
US11424699B2 (en) Electric motor control device, compressor, and electric motor control method
JP6335058B2 (ja) 撮像装置及び撮像方法
JP5242151B2 (ja) 振動補正制御回路及びそれを備えた撮像装置
US7760448B2 (en) Image stabilization control circuit
US8089517B2 (en) Image stabilization control circuit
TWI390969B (zh) 攝像設備及方法，資訊處理設備及方法，以及儲存其程式的記錄媒體
US8314865B2 (en) Lens shading correction
US10734022B2 (en) Magnetic disk device and actuator control method
JPWO2007096993A1 (ja) モータ制御装置
US9645471B2 (en) Driving circuit and driving method for voice coil motor, and lens module and electronic device using the same
JP6746588B2 (ja) 増幅器のパワー制限のためにボリューム利得を適合させるための方法、および増幅器
CN107005207B (zh) 具有可调节斜升/斜降增益以最小化或消除气爆噪声的放大器
TWI533577B (zh) 根據補償函數控制功率轉換器的方法和系統
WO2019061359A1 (fr) Procédé de commande de moteur électrique sur cardan et cardan correspondant
JP2018033205A (ja) モータ制御装置、モータ制御方法及びモータ制御用プログラム
US20170011763A1 (en) Data storage devices and methods with frequency-shaped sliding mode control
JP2013152769A (ja) 圧電素子駆動方法、圧電素子駆動装置及び磁気ディスク装置
CN112511047A (zh) 电机的控制方法、装置及设备
JP2004023910A (ja) モータ制御装置
JP2004334772A (ja) 電動機による位置決め制御方法及び装置
JP2009048699A (ja) レーザ発生装置及びその制御方法並びに光ディスク装置
JP2005063362A (ja) サーボ制御装置
JP2006319852A (ja) 撮像装置
KR100357239B1 (ko) 광디스크 구동장치의 포커싱 제어방법

Legal Events

Date Code Title Description
121 Ep: the epo has been informed by wipo that ep was designated in this application

Ref document number: 17927416

Country of ref document: EP

Kind code of ref document: A1

NENP Non-entry into the national phase

Ref country code: DE

122 Ep: pct application non-entry in european phase

Ref document number: 17927416

Country of ref document: EP

Kind code of ref document: A1