WO2021098238A1 - 一种车载摄像头云台伺服系统及控制方法 - Google Patents
一种车载摄像头云台伺服系统及控制方法 Download PDFInfo
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D3/00—Control of position or direction
- G05D3/12—Control of position or direction using feedback
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16M—FRAMES, CASINGS OR BEDS OF ENGINES, MACHINES OR APPARATUS, NOT SPECIFIC TO ENGINES, MACHINES OR APPARATUS PROVIDED FOR ELSEWHERE; STANDS; SUPPORTS
- F16M13/00—Other supports for positioning apparatus or articles; Means for steadying hand-held apparatus or articles
- F16M13/02—Other supports for positioning apparatus or articles; Means for steadying hand-held apparatus or articles for supporting on, or attaching to, an object, e.g. tree, gate, window-frame, cycle
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W60/00—Drive control systems specially adapted for autonomous road vehicles
- B60W60/001—Planning or execution of driving tasks
- B60W60/0015—Planning or execution of driving tasks specially adapted for safety
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W40/00—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models
- B60W40/10—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models related to vehicle motion
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16M—FRAMES, CASINGS OR BEDS OF ENGINES, MACHINES OR APPARATUS, NOT SPECIFIC TO ENGINES, MACHINES OR APPARATUS PROVIDED FOR ELSEWHERE; STANDS; SUPPORTS
- F16M11/00—Stands or trestles as supports for apparatus or articles placed thereon ; Stands for scientific apparatus such as gravitational force meters
- F16M11/02—Heads
- F16M11/04—Means for attachment of apparatus; Means allowing adjustment of the apparatus relatively to the stand
- F16M11/06—Means for attachment of apparatus; Means allowing adjustment of the apparatus relatively to the stand allowing pivoting
- F16M11/10—Means for attachment of apparatus; Means allowing adjustment of the apparatus relatively to the stand allowing pivoting around a horizontal axis
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16M—FRAMES, CASINGS OR BEDS OF ENGINES, MACHINES OR APPARATUS, NOT SPECIFIC TO ENGINES, MACHINES OR APPARATUS PROVIDED FOR ELSEWHERE; STANDS; SUPPORTS
- F16M11/00—Stands or trestles as supports for apparatus or articles placed thereon ; Stands for scientific apparatus such as gravitational force meters
- F16M11/02—Heads
- F16M11/04—Means for attachment of apparatus; Means allowing adjustment of the apparatus relatively to the stand
- F16M11/06—Means for attachment of apparatus; Means allowing adjustment of the apparatus relatively to the stand allowing pivoting
- F16M11/12—Means for attachment of apparatus; Means allowing adjustment of the apparatus relatively to the stand allowing pivoting in more than one direction
- F16M11/121—Means for attachment of apparatus; Means allowing adjustment of the apparatus relatively to the stand allowing pivoting in more than one direction constituted of several dependent joints
- F16M11/123—Means for attachment of apparatus; Means allowing adjustment of the apparatus relatively to the stand allowing pivoting in more than one direction constituted of several dependent joints the axis of rotation intersecting in a single point, e.g. by using gimbals
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16M—FRAMES, CASINGS OR BEDS OF ENGINES, MACHINES OR APPARATUS, NOT SPECIFIC TO ENGINES, MACHINES OR APPARATUS PROVIDED FOR ELSEWHERE; STANDS; SUPPORTS
- F16M11/00—Stands or trestles as supports for apparatus or articles placed thereon ; Stands for scientific apparatus such as gravitational force meters
- F16M11/02—Heads
- F16M11/18—Heads with mechanism for moving the apparatus relatively to the stand
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16M—FRAMES, CASINGS OR BEDS OF ENGINES, MACHINES OR APPARATUS, NOT SPECIFIC TO ENGINES, MACHINES OR APPARATUS PROVIDED FOR ELSEWHERE; STANDS; SUPPORTS
- F16M11/00—Stands or trestles as supports for apparatus or articles placed thereon ; Stands for scientific apparatus such as gravitational force meters
- F16M11/20—Undercarriages with or without wheels
- F16M11/2007—Undercarriages with or without wheels comprising means allowing pivoting adjustment
- F16M11/2035—Undercarriages with or without wheels comprising means allowing pivoting adjustment in more than one direction
- F16M11/2071—Undercarriages with or without wheels comprising means allowing pivoting adjustment in more than one direction for panning and rolling
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- G—PHYSICS
- G02—OPTICS
- G02B—OPTICAL ELEMENTS, SYSTEMS OR APPARATUS
- G02B7/00—Mountings, adjusting means, or light-tight connections, for optical elements
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W2420/00—Indexing codes relating to the type of sensors based on the principle of their operation
- B60W2420/40—Photo, light or radio wave sensitive means, e.g. infrared sensors
- B60W2420/403—Image sensing, e.g. optical camera
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W2422/00—Indexing codes relating to the special location or mounting of sensors
- B60W2422/10—Indexing codes relating to the special location or mounting of sensors on a suspension arm
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16M—FRAMES, CASINGS OR BEDS OF ENGINES, MACHINES OR APPARATUS, NOT SPECIFIC TO ENGINES, MACHINES OR APPARATUS PROVIDED FOR ELSEWHERE; STANDS; SUPPORTS
- F16M2200/00—Details of stands or supports
- F16M2200/04—Balancing means
- F16M2200/041—Balancing means for balancing rotational movement of the head
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16M—FRAMES, CASINGS OR BEDS OF ENGINES, MACHINES OR APPARATUS, NOT SPECIFIC TO ENGINES, MACHINES OR APPARATUS PROVIDED FOR ELSEWHERE; STANDS; SUPPORTS
- F16M2200/00—Details of stands or supports
- F16M2200/04—Balancing means
- F16M2200/044—Balancing means for balancing rotational movement of the undercarriage
Definitions
- the invention belongs to the technical field of vehicle-mounted cameras, and specifically relates to a vehicle-mounted camera pan/tilt servo system and a control method.
