WO2019134249A1 - Automatic rotation method for stabilizer - Google Patents

Automatic rotation method for stabilizer Download PDF

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Publication number
WO2019134249A1
WO2019134249A1 PCT/CN2018/077788 CN2018077788W WO2019134249A1 WO 2019134249 A1 WO2019134249 A1 WO 2019134249A1 CN 2018077788 W CN2018077788 W CN 2018077788W WO 2019134249 A1 WO2019134249 A1 WO 2019134249A1
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motor
electric motor
stabilizer
initial
rotor
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PCT/CN2018/077788
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French (fr)
Chinese (zh)
Inventor
魏承赟
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桂林飞宇科技股份有限公司
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Priority to CN201810013107.8A priority Critical patent/CN108199623B/en
Priority to CN201810013107.8 priority
Application filed by 桂林飞宇科技股份有限公司 filed Critical 桂林飞宇科技股份有限公司
Publication of WO2019134249A1 publication Critical patent/WO2019134249A1/en

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    • HELECTRICITY
    • H02GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02PCONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
    • H02P21/00Arrangements or methods for the control of electric machines by vector control, e.g. by control of field orientation
    • HELECTRICITY
    • H02GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02PCONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
    • H02P5/00Arrangements specially adapted for regulating or controlling the speed or torque of two or more electric motors
    • H02P5/46Arrangements specially adapted for regulating or controlling the speed or torque of two or more electric motors for speed regulation of two or more dynamo-electric motors in relation to one another
    • H02P5/52Arrangements specially adapted for regulating or controlling the speed or torque of two or more electric motors for speed regulation of two or more dynamo-electric motors in relation to one another additionally providing control of relative angular displacement
    • H02P5/56Speed and position comparison between the motors by electrical means

Abstract

An automatic rotation method for a stabilizer, comprising: transforming, by means of clark transformation, a first electric motor (3), a second electric motor (4), and a third electric motor (5) from a three-phase symmetrical state to a state where two phases are spaced apart at 90 degrees; transforming, by means of park transformation, the coordinates of the first electric motor (3), the second electric motor (4), and the third electric motor (5) being stationary with respect to a stator into coordinates being stationary with respect to a rotor (step 101); upon receipt of a control signal fed back by a button, determining the automatic rotation speed of the first electric motor (3) and the third electric motor (5), configuring the target speed of the first electric motor (3) and the third electric motor (5) to zero, and determining the initial position and the end position of the first electric motor (3) and the third electric motor (5) for automatic rotation (step 102).

Description

一种稳定器自动旋转方法Stabilizer automatic rotation method 技术领域Technical field

本发明涉及稳定器技术领域,更具体的涉及一种稳定器自动旋转方法。The present invention relates to the field of stabilizer technology, and more particularly to a method for automatically rotating a stabilizer.

背景技术Background technique

现在越来越多的摄影爱好者喜欢用延时摄影拍摄,但缺少一种固定并支持拍摄延时摄影的装置。大部分的拍摄者都是手动拍摄,手动拍摄存在转速不匀,拍出的作品不佳;而且延时摄影需要时间较长,手动拍摄会是手疲劳。稳定器是用以实现目标载体的固定、调节目标载体的姿态(例如:方向、横滚和俯仰)和使目标载体稳定保持在确定的姿态上,从而实现目标载体的稳定、流畅且多角度拍摄。目前,目标载体有手机、摄像机和照相机。Nowadays, more and more photographers like to shoot with time-lapse photography, but there is a lack of a device that fixes and supports shooting time-lapse photography. Most of the photographers are manually shooting, manual shooting has uneven speed, and the work taken is not good; and time-lapse photography takes a long time, manual shooting will be hand fatigue. The stabilizer is used to achieve the fixation of the target carrier, adjust the attitude of the target carrier (for example: direction, roll and pitch) and stabilize the target carrier in a certain posture, thereby achieving stable, smooth and multi-angle shooting of the target carrier. . Currently, the target carrier is a mobile phone, a video camera, and a camera.

