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A dynamic surface control method and controller without speed feedback of a steering gear pan/tilt

A dynamic surface control and speedless technology, applied in the direction of using feedback control, etc., can solve the problems of increasing the size and weight of the pan/tilt, increasing the tracking adjustment time, reducing the reliability of the system, etc., achieving light weight, small size, The effect of high-precision angle control

Active Publication Date: 2016-11-30
STATE GRID INTELLIGENCE TECH CO LTD
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  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

There are two ways to obtain the rotational angular velocity, one is to directly differentiate the rotational angle, there is a large error, resulting in longer tracking adjustment time; the other is through the angular velocity meter, which will introduce peripheral circuits and increase The size and weight of the pan / tilt reduce the reliability of the system

Method used

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  • A dynamic surface control method and controller without speed feedback of a steering gear pan/tilt
  • A dynamic surface control method and controller without speed feedback of a steering gear pan/tilt
  • A dynamic surface control method and controller without speed feedback of a steering gear pan/tilt

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Embodiment Construction

[0035] The present invention is described in detail below in conjunction with accompanying drawing:

[0036] Such as figure 1 As shown, a dynamic surface control method without speed feedback of a steering gear gimbal, comprising the following steps:

[0037] Step 1: Calculation of camera azimuth and pitch angle

[0038] The coordinates in the inertial system of the monitoring target point and the UAV or ground robot equipped with the steering gear pan / tilt are obtained by infrared sensors (indoor) or GPS (outdoor). 1 =[x 1 ,y 1 ,z 1 ] T and P 2 =[x 2 ,y 2 ,z 2 ] T , then the optical axis vector coordinate of the camera pointing to the target point is P e for:

[0039] P e =P 1 -P 2 (1)

[0040] Then the coordinates of the optical axis vector in the mobile robot body coordinate system are

[0041] P b =RP e =[x c ,y c ,z c ] T (2)

[0042] Here R represents the Rodrigues rotation matrix, which is defined as follows:

[0043] R ...

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Abstract

The invention discloses a no-speed feedback dynamic surface control method for a steering engine pan-tilt. The method comprises camera azimuth angle and pitch angle calculation, steering engine model construction and analysis, high-gain observer design, dynamic surface control input voltage design, control parameter design and adjustment, and tracking performance examination according to a simulation experiment. The control method does not need to add an extra angular speed hardware measurement circuit, control input design is simple, control parameters are easy to adjust, and steering engine control precision is high.

Description

technical field [0001] The invention relates to the technical field of automatic control, in particular to a speed feedback-free dynamic surface control method and controller of a steering gear pan-tilt. Background technique [0002] By mounting the camera on the drone or ground robot, it is possible to monitor specific targets and detect dangerous signals in the environment. Due to the movement and shaking of drones flying or ground robots, the camera must be installed on the gimbal. The PTZ controller can adjust the position of the camera so that it is always aimed at the monitoring target. The common two-degree-of-freedom omnidirectional gimbal can not only rotate left and right but also tilt up and down. According to the different driving mechanisms, the pan / tilt can be divided into AC type and DC type. Steering gear pan / tilt is essentially a DC type pan / tilt, which uses steering gear as the driving mechanism, and has the advantages of simple structure, light weight, ...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): G05D3/12
Inventor 冯华金海陈刚钱平韩磊李冬松张斌谭树蕾王化玲
Owner STATE GRID INTELLIGENCE TECH CO LTD
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