- the purpose of the present invention is to overcome the shortcomings of the prior art and provide a vehicle-mounted camera pan/tilt servo system and control method, which improves the dynamic performance and anti-disturbance performance of the real-time control of the camera's three-axis pan/tilt servo system, which is an excellent performance for unmanned vehicles. Security is guaranteed.
- the present invention provides the following solutions:
- a vehicle-mounted camera pan/tilt servo system includes a camera three-axis pan/tilt and a servo control device;
- the three-axis camera head includes a pitch motor, a roll motor and a yaw motor, a roll arm (1), a pitch arm (4), a roll arm (5), a head mount (7), and a camera (11). ), a pitch axis bearing (12) and a counterweight (13);
- the pitch motor includes a pitch motor stator (2) and a pitch motor rotor (3);
- the yaw motor includes a yaw motor stator (6) and a horizontal Pendulum motor rotor (8);
- the roll motor includes a roll motor stator (9) and a roll motor rotor (10);
- the camera (11) is fixedly connected to the pitch motor rotor (3) via the pitch arm (4), and the pitch motor rotor (3) is used to realize movement in the pitch direction; the counterweight (13) is threadedly connected to the pitch motor rotor (3).
- On the arm (4) it is used to compensate the gravitational imbalance moment caused by the weight of the pitch motor in the roll direction; the pitch arm (4) is restrained by the pitch axis bearing (12); the pitch motor stator (2)
- the roll arm (1) is fixedly connected with the roll motor rotor (10), and the roll motor rotor (10) is used to realize the movement in the roll direction; the roll motor stator (9) is connected via the roll arm (5)
- the yaw motor rotor (8) is fixedly connected; the yaw motor rotor (8) is used to realize the movement in the yaw direction; the yaw motor stator (6) is fixedly connected to the pan/tilt top seat (7), so Said pan/tilt top seat (7) is fixed on one
- the servo control device includes:
- Inertial measurement unit installed on the camera (11), used to measure the angular velocity and angular displacement information of the camera (11), and generate accurate angular displacement information by using the quaternion complementary filtering algorithm;
- the actuator control unit is used to generate the switching sequence information of the drive bridge IGBT in three directions according to the position sensors inside the pitch motor, the yaw motor and the roll motor; based on the target voltage information, generate the drive bridge IGBT in the three directions Duty cycle, through the drive bridge to realize the open loop control of the motor speed in the three directions of pitch, roll and yaw;
- the angular velocity loop control unit builds an angular velocity loop controller model based on the actuator control unit.
- the angular velocity loop control model is optimized by the particle swarm algorithm parameters and combined with the target angular velocity information based on the actual angular velocity information obtained by the inertial measurement unit to generate the target Voltage information, and sending the target voltage information to the actuator control unit;
- the angular displacement loop control unit is used to construct an angular displacement loop controller model based on the optimized angular velocity loop controller model; the angular displacement loop controller model is optimized by the particle swarm algorithm parameters and is based on the target set by the user
- the rotation angle information and the actual angular displacement information obtained by the inertial measurement unit are used to generate target angular velocity information and send it to the angular velocity loop control unit to realize dual closed-loop control.
- the pitch arm (4) is provided with a thread
- the counterweight (13) is provided with a threaded hole, and the thread cooperates with the threaded hole to realize the connection between the tilt arm (4) and the counterweight (13).
- the position of the counterweight (13) on the tilt arm (4) is adjustable.
- the inertial measurement unit includes: an accelerometer for measuring the angular displacement value of the camera;
- Gyroscope used to measure the instantaneous angular velocity value of the camera
- the complementary calculation unit is used to perform a quaternion complementary calculation between the angular velocity value measured by the gyroscope and the angle value measured by the accelerometer to obtain an accurate instantaneous angle value.
- the pitch motor, roll motor and yaw motor are all brushless DC motors.
- a control method of a vehicle-mounted camera pan/tilt servo system includes the following steps:
- step S1 specifically includes:
- the instantaneous angular velocity obtained by the gyroscope is used to solve the quaternion update equation to obtain the quaternion of the instantaneous angular velocity:
- q 0 , q 1 , q 2 and q 3 represent the quaternion of instantaneous angular velocity, with Is the derivative of the quaternion;
- ⁇ x , ⁇ y and ⁇ z are the x-axis component, y-axis component and z-axis component of the instantaneous angular velocity, respectively;
- T 11 , T 12 , T 13 , T 21 , T 22 , T 23 , T 31 , T 32 , and T 33 are elements of the quaternion matrix
- the attitude angle is determined as:
- ⁇ is the pitch angle
- ⁇ is the roll angle
- ⁇ is the yaw angle
- ⁇ p is the pitch angle in the accurate angular displacement information
- ⁇ p1 is the pitch angle value obtained by the accelerometer
- ⁇ r is the roll angle in the accurate angular displacement information
- ⁇ r1 is the roll angle value obtained by the accelerometer
- ⁇ is the time constant.