在实际应用中,当把手机作为目标载体设置在稳定器上时,若需要在拍摄过程中实现延时摄影拍摄,由于需要手动方式,比较麻烦。In practical applications, when the mobile phone is set as the target carrier on the stabilizer, if it is necessary to implement time-lapse photography during the shooting process, it is troublesome because of the manual mode.

综上所述,现有的通过稳定器设置的目标载体,在拍摄过程中不能实现稳定器自动旋转,达到匀速的延时摄影拍摄的问题。In summary, the existing target carrier set by the stabilizer can not realize the automatic rotation of the stabilizer during the shooting process, and achieve the problem of uniform time-lapse photography.

发明内容Summary of the invention

本发明实施例提供一种稳定器自动旋转方法,用以解决现有技术中稳定器不能实现自动旋转,达到匀速的延时摄影拍摄的问题。The embodiment of the invention provides a method for automatically rotating a stabilizer, which solves the problem that the stabilizer cannot realize automatic rotation in the prior art and achieves uniform time-lapse photography.

本发明实施例提供一种稳定器自动旋转方法,包括:Embodiments of the present invention provide a method for automatically rotating a stabilizer, including:

通过clark变化将第一电机,第二电机和第三电机的三相对称状态变换为呈两相相隔90度状态;通过partk变化将所述第一电机,所述第二电机和所述第三电机呈相对定子静止的坐标变换为相对转子静止的坐标;Converting a three-phase symmetrical state of the first motor, the second motor, and the third motor to a phase of 90 degrees in two phases by a clark change; the first motor, the second motor, and the third by a partk change The motor is transformed into a coordinate that is stationary relative to the stator to a coordinate that is stationary relative to the rotor;

当接收到按键反馈的控制信号时,确定所述第一电机和所述第三电机的自动旋转速度,将所述第一电机和所述第三电机的目标速度设置为零,并确定所述第一电机和所述第三电机自动旋转时的初始位置和结束位置。Determining an automatic rotation speed of the first motor and the third motor when the control signal of the button feedback is received, setting a target speed of the first motor and the third motor to zero, and determining the An initial position and an end position when the first motor and the third motor are automatically rotated.

优选地,还包括有手持部件和手机固定夹具;Preferably, the method further includes a hand-held component and a mobile phone fixing fixture;

所述第三电机的定子与所述手持部件连接,所述第三电机的转子与所述第二电机的定子连接,所述第二电机的转子与所述第一电机的定子连接;所述第一电机的转子和所述手机固定夹具连接。a stator of the third motor is coupled to the hand-held component, a rotor of the third motor is coupled to a stator of the second motor, and a rotor of the second motor is coupled to a stator of the first motor; The rotor of the first motor is coupled to the handset fixture.

优选地,所述按键反馈的控制信号具体包括在设定时间段内收到按键反馈4次控制信号。Preferably, the control signal fed back by the button specifically includes receiving the button feedback 4 times of the control signal within a set period of time.

优选地,所述第一电机上设置有第一编码器,所述第一电机自动旋转时的初始位置通过所述第一磁编码器确定,所述第一电机自动旋转时的结束位置通过所述第一磁编码器确定;Preferably, the first motor is provided with a first encoder, an initial position when the first motor is automatically rotated is determined by the first magnetic encoder, and an end position when the first motor is automatically rotated passes through Determining the first magnetic encoder;

所述第三电机上设置有第三编码器,所述第三电机自动旋转时的初始位置通过所述第三磁编码器确定,所述第三电机自动旋转时的结束位置通过所述第三磁编码器确定。a third encoder is disposed on the third motor, an initial position when the third motor is automatically rotated is determined by the third magnetic encoder, and an end position when the third motor is automatically rotated passes the third The magnetic encoder is determined.

优选地,所述确定所述第一电机和所述第三电机自动旋转时的初始位置和结束位置之后,还包括:Preferably, after determining the initial position and the ending position when the first motor and the third motor are automatically rotated, the method further includes:

稳定器接收到启动信号后,按照设定的所述自动旋转速度从所述初始位置旋转到所述结束位置。After receiving the activation signal, the stabilizer rotates from the initial position to the end position according to the set automatic rotation speed.

本发明实施例提供了一种稳定器自动旋转方法,包括:通过clark变化将第一电机,第二电机和第三电机的三相对称状态变换为呈两相相隔90度状态;通过partk变化将所述第一电机,所述第二电机和所述第三电机呈相对定子静止的坐标变换为相对转子静止的坐标;当接收到按键反馈的控制信号时,确定所述第一电机和所述第三电机的自动旋转速度,将所述第一电机和所述第三电机的目标速度设置为零,并确定所述第一电机和所述第三电机自动旋转时的初始位置和结束位置。该方法中,通过clark变化和partk变化,可以使得设置在 三相电机从三相对称的状态变换为两两相隔90度的状态以及将呈相对定子静止的坐标变换为相对转子静止的坐标;再者,根据输入的第一电机和第三电机的旋转速度,初始位置和结束位置,可以使得第一电机和第三电机完成自动旋转,即解决现有技术中稳定器不能实现自动旋转,达到匀速的延时摄影拍摄的问题。An embodiment of the present invention provides a method for automatically rotating a stabilizer, comprising: transforming a three-phase symmetrical state of a first motor, a second motor, and a third motor into a phase of two degrees by a phase change by a clark change; The first motor, the second motor and the third motor are transformed into coordinates relative to the stationary state of the rotor when the coordinates of the stationary stator are stationary; when the control signal of the feedback of the button is received, the first motor and the first motor are determined The automatic rotation speed of the third motor sets the target speeds of the first motor and the third motor to zero, and determines an initial position and an end position when the first motor and the third motor are automatically rotated. In the method, by the change of the clark and the change of the partk, the three-phase motor can be changed from the state of three-phase symmetry to the state of being separated by two degrees by 90 degrees, and the coordinate of being stationary relative to the stator is converted into the coordinate of the relative rotor; According to the input rotational speeds of the first motor and the third motor, the initial position and the end position, the first motor and the third motor can be automatically rotated, that is, the stabilizer cannot be automatically rotated in the prior art to achieve uniform speed. The problem of time-lapse photography.

附图说明DRAWINGS

为了更清楚地说明本发明实施例或现有技术中的技术方案,下面将对实施例或现有技术描述中所需要使用的附图作简单地介绍,显而易见地,下面描述中的附图仅仅是本发明的一些实施例,对于本领域普通技术人员来讲,在不付出创造性劳动的前提下,还可以根据这些附图获得其他的附图。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 embodiments or the description of the prior art will be briefly described below. Obviously, the drawings in the following description are only It is a certain embodiment of the present invention, and other drawings can be obtained from those skilled in the art without any creative work.

图1为本发明实施例提供的稳定器结构示意图;FIG. 1 is a schematic structural diagram of a stabilizer according to an embodiment of the present invention;

图2为本发明实施例提供的稳定器控制结构示意图;2 is a schematic structural diagram of a stabilizer control structure according to an embodiment of the present invention;

图3为本发明实施例提供的一种稳定器自动旋转方法流程示意图。FIG. 3 is a schematic flowchart of a method for automatically rotating a stabilizer according to an embodiment of the present invention.

具体实施方式Detailed ways

下面将结合本发明实施例中的附图,对本发明实施例中的技术方案进行清楚、完整地描述,显然,所描述的实施例仅仅是本发明一部分实施例,而不是全部的实施例。基于本发明中的实施例,本领域普通技术人员在没有做出创造性劳动前提下所获得的所有其他实施例,都属于本发明保护的范围。The technical solutions in the embodiments of the present invention are clearly and completely described in the following with reference to the accompanying drawings in the embodiments of the present invention. It is obvious that the described embodiments are only a part of the embodiments of the present invention, but not all embodiments. All other embodiments obtained by those skilled in the art based on the embodiments of the present invention without creative efforts are within the scope of the present invention.

图1为本发明实施例提供的稳定器结构示意图;图2为本发明实施例提供的稳定器控制结构示意图。以下结合图1和图2,先介绍本发明实施例提供的稳定器的结构。FIG. 1 is a schematic structural diagram of a stabilizer according to an embodiment of the present invention; FIG. 2 is a schematic diagram of a control structure of a stabilizer according to an embodiment of the present invention. The structure of the stabilizer provided by the embodiment of the present invention will be described below with reference to FIG. 1 and FIG. 2 .