- step S2 includes the following sub-steps:
- the input of the entire model is the drive voltage signal, that is, the target voltage information u output by the angular velocity loop control unit, which satisfies:
- step S3 includes:
- v id k w ⁇ v id k-1 +c 1 ⁇ r 1 ⁇ (pbest id -x id k-1 )+c 2 ⁇ r 2 ⁇ (gbest d -x id k-1 ) (7)
- v id k and v id k-1 represent the particle velocity of the d-th dimension of the i-th particle of the k-th iteration and the k-1th iteration, respectively, and x id k and x id k-1 respectively represent the d-th dimension of the particle
- pbest id represents the individual historical optimal position of the d-th dimension of the i-th particle in the k-1 iteration
- gbest d represents the global optimal position of the dth dimension in the k-1 iteration process
- the fitness function of the angular velocity loop controller is the weighted sum of the overshoot of the angular velocity loop controller and the absolute value of the error.
- the inertia weight of the overshoot term is 0.009
- the inertia weight of the absolute error term is 1, as shown below :
- y fit is the fitness function value of the angular velocity loop controller
- w 1 is the weight of the overshoot term of the angular velocity loop controller
- w 2 is the weight of the absolute value of the angular velocity loop controller error
- ⁇ is the angular velocity loop control
- e is the error of the angular velocity loop controller
- x max is the maximum position limit
- v max is the maximum speed limit
- step S4 includes:
- e 0 is the output error
- k represents time k
- y(k) is the output of the entire system at time k
- z 1 (k), z 2 (k), and z 3 (k) are the observed state vector at time k
- Z 1 (k+1), z 2 (k+1), z 3 (k+1) are the observed state vector updated at k+1
- ts is the step size
- ⁇ 01 , ⁇ 02 , and ⁇ 03 are respectively
- the first error coefficient, the second error coefficient and the third error coefficient of the extended state observer ESO, ⁇ and ⁇ 0 are the exponential coefficient and the threshold coefficient of the fal function
- b is the control variable coefficient
- ⁇ 01 , ⁇ 02 , ⁇ 02 , ⁇ and ⁇ are determined by experience
- b is the parameter to be optimized and determined by optimization method
- fal( ⁇ ) is the fal function
- u is the control quantity output by the angular displacement loop controller
- v(k) is the control target at time k
- x 1 (k) are the tracking control targets at time k
- x 1 (k+1), x 2 (k+1) are k+
- the tracking control target updated at time 1 ts is the step size
- fhan( ⁇ ) is the fhan function
- the expression of fhan is shown in equation (28):
- x is the input state vector
- r 0, and h 0 is a function of the first set and the second parameter fhan setting parameters
- d, a 0, a 1 , a 2, s y, a and s a are fhan
- the first intermediate parameter, the second intermediate parameter, the third intermediate parameter, the fourth intermediate parameter, the fifth intermediate parameter, the sixth intermediate parameter, and the seventh intermediate parameter of the function; r 0 , h 0 are determined by experience;
- NLSEF nonlinear state error feedback controller
- u 0 K p ⁇ fal(e 1 ,a 1 , ⁇ 0 )+K d ⁇ fal(e 2 ,a 2 , ⁇ 0 ) (29)
- u is the control quantity output by the angular displacement loop controller
- e 1 , e 2 are the observed state vector errors
- e 1 x 1 (k+1)-z 1 (k+1)
- e 2 x 2 (k+1)-z 2 (k+1)
- a 1 , a 2 are two specific values of the exponential coefficient ⁇ of the fal function
- a 1 , a 2 , ⁇ and b 0 are determined by experience
- K p and K d are the proportional coefficient and the differential coefficient respectively, which need to be optimized
- the fitness function of the angular displacement loop controller is the weighted sum of the overshoot of the angular displacement loop controller and the absolute value of the error of the angular displacement loop controller, the inertia weight of the overshoot term is 0.009, and the absolute value of the error term is The inertia weight is 1, as shown below:
- w' y 1 is a right angular overshoot loop controller item weight
- w '2 error is the absolute value of the angular velocity loop controller term heavy weight
- ⁇ ' is The overshoot of the angular velocity loop controller, e'is the error of the angular velocity loop controller
- the Simulink model is called based on the sim() command, the fitness function is calculated, the particle velocity is updated, and the particle position is updated; finally the maximum number of iterations is reached, and the values of K p , K d , and b are obtained.
- the values of K p , K d , and b are obtained.
- the beneficial effect of the present invention is that the present invention constructs a double closed-loop control frame with the angular displacement ring as the outer ring and the angular velocity ring as the inner ring.