本发明实施例提供的稳定器,主要包括有手持部件1、手机固定夹具2和三个设置于手持部件1的顶部且在空间中呈正交分布的电机。具体地,三个电机分别为第一电机3、第二电机4以及第三电机5,其中,第三电机5的定子 与手持部件1连接,第三电机5的转子与第二电机4的定子连接,第二电机4的转子与第一电机3的定子连接;第一电机3的转子和手机固定夹具2连接。The stabilizer provided by the embodiment of the invention mainly comprises a hand-held component 1, a mobile phone fixing fixture 2 and three motors disposed on the top of the hand-held component 1 and distributed orthogonally in space. Specifically, the three motors are the first motor 3, the second motor 4, and the third motor 5, respectively, wherein the stator of the third motor 5 is connected to the hand-held component 1, the rotor of the third motor 5 and the stator of the second motor 4 Connected, the rotor of the second motor 4 is connected to the stator of the first motor 3; the rotor of the first motor 3 is connected to the handset fixing jig 2.

需要说明的是,在实际应用中,定子可理解为电机的固定部分,转子可理解为电机的转动部分,第一电机3用于控制手机固定夹具2俯仰运动,第二电机4用于控制手机固定夹具2横滚运动,第三电机5用于控制手机固定夹具2航向运动。由此,通过三个在空间中呈正交分布的电机,带动手机在三维空间中任意转动,方便多角度拍摄,让手机所拍摄的图像的取景角度保持相对一致。It should be noted that in practical applications, the stator can be understood as a fixed part of the motor, the rotor can be understood as the rotating part of the motor, the first motor 3 is used to control the pitching movement of the mobile phone fixing fixture 2, and the second motor 4 is used to control the mobile phone. The fixed jig 2 is roll-rolled, and the third motor 5 is used to control the heading movement of the mobile phone fixing jig 2. Thus, through three motors distributed in space, the mobile phone can be arbitrarily rotated in a three-dimensional space, which facilitates multi-angle shooting, so that the angle of view of the image captured by the mobile phone remains relatively uniform.

进一步地,三轴稳定器还包括按键控制电路6和电机控制电路7,按键控制电路6的信号输出端与电机控制电路7的信号输入端连接,电机控制电路7的信号输出端分别与第一电机3、第二电机4和第三电机5连接。由此,电机控制电路7根据按键控制电路6发送来的信号指令来控制三个电机的运动状态。Further, the three-axis stabilizer further includes a button control circuit 6 and a motor control circuit 7. The signal output end of the button control circuit 6 is connected to the signal input end of the motor control circuit 7, and the signal output ends of the motor control circuit 7 are respectively first. The motor 3, the second motor 4, and the third motor 5 are connected. Thereby, the motor control circuit 7 controls the motion states of the three motors in accordance with the signal command transmitted from the button control circuit 6.

需要说明的是,在实际应用中,第一电机3和第二电机4内部设置有角度限位,第一电机3和第二电机4可以在角度限位的范围内任意转动,第三电机5可以任意360度转动。三个电机的转轴优选为空心轴,空心轴内设置有滑环,使穿过电机的控制线或电线不会因为电机的转动而跟着转动。It should be noted that, in practical applications, the first motor 3 and the second motor 4 are internally provided with angular limits, and the first motor 3 and the second motor 4 can be arbitrarily rotated within the range of the angular limit, and the third motor 5 It can be rotated at any 360 degrees. The rotating shafts of the three motors are preferably hollow shafts, and the hollow shafts are provided with slip rings so that the control wires or wires passing through the motor do not follow the rotation of the motor.

进一步地,为手机固定夹具2提供足够转动空间,第三电机5的转子与第二电机4的定子通过第一延伸臂8连接;第二电机4的转子与第一电机3的定子通过第二延伸臂9连接;第一电机3的转子与手机固定夹具通过第三延伸臂10连接。其中,第一延伸臂8和第二延伸臂9均为L形,其垂直长度均大于第三延伸臂10的长度。Further, the mobile phone fixing jig 2 is provided with sufficient rotating space, the rotor of the third motor 5 and the stator of the second motor 4 are connected by the first extension arm 8; the rotor of the second motor 4 and the stator of the first motor 3 pass the second The extension arm 9 is connected; the rotor of the first motor 3 is connected to the handset fixing jig via the third extension arm 10. Wherein, the first extension arm 8 and the second extension arm 9 are both L-shaped, and their vertical lengths are greater than the length of the third extension arm 10.

图3为本发明实施例提供的一种稳定器自动旋转方法流程示意图;如图3所述,该方法主要包括:FIG. 3 is a schematic flowchart of a method for automatically rotating a stabilizer according to an embodiment of the present invention; as shown in FIG. 3, the method mainly includes:

步骤101,通过clark变化将第一电机,第二电机和第三电机的三相对称状态变换为呈两相相隔90度状态;通过partk变化将所述第一电机,所述第二电机和所述第三电机呈相对定子静止的坐标变换为相对转子静止的坐标;Step 101, transforming a three-phase symmetrical state of the first motor, the second motor, and the third motor into a state of being separated by two degrees by a phase change by a clark change; the first motor, the second motor, and the The third motor is transformed into a coordinate that is stationary relative to the stator to a coordinate that is stationary relative to the rotor;

步骤102,当接收到按键反馈的控制信号时,确定所述第一电机和所述第三电机的自动旋转速度,将所述第一电机和所述第三电机的目标速度设置为零,并确定所述第一电机和所述第三电机自动旋转时的初始位置和结束位置。需要说明的是,在实际应用中,稳定器包括三个通过连接臂连接的正交电机和手机固定夹具。Step 102, when receiving the control signal of the button feedback, determining an automatic rotation speed of the first motor and the third motor, setting a target speed of the first motor and the third motor to zero, and An initial position and an end position when the first motor and the third motor are automatically rotated are determined. It should be noted that, in practical applications, the stabilizer includes three orthogonal motors and a mobile phone fixing jig connected by a connecting arm.

在步骤101之前,即在稳定器的初始状态时,三个电机均为原始状态。通过clark变化将第一电机,第二电机和第三电机的三相对称状态变换为呈两相相隔90度状态,即将原来三个电机呈三相分别呈120度的对称状态变换为两相相隔90度的交流供电。Prior to step 101, i.e., in the initial state of the stabilizer, all three motors are in their original state. The three-phase symmetrical state of the first motor, the second motor and the third motor is transformed into two phases separated by 90 degrees by the change of the Clark, that is, the original three motors are transformed into two phases by a symmetrical state of three phases of 120 degrees. 90 degree AC power supply.

在实际应用中,可以通过下列公式(1)进行clark变化:In practical applications, the clark change can be made by the following formula (1):

Figure PCTCN2018077788-appb-000001
Figure PCTCN2018077788-appb-000001

进一步地,partk变化之前的三个电机的坐标都是在定子角度来看的,也就是静止坐标。在实际应用中,由于三相异步电动机是高耦合,非线性,多变量的系统,控制起来非常困难。矢量控制的思想就是要像控制直流电动机那样去控制三相电动机,可以分别对励磁电流和转矩电流分别控制。clark变换就是将三相变成两相,但这时候还是静止的,但是相对转子是旋转的;partk变化可以将相对定子静止的坐标变成相对转子静止的坐标。Further, the coordinates of the three motors before the partk change are at the stator angle, that is, the stationary coordinates. In practical applications, since the three-phase asynchronous motor is a highly coupled, nonlinear, multivariable system, it is very difficult to control. The idea of vector control is to control the three-phase motor like a DC motor, and separately control the excitation current and torque current. The Clark transform turns the three phases into two phases, but this time it is still, but it is rotating relative to the rotor; the partk change can change the coordinates of the stationary stator relative to the coordinates of the rotor.