- NLSEF non-linear error feedback control rate
- EEO extended state observer
- the parameters of the angular displacement loop controller are tuned according to the method of combining experience and optimization, and the weighted sum of the overshoot ⁇ and the absolute error
- is used as the fitness function of the particle swarm optimization. This method reduces the angular displacement loop controller
- the complexity of parameter setting ensures that the servo system achieves the corresponding control effect.
- Figure 1 is a schematic diagram of the structure of the camera's three-axis pan/tilt
- Figure 2 is a schematic diagram of the principle of the servo control device
- FIG. 3 is a flowchart of an embodiment of a control method of a vehicle-mounted camera pan/tilt servo system of the present invention
- Figure 4 is a structural diagram of the angular displacement loop controller of the present invention.
- FIG. 5 is a flowchart of another implementation manner of a control method of a vehicle-mounted camera pan/tilt servo system of the present invention.
- 1-roll arm 2-pitch motor stator, 3-pitch motor rotor, 4-pitch arm, 5-yaw arm, 6-yaw motor stator, 7-gimbal top seat, 8-yaw Motor rotor, 9-roll motor stator, 10-roll motor rotor, 11-camera, 12-pitch axis bearing, 13-counterweight.
- the purpose of the present invention is to overcome the shortcomings of the prior art and provide a vehicle-mounted camera pan/tilt servo system and control method, which improves the dynamic performance and anti-disturbance performance of the real-time control of the camera's three-axis pan/tilt servo system, which is an excellent performance for unmanned vehicles. Security is guaranteed.
- a vehicle-mounted camera pan/tilt servo system includes a camera three-axis pan/tilt and a servo control device;
- the three-axis camera head includes a pitch motor, a roll motor and a yaw motor, a roll arm 1, a pitch arm 4, a yaw arm 5, a pan/tilt top seat 7, a camera 11, a pitch axis bearing 12, and a counterweight. 13;
- the pitch motor includes a pitch motor stator 2 and a pitch motor rotor 3;
- the yaw motor includes a yaw motor stator 6 and a yaw motor rotor 8;
- the roll motor includes a roll motor stator 9 and a roll motor Rotor 10;
- the camera 11 is fixedly connected to the pitch motor rotor 3 via the pitch arm 4, and the pitch motor rotor 3 is used to realize movement in the pitch direction; the counterweight 13 is threadedly connected to the pitch arm 4 to compensate for the roll direction The upper gravitational unbalanced moment caused by the weight of the pitch motor; the pitch arm 4 is constrained by the pitch axis bearing 12; the pitch motor stator 2 is fixedly connected to the roll motor rotor 10 via the roll arm 1, and the roll The motor rotor 10 is used to realize the movement in the roll direction; the roll motor stator 9 is fixedly connected to the yaw motor rotor 8 via the yaw arm 5; the yaw motor rotor 8 is used to realize the movement in the yaw direction; The stator 6 of the pendulum motor is fixedly connected to the top seat 7 of the pan/tilt head, and the top seat 7 of the pan/tilt head is fixed close to the inner rearview mirror on the top of the car, so that the entire three-
- the servo control device includes:
- Inertial measurement unit installed on the camera 11, used to measure the angular velocity and angular displacement information of the camera 11, and generate accurate angular displacement information by using the quaternion complementary filtering algorithm;
- the actuator control unit is used to generate drive bridge IGBT switching sequence information in three directions according to the position sensors inside the pitch motor, yaw motor and roll motor; generate the drive bridge based on the target voltage information in the three directions IGBT duty cycle, through the drive bridge to achieve open-loop control of the motor speed in the three directions of pitch, roll and yaw;
- the angular velocity loop control unit builds an angular velocity loop controller model based on the actuator control unit.
- the angular velocity loop control model is optimized by the particle swarm algorithm parameters and combined with the target angular velocity information based on the actual angular velocity information obtained by the inertial measurement unit to generate a motor
- the duty cycle information of the driving voltage PWM signal is transmitted to the driving bridge of the actuator control unit;
- the angular displacement loop control unit is used to construct an angular displacement loop controller model based on the optimized angular velocity loop controller model; the angular displacement loop controller model is optimized by the particle swarm algorithm parameters and is based on the target set by the user
- the rotation angle information and the actual angular displacement information obtained by the inertial measurement unit are used to generate the target angular velocity and send it to the angular velocity loop controller model to achieve dual closed-loop control.
- the actuator control unit mainly includes an encoder and a drive bridge.
- the encoder is used to generate a drive bridge in three directions according to the position sensor inside the pitch motor, yaw motor, and roll motor.
- IGBT switching sequence information based on the target voltage information in the three directions, generates the drive bridge IGBT duty cycle; the drive bridge is used to realize the open loop control of the motor speed in the three directions of pitch, roll and yaw.
- the pitch arm 4 is provided with a thread
- the counterweight 13 is provided with a threaded hole.
- the thread cooperates with the threaded hole to realize the connection between the tilt arm 4 and the counterweight 13 and make The position of the counterweight 13 on the pitch arm 4 is adjustable.
- the inertial measurement unit includes: an accelerometer, used to measure the angular displacement value of the camera; a gyroscope, used to measure the instantaneous angular velocity value of the camera; a complementary calculation unit, used to compare the angular velocity value measured by the gyroscope to the angle measured by the accelerometer Complementary calculation of quaternion value is performed to obtain the accurate instantaneous angle value.