在步骤102中,当确认三相电机发生了上述两个变换之后,且控制器收的了按键反馈的控制信号后,则可以对第三电机进行设置。In step 102, after confirming that the two-phase motor has undergone the above two transformations, and the controller receives the control signal of the button feedback, the third motor can be set.

需要说明的是,在实际应用中,按键反馈的控制信号可以是在设定的时间段内连续收的按键反馈了4次控制信号。在本发明实施例中,对设定的时间段不做具体的限定,同时,对按键反馈的几次控制信号也不做具体的限定。It should be noted that, in practical applications, the control signal of the button feedback may be that the button continuously received within the set time period feeds back the control signal 4 times. In the embodiment of the present invention, the set time period is not specifically limited, and at the same time, several control signals for the feedback of the button are not specifically limited.

在本发明实施例中,在三个电机上均设置有磁编码器,具体地,第一电机上设置有第一磁编码器,第二电机上设置有第二磁编码器,第三电机上设置有 第三磁编码器。In the embodiment of the present invention, a magnetic encoder is disposed on each of the three motors. Specifically, the first motor is provided with a first magnetic encoder, and the second motor is provided with a second magnetic encoder, and the third motor is disposed on the third motor. A third magnetic encoder is provided.

在本发明实施例中,控制器确定需要进行旋转时,需要先确定第一电机和第三电机的自动旋转速度,将第一电机和第三电机的目标速度设置为零,并确定第一电机和第三电机自动旋转时的初始位置和结束位置。In the embodiment of the present invention, when the controller determines that the rotation needs to be performed, it is necessary to first determine the automatic rotation speeds of the first motor and the third motor, set the target speeds of the first motor and the third motor to zero, and determine the first motor. And the initial position and end position when the third motor is automatically rotated.

需要说明的是,在具体应用中,第一电机和第三电机的初始位置需要根据手动设置,并在设置成功后,单击按键记录初始位置;同时,第一电机和第三电机的结束位置也需要根据手动设置,并在设置成功后,单击按键记录结束位置。在本发明实施例中,对初始位置和结束位置不做具体的限定。It should be noted that, in a specific application, the initial positions of the first motor and the third motor need to be manually set, and after the setting is successful, click the button to record the initial position; at the same time, the end positions of the first motor and the third motor It also needs to be set according to the manual, and after the setting is successful, click the button to record the end position. In the embodiment of the present invention, the initial position and the end position are not specifically limited.

综上所述,本发明实施例提供了一种稳定器自动旋转方法,包括:通过clark变化将第一电机,第二电机和第三电机的三相对称状态变换为呈两相相隔90度状态;通过partk变化将所述第一电机,所述第二电机和所述第三电机呈相对定子静止的坐标变换为相对转子静止的坐标;当接收到按键反馈的控制信号时,确定所述第一电机和所述第三电机的自动旋转速度,将所述第一电机和所述第三电机的目标速度设置为零,并确定所述第一电机和所述第三电机自动旋转时的初始位置和结束位置。该方法中,通过clark变化和partk变化,可以使得设置在三相电机从三相对称的状态变换为两两相隔90度的状态以及将呈相对定子静止的坐标变换为相对转子静止的坐标;再者,根据输入的第一电机和第三电机的旋转速度,初始位置和结束位置,可以使得第一电机和第三电机完成自动旋转,即解决现有技术中稳定器不能实现自动旋转,达到匀速的延时摄影拍摄的问题。In summary, the embodiment of the present invention provides a method for automatically rotating a stabilizer, comprising: transforming a three-phase symmetrical state of the first motor, the second motor, and the third motor into two phases separated by 90 degrees by a clark change. Converting, by the partk, the first motor, the second motor and the third motor to coordinate relative to the stator stationary to coordinates relative to the rotor; and when receiving the control signal of the button feedback, determining the Automatic rotation speeds of a motor and the third motor, setting a target speed of the first motor and the third motor to zero, and determining an initial when the first motor and the third motor are automatically rotated Location and end position. In the method, by the change of the clark and the change of the partk, the three-phase motor can be changed from the state of three-phase symmetry to the state of being separated by two degrees by 90 degrees, and the coordinate of being stationary relative to the stator is converted into the coordinate of the relative rotor; According to the input rotational speeds of the first motor and the third motor, the initial position and the end position, the first motor and the third motor can be automatically rotated, that is, the stabilizer cannot be automatically rotated in the prior art to achieve uniform speed. The problem of time-lapse photography.