- the pitch motor, roll motor and yaw motor are all brushless DC motors.
- the three directions of pitch, roll, and yaw are defined as: the pitch axis is located in the horizontal plane, and the direction is perpendicular to the forward direction of the vehicle; the roll axis is located in the horizontal plane Inside, the direction points to the forward direction of the vehicle; the yaw axis is perpendicular to the horizontal plane of the geodetic coordinate system.
- the connection mode of each structure is: the fixed connection mode of the pitch motor stator 2, the roll motor stator 9, the yaw motor stator 6 and the corresponding fixed connection structure is 4 screws.
- the fixing method of the pitch motor rotor 3, the roll motor rotor 10, the yaw motor rotor 7 and the corresponding fixing structure is 4 screws.
- the fixed connection between the pan-tilt top seat 7 and the top of the car is 4 screws.
- the way of exporting the motor harness is as follows: the tilt motor harness is led out through the hole on the roll arm 1, the roll motor harness is led out through the hole 5 on the yaw arm, and the yaw motor harness is led out through the hole on the top base 7 of the pan/tilt.
- the invention also provides a method for controlling the pan/tilt servo system of the vehicle-mounted camera.
- control method of the on-board camera pan/tilt servo system includes the following steps:
- the step S1 specifically includes:
- the instantaneous angular velocity obtained by the gyroscope is used to solve the quaternion update equation to obtain the quaternion of the instantaneous angular velocity:
- q 0 , q 1 , q 2 and q 3 represent the quaternion of instantaneous angular velocity, with Is the derivative of the quaternion;
- ⁇ x , ⁇ y and ⁇ z are the x-axis component, y-axis component and z-axis component of the instantaneous angular velocity, respectively;
- T 11 , T 12 , T 13 , T 21 , T 22 , T 23 , T 31 , T 32 , and T 33 are elements of the quaternion matrix
- the attitude angle is determined as:
- ⁇ is the pitch angle
- ⁇ is the roll angle
- ⁇ is the yaw angle
- ⁇ p is the pitch angle in the accurate angular displacement information
- ⁇ p1 is the pitch angle value obtained by the accelerometer
- ⁇ r is the roll angle in the accurate angular displacement information
- ⁇ r1 is the roll angle value obtained by the accelerometer
- ⁇ is the time constant.
- the step S2 includes the following sub-steps:
- the input of the entire model is the drive voltage signal, that is, the target voltage information u output by the angular velocity loop control unit, which satisfies:
- the step S3 includes:
- v id k w ⁇ v id k-1 +c 1 ⁇ r 1 ⁇ (pbest id -x id k-1 )+c 2 ⁇ r 2 ⁇ (gbest d -x id k-1 ) (7)
- v id k and v id k-1 represent the particle velocity of the d-th dimension of the i-th particle of the k-th iteration and the k-1th iteration, respectively, and x id k and x id k-1 respectively represent the d-th dimension of the particle
- pbest id represents the individual historical optimal position of the d-th dimension of the i-th particle in the k-1 iteration
- gbest d represents the global optimal position of the dth dimension in the k-1 iteration process
- the fitness function of the angular velocity loop controller is the weighted sum of the overshoot of the angular velocity loop controller and the absolute value of the error.
- the inertia weight of the overshoot term is 0.009
- the inertia weight of the absolute error term is 1, as shown below :
- y fit is the fitness function value of the angular velocity loop controller
- w 1 is the weight of the overshoot term of the angular velocity loop controller
- w 2 is the weight of the absolute value of the angular velocity loop controller error
- ⁇ is the angular velocity loop control
- e is the error of the angular velocity loop controller
- x max is the maximum position limit
- v max is the maximum speed limit
- the step S4 includes: as shown in FIG. 4, the angular displacement loop controller of the present invention includes: an expanded state observer ESO, a tracking differentiator TD, and a nonlinear state error feedback controller NLSEF.
- e 0 is the output error
- k represents time k
- y(k) is the output of the entire system at time k
- z 1 (k), z 2 (k), and z 3 (k) are the observed state vector at time k
- Z 1 (k+1), z 2 (k+1), z 3 (k+1) are the observed state vectors updated at k+1
- ts is the step size
- ⁇ And ⁇ are coefficients determined through experience, where ⁇ is 0.5, b is the parameter to be optimized; fal( ⁇ ) is the fal function, and u is the control quantity output by the angular displacement loop controller;
- v(k) is the control target at time k
- x 1 (k) are the tracking control targets at time k
- x 1 (k+1), x 2 (k+1) are k+
- the tracking control target updated at time 1 ts is the step size
- fhan( ⁇ ) is the fhan function
- the expression of fhan is shown in equation (28):
- r 0 , h 0 are coefficients determined through experience
- NLSEF nonlinear state error feedback controller
- u 0 K p ⁇ fal(e 1 ,a 1 , ⁇ 0 )+K d ⁇ fal(e 2 ,a 2 , ⁇ 0 ) (29)
- u is the control quantity output by the angular displacement loop controller
- e 1 , e 2 are the observed state vector errors
- e 1 x 1 (k+1)-z 1 (k+1)
- e 2 x 2 (k+1)-z 2 (k+1)
- a 1 , a 2 , ⁇ , and b 0 are coefficients determined through experience
- K p and K d are proportional coefficients and differential coefficients, respectively, which need to be optimized
- the fitness function of the angular displacement loop controller is the weighted sum of the overshoot of the angular displacement loop controller and the absolute value of the error of the angular displacement loop controller, the inertia weight of the overshoot term is 0.009, and the absolute value of the error term is The inertia weight is 1, as shown below:
- w' y 1 is a right angular overshoot loop controller item weight
- w '2 error is the absolute value of the angular velocity loop controller term heavy weight
- ⁇ ' is The overshoot of the angular velocity loop controller, e'is the error of the angular velocity loop controller
- the Simulink model is called based on the sim() command, the fitness function is calculated, the particle velocity is updated, and the particle position is updated; finally the maximum number of iterations is reached, and the values of K p , K d , and b are obtained.
- the values of K p , K d , and b are obtained.
- a method for controlling a pan/tilt servo system of a vehicle-mounted camera includes the following steps:
- A. Use the inertial measurement unit installed on the camera 11 to measure the angular velocity and angular displacement information of the camera 11, and use the quaternion complementary filtering algorithm to generate accurate angular displacement information;
- the invention constructs a double closed-loop control frame with the angular displacement loop as the outer loop and the angular velocity loop as the inner loop.
- NLSEF non-linear error feedback control rate
- EEO extended state observer
- the parameters of the angular displacement loop controller are tuned according to the method of combining experience and optimization, and the weighted sum of the overshoot ⁇ and the absolute error
- is used as the fitness function of the particle swarm optimization. This method reduces the angular displacement loop controller
- the complexity of parameter setting ensures that the servo system achieves the corresponding control effect.
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Abstract
Description
Claims (9)
- 一种车载摄像头云台伺服系统,其特征在于:包括摄像头三轴云台和伺服控制装置;所述摄像头三轴云台包括俯仰电机、侧倾电机、横摆电机、侧倾臂(1)、俯仰臂(4)、横摆臂(5)、云台顶座(7)、摄像头(11)、俯仰轴轴承(12)和配重块(13);所述俯仰电机包括俯仰电机定子(2)和俯仰电机转子(3);所述横摆电机包括横摆电机定子(6)和横摆电机转子(8);所述侧倾电机包括侧倾电机定子(9)和侧倾电机转子(10);所述摄像头(11)经俯仰臂(4)与俯仰电机转子(3)固连,所述俯仰电机转子(3)用于实现俯仰方向的运动;所述配重块(13)螺纹连接在俯仰臂(4)上,用于补偿侧倾方向上由于俯仰电机自重所造成的重力不平衡力矩;所述俯仰臂(4)由俯仰轴轴承(12)进行约束;所述俯仰电机定子(2)经侧倾臂(1)与侧倾电机转子(10)固连,所述侧倾电机转子(10)用于实现侧倾方向的运动;侧倾电机定子(9)经横摆臂(5)与横摆电机转子(8)固连;所述横摆电机转子(8)用于实现横摆方向的运动;所述横摆电机定子(6)与云台顶座(7)固连,所述云台顶座(7)在车内顶部的内后视镜固定位置的一侧进行固定,从而将整个摄像头三轴云台固连到车内顶部;所述俯仰电机、侧倾电机和横摆电机内部均设置有位置传感器;所述伺服控制装置包括:惯性测量单元,安装于摄像头(11)上,用于测量摄像头(11)的角速度和角位移信息,并利用四元数互补滤波算法生成精确角位移信息;执行机构控制单元,用于依据俯仰电机、横摆电机、侧倾电机内部的位置传感器,生成三个方向上驱动电桥IGBT开关顺序信息;基于目标电压信息,生成三个方向上驱动电桥IGBT占空比,通过驱动电桥实现俯仰、侧倾、横摆三个方向电机转速的开环控制;角速度环控制单元,基于执行机构控制单元,构建角速度环控制器模型,所述角速度环控制模型经粒子群算法参数优化后,根据惯性测量单元得到的实际角速度信息,与目标角速度信息结合,生成目标电压信息,并将所述目标电压信息发送给所述执行机构控制单元;角位移环控制单元,用于在优化后的角速度环控制器模型基础上,构 建角位移环控制器模型;所述角位移环控制器模型经粒子群算法参数优化后,根据用户设定的目标转角信息与惯性测量单元得到的实际角位移信息,生成目标角速度信息发送给角速度环控制单元,实现双闭环控制。
- 根据权利要求1所述的一种车载摄像头云台伺服系统,其特征在于:所述俯仰臂(4)上设置有螺纹,配重块(13)上设置有螺纹孔,所述螺纹与螺纹孔配合,实现俯仰臂(4)与配重块(13)的连接,并使得配重块(13)在俯仰臂(4)上位置可调。