本领域内的技术人员应明白,本发明的实施例可提供为方法、系统、或计算机程序产品。因此,本发明可采用完全硬件实施例、完全软件实施例、或结合软件和硬件方面的实施例的形式。而且,本发明可采用在一个或多个其中包含有计算机可用程序代码的计算机可用存储介质(包括但不限于磁盘存储器、CD-ROM、光学存储器等)上实施的计算机程序产品的形式。Those skilled in the art will appreciate that embodiments of the present invention can be provided as a method, system, or computer program product. Accordingly, the present invention may take the form of an entirely hardware embodiment, an entirely software embodiment, or a combination of software and hardware. Moreover, the invention can take the form of a computer program product embodied on one or more computer-usable storage media (including but not limited to disk storage, CD-ROM, optical storage, etc.) including computer usable program code.

本发明是参照根据本发明实施例的方法、设备(系统)、和计算机程序产品的流程图和/或方框图来描述的。应理解可由计算机程序指令实现流程图和/或方框图中的每一流程和/或方框、以及流程图和/或方框图中的流程和/或方框的结合。可提供这些计算机程序指令到通用计算机、专用计算机、嵌入式处理机或其他可编程数据处理设备的处理器以产生一个机器,使得通过计算机或其他可编程数据处理设备的处理器执行的指令产生用于实现在流程图一个流程或多个流程和/或方框图一个方框或多个方框中指定的功能的装置。The present invention has been described with reference to flowchart illustrations and/or block diagrams of methods, apparatus (system), and computer program products according to embodiments of the invention. It will be understood that each flow and/or block of the flowchart illustrations and/or FIG. These computer program instructions can be provided to a processor of a general purpose computer, special purpose computer, embedded processor, or other programmable data processing device to produce a machine for the execution of instructions for execution by a processor of a computer or other programmable data processing device. Means for implementing the functions specified in one or more of the flow or in a block or blocks of the flow chart.

这些计算机程序指令也可存储在能引导计算机或其他可编程数据处理设备以特定方式工作的计算机可读存储器中,使得存储在该计算机可读存储器中的指令产生包括指令装置的制造品,该指令装置实现在流程图一个流程或多个流程和/或方框图一个方框或多个方框中指定的功能。The computer program instructions can also be stored in a computer readable memory that can direct a computer or other programmable data processing device to operate in a particular manner, such that the instructions stored in the computer readable memory produce an article of manufacture comprising the instruction device. The apparatus implements the functions specified in one or more blocks of a flow or a flow and/or block diagram of the flowchart.

这些计算机程序指令也可装载到计算机或其他可编程数据处理设备上,使得在计算机或其他可编程设备上执行一系列操作步骤以产生计算机实现的处理,从而在计算机或其他可编程设备上执行的指令提供用于实现在流程图一个流程或多个流程和/或方框图一个方框或多个方框中指定的功能的步骤。These computer program instructions can also be loaded onto a computer or other programmable data processing device such that a series of operational steps are performed on a computer or other programmable device to produce computer-implemented processing for execution on a computer or other programmable device. The instructions provide steps for implementing the functions specified in one or more of the flow or in a block or blocks of a flow diagram.

尽管已描述了本发明的优选实施例,但本领域内的技术人员一旦得知了基本创造性概念,则可对这些实施例作出另外的变更和修改。所以,所附权利要求意欲解释为包括优选实施例以及落入本发明范围的所有变更和修改。While the preferred embodiment of the invention has been described, it will be understood that Therefore, the appended claims are intended to be interpreted as including the preferred embodiments and the modifications and

显然,本领域的技术人员可以对本发明进行各种改动和变型而不脱离本发明的精神和范围。这样,倘若本发明的这些修改和变型属于本发明权利要求及其等同技术的范围之内,则本发明也意图包含这些改动和变型在内。It is apparent that those skilled in the art can make various modifications and variations to the invention without departing from the spirit and scope of the invention. Thus, it is intended that the present invention cover the modifications and modifications of the invention