- 根据权利要求1所述的一种车载摄像头云台伺服系统,其特征在于:所述惯性测量单元包括:加速度计,用于测量摄像头的角位移值;陀螺仪,用于测量摄像头的瞬时角速度值;互补计算单元,用于将陀螺仪测量的角速度值与加速度计测量的角度值进行四元数互补计算,得到精确的瞬时角度值。
- 根据权利要求1所述的一种车载摄像头云台伺服系统,其特征在于:所述俯仰电机、侧倾电机和横摆电机均为无刷直流电机。
- 根据权利要求1~4中任意一项所述的一种车载摄像头云台伺服系统的控制方法,其特征在于:包括以下步骤:S1.利用安装于摄像头(11)上的惯性测量单元,测量摄像头(11)的角速度和角位移信息,并利用四元数互补滤波算法生成精确角位移信息;S2.根据摄像头三轴云台的机械结构,结合俯仰电机、侧倾电机和横摆电机参数;分别在俯仰、侧倾、横摆三个方向进行Simulink建模,依据电机内部的位置传感器,生成驱动电桥IGBT开关顺序信息;基于目标电压信息,生成驱动电桥IGBT占空比,通过驱动电桥实现俯仰、侧倾、横摆三个方向电机转速的开环控制,得到执行机构控制模型,即俯仰电机、侧倾电机和横摆电机的Simulink控制模型;S3.基于执行机构控制模型,在Simulink中构建角速度环控制器模型,采用粒子群优化算法迭代优化角速度环控制器模型的参数;参数优化后的角速度环控制器根据惯性测量单元得到的实际角速度信息,结合目标角速度信息,生成目标电压信息;S4.基于角速度环控制器模型,在Simulink中构建角位移环控制器模 型,利用粒子群优化方法对角位移环控制器模型进行参数优化;参数优化后的角位移环控制器模型根据用户设定的目标转角信息与惯性测量单元得到的实际角位移信息,生成目标角速度信息发送给角速度环控制器模型,实现双闭环控制。
- 根据权利要求5所述的一种车载摄像头云台伺服系统的控制方法,其特征在于:所述步骤S1,具体包括:分别将陀螺仪获得的瞬时角速度,采用求解四元数更新方程的方式,获得瞬时角速度的四元数:其中,四元数更新方程为:根据瞬时角速度的四元数,确定被测物体坐标系b向地面坐标系R转化的四元数矩阵:根据所述四元数矩阵,确定姿态角为:其中,θ为俯仰角,γ为侧倾角,ψ为横摆角;利用低通滤波器处理加速度计得到的角度值,利用高通滤波器处理陀 螺仪解算出的姿态角,然后加权求和得到精确角位移信息;其中,β p为精确角位移信息中的俯仰角,β p1为加速度计得到的俯仰角度值,β p2=θ为陀螺仪解算得到的俯仰角,β r为精确角位移信息中的侧倾角,β r1为加速度计得到的侧倾角度值,β r2=γ为陀螺仪解算得到的侧倾角,τ为时间常数。
- 根据权利要求5所述的一种车载摄像头云台伺服系统的控制方法,其特征在于:所述步骤S2包括以下子步骤:S201.在SolidWorks中建立摄像头三轴云台的三维模型,配置三维模型材料,求出三根旋转轴上负载的转动惯量;S202.在Simulink中搭建执行机构控制模型,配置包含相间电感、线电阻、极对数、转轴粘性系数的电机参数和负载转动惯量;S203.在Simulink中搭建编码器模块,基于位置传感器信息计算IGBT电桥开关顺序;S204.在Simulink中搭建PWM模块和恒压电源模块;S205.整个模型的输入为驱动电压信号,即角速度环控制单元输出的目标电压信息u,其满足:即得到构建的执行机构控制模型,其中,U max为最大电压限值。
- 根据权利要求5所述的一种车载摄像头云台伺服系统的控制方法,其特征在于:所述步骤S3包括:S301.在Simulink中构建角速度环控制器模型,并将角速度环控制器模型保存为.mdl格式,在.mdl格式的角速度环控制器模型中设定阶跃目标角速度,将角速度环控制器参数作为模型输入量,角速度环控制器模型的阶跃目标角速度的响应角速度作为模型输出量;所述角速度环控制器参数包括角速度环控制器的比例系数K' p和积分系数K iS302.在Matlab中建立PSO主函数,选取粒子维数为2,粒子数目为50,最大迭代次数为100,在粒子速度更新公式(7)中,i表示第i个粒子, k表示迭代次数,d表示维度,x表示粒子位置,pbest和gbest分别表示个体历史最优位置和全局最优位置,c 1、c 2分别为个体学习率和群体学习率,r 1、r 2为[0,1],w为惯性权重,w从0.9至0.4线性递减,提高搜索效率并降低陷入局部最优的几率;v id k=w×v id k-1+c 1×r 1×(pbest id-x id k-1)+c 2×r 2×(gbest d-x id k-1) (7)x id k=x id k-1+v id k-1 (8)其中,v id k和v id k-1分别表示第k次迭代和第k-1次迭代的第i个粒子的第d个维度的粒子速度,x id k和x id k-1分别表示第k次迭代和第k-1次迭代的第i个粒子的第d个维度的粒子位置;pbest id表示k-1次迭代过程中第i个粒子的第d个维度的个体历史最优位置,gbest d表示k-1次迭代过程中第d个维度的全局最优位置;S303.