Claims (5)

  1. 一种稳定器自动旋转方法,其特征在于,包括:A method for automatically rotating a stabilizer, comprising:
    通过clark变化将第一电机,第二电机和第三电机的三相对称状态变换为呈两相相隔90度状态;通过partk变化将所述第一电机,所述第二电机和所述第三电机呈相对定子静止的坐标变换为相对转子静止的坐标;Converting a three-phase symmetrical state of the first motor, the second motor, and the third motor to a phase of 90 degrees in two phases by a clark change; the first motor, the second motor, and the third by a partk change The motor is transformed into a coordinate that is stationary relative to the stator to a coordinate that is stationary relative to the rotor;
    当接收到按键反馈的控制信号时,确定所述第一电机和所述第三电机的自动旋转速度,将所述第一电机和所述第三电机的目标速度设置为零,并确定所述第一电机和所述第三电机自动旋转时的初始位置和结束位置。Determining an automatic rotation speed of the first motor and the third motor when the control signal of the button feedback is received, setting a target speed of the first motor and the third motor to zero, and determining the An initial position and an end position when the first motor and the third motor are automatically rotated.
  2. 如权利要求1所述的方法,其特征在于,还包括有手持部件和手机固定夹具;The method of claim 1 further comprising a hand held component and a handset securing fixture;
    所述第三电机的定子与所述手持部件连接,所述第三电机的转子与所述第二电机的定子连接,所述第二电机的转子与所述第一电机的定子连接;所述第一电机的转子和所述手机固定夹具连接。a stator of the third motor is coupled to the hand-held component, a rotor of the third motor is coupled to a stator of the second motor, and a rotor of the second motor is coupled to a stator of the first motor; The rotor of the first motor is coupled to the handset fixture.
  3. 如权利要求1所述的方法,其特征在于,所述按键反馈的控制信号具体包括在设定时间段内收到按键反馈4次控制信号。The method according to claim 1, wherein the control signal fed back by the button specifically comprises receiving the button feedback 4 times of the control signal within a set period of time.
  4. 如权利要求1所述的方法,其特征在于,所述第一电机上设置有第一编码器,所述第一电机自动旋转时的初始位置通过所述第一磁编码器确定,所述第一电机自动旋转时的结束位置通过所述第一磁编码器确定;The method according to claim 1, wherein said first motor is provided with a first encoder, and an initial position when said first motor is automatically rotated is determined by said first magnetic encoder, said An end position when a motor is automatically rotated is determined by the first magnetic encoder;
    所述第三电机上设置有第三编码器,所述第三电机自动旋转时的初始位置通过所述第三磁编码器确定,所述第三电机自动旋转时的结束位置通过所述第三磁编码器确定。a third encoder is disposed on the third motor, an initial position when the third motor is automatically rotated is determined by the third magnetic encoder, and an end position when the third motor is automatically rotated passes the third The magnetic encoder is determined.
  5. 如权利要求1所述的方法,其特征在于,所述确定所述第一电机和所述第三电机自动旋转时的初始位置和结束位置之后,还包括:The method of claim 1, wherein the determining the initial position and the ending position when the first motor and the third motor are automatically rotated further comprises:
    稳定器接收到启动信号后,按照设定的所述自动旋转速度从所述初始位置旋转到所述结束位置。After receiving the activation signal, the stabilizer rotates from the initial position to the end position according to the set automatic rotation speed.
PCT/CN2018/077788 2018-01-05 2018-03-01 Automatic rotation method for stabilizer WO2019134249A1 (en)

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CN106061788A (en) * 2014-11-12 2016-10-26 深圳市大疆创新科技有限公司 Method and system for recycling motor power of movable object
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CN101860297A (en) * 2010-05-25 2010-10-13 东南大学 Permanent-magnet synchronous machine control system based on DSP (digital signal processor) control and method
CN103944478A (en) * 2014-04-08 2014-07-23 东北大学 Alternating-current excitation synchronous machine control device and method
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