角速度环控制器的适应度函数为角速度环控制器的超调量与误差绝对值的加权和,超调量项的惯性权重为0.009,误差绝对值项的惯性权重为1,如下所示:y fit=w 1×δ+∫w 2×|e|×dt (9)其中,y fit为角速度环控制器的适应度函数值,w 1为角速度环控制器的超调量项的权重,w 2为角速度环控制器的误差绝对值项的权重,δ为角速度环控制器的超调量,e为角速度环控制器的误差;S304.每次迭代中基于sim()命令调用.mdl格式的角位移环控制器模型,获得每个粒子对应的角位移环控制器模型的阶跃目标角速度的响应转角,根据每个粒子对应的角位移环控制器模型的阶跃目标角速度的响应转角,利用公式(9)计算每个例子的适应度函数的值,利用公式(7)对粒子速度进行更新,进而利用公式(8)对粒子位置进行更新;粒子位置和速度应当满足公式(10)和公式(11)限定的约束条件;其中,x max为最大位置限值,v max为最大速度限值;最终达到最大迭代次数,得到最大迭代次数时的全局最优位置,作为速度环控制器参数的最优解。
- 根据权利要求5所述的一种车载摄像头云台伺服系统的控制方法,其特征在于:所述步骤S4包括:S401.构建扩张状态观测器ESO,二阶ESO离散系统的基本过程如下:e 0=z 1(k)-y(k) (12)z 1(k+1)=z 1(k)+ts×(z 2(k)-β 01×e 0) (13)z 2(k+1)=z 2(k)+ts×(z 3(k)-β 02×fal(e 0,0.5,δ 0)+b×u) (14)z 3(k+1)=z 3(k)-ts×β 03×fal(e 0,0.25,δ 0) (15)其中,e 0为输出误差,k代表k时刻,y(k)为整个系统k时刻的输出量,z 1(k)、z 2(k)、z 3(k)为k时刻的观测状态向量,z 1(k+1)、z 2(k+1)、z 3(k+1)为k+1时刻更新的观测状态向量,ts为步长,β 01、β 02、β 03分别为扩张状态观测器ESO的第一误差系数、第二误差系数和第三误差系数、α和δ 0分别为fal函数的指数系数和阈值系数,b为控制量系数;fal(·)为fal函数,u为角位移环控制器输出的控制量;S402.构建跟踪微分器TD,基于fhan建立的离散系统TD如下:fh=fhan(x 1(k)-v(k),x 2(k),r 0,h 0) (17)x 1(k+1)=x 1(k)+ts×x 2(k) (18)x 2(k+1)=x 2(k)+ts×fh (19)其中,v(k)为k时刻的控制目标,x 1(k)、x 2(k)为k时刻的跟踪控制目标,x 1(k+1)、x 2(k+1)为k+1时刻更新的跟踪控制目标,ts为步长,fhan(·)为fhan函数,fhan的表达式如式(28)所示:fhan的表达式如下所示:d=r 0×h 0 2 (20)a 0=h 0×x 2(k) (21)y=x 1(k)-v(k)+a 0 (22)a=(a 0+y(k)-a 2)×s y+a 2 (26)其中x为输入的状态向量,r 0和h 0为fhan函数的第一设定参数和第二设定参数,d、a 0、a 1、a 2、s y、a和s a分别为fhan函数的第一中间参数、第二中间参数、第三中间参数、第四中间参数、第五中间参数、第六中间参数和第七中间参数;S403.构建非线性状态误差反馈控制器NLSEF,非线性状态误差反馈控制器的离散过程如下:u 0=K p×fal(e 1,a 1,δ 0)+K d×fal(e 2,a 2,δ 0) (29)其中,u 0为角位移环控制器的中间参数,u为角位移环控制器输出的控制量,e 1、e 2为观测的两个状态向量误差,e 1=x 1(k+1)-z 1(k+1),e 2=x 2(k+1)-z 2(k+1),a 1、a 2为fal函数的指数系数α的两个具体的取值,b 0为通过经验确定的系数;K p、K d分别为比例系数和微分系数,需要进行优化;S404.将步骤401-403建立的角位移环控制器的Simulink模型保存为.mdl格式,获得.mdl格式的角位移环控制器模型,.mdl格式的角位移环控制器模型的输入为角位移环控制器模型的参数,输出为阶跃目标角位移的响应角位移;所述角位移环控制模型的参数包括角位移环的比例系数K p、微分系数K d和控制量系数b;S405.在Matlab中建立PSO主函数,选取粒子维数为2,粒子数目为50,最大迭代次数为100,粒子速度更新公式的惯性权重从0.9至0.4线性递减,提高搜索效率并降低陷入局部最优的几率;S406.角位移环控制器的适应度函数为角位移环控制器的超调量与角位移环控制器的误差绝对值的加权和,超调量项的惯性权重为0.009,误差绝对值项的惯性权重为1,如下所示:y' fit=w′ 1×δ'+∫w′ 2×|e'|×dt (31)其中,y' fit为角位移环控制器的适应度函数值,w′ 1为角速度环控制器 的超调量项的权重,w' 2为角速度环控制器的误差绝对值项的权重,δ'为角速度环控制器的超调量,e'为角速度环控制器的误差;S407.每次迭代中基于sim()命令调用Simulink模型,计算适应度函数的值,对粒子速度进行更新,进而对粒子位置进行更新;最终达到最大迭代次数,得到K p、K d、b的最优解。
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