Method for controlling tri-axis stabilization tripod head with brushless motors by using single IMU sensors

A brushless motor and sensor technology, applied in the direction of control using feedback, can solve the problems of few detection schemes, complex, unable to provide absolute angle, etc., to achieve the effect of improving efficiency and simple structure

Inactive Publication Date: 2015-05-27
GUILIN FEIYU TECH CORP LTD
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Problems solved by technology

The early detection did not have an encoder, so the motor had no torque torque. The current detection has an encoder and a

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  • Method for controlling tri-axis stabilization tripod head with brushless motors by using single IMU sensors

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Embodiment Construction

[0013] The present invention will be further described below in conjunction with the accompanying drawings and embodiments.

[0014] refer to figure 1 , the present invention uses a single IMU sensor to realize a method for three-axis brushless motor stabilized pan-tilt control. There are three control boards in the covers of the pitch axis, roll axis and direction axis respectively, and each board has a Magnetic encoders, they respectively measure the angles of the pitch axis motor (1), roll axis motor (2) and direction axis motor (3), which can realize the calculation of the angular rate of the three-axis gimbal motor and the calculation of attitude state information. The attitude board (4) is connected to the camera (5), which is the gimbal carrier. There are MEMS three-axis gyroscopes and three-axis accelerometers on the attitude board, which can realize the angular rate feedback control of the three-axis gimbal motor and the attitude angle of the three-axis gimbal feedba...

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Abstract

The invention discloses a method for controlling tri-axis stabilization tripod head with brushless motors by using single IMU sensors. The tri-axis stabilization tripod head can stabilize a target object, namely a carrier to be stabilized, through detection and control of a pitch axis, a horizontally rolling axis and a direction axis; an MEMS gyroscope connected with the carrier to be stabilized is adopted to detect the angular rates of the tri-axis stabilization tripod head, so that the motor angular rate feedback control of the tripod head can be realized; the MEMS gyroscope and an accelerometer, which are connected with the carrier to be stabilized, are adopted to realize attitude angle feedback control of the tripod head; magnetic encoders are adopted for calculating the motor angles of the tripod head, so as to calculate the motor angle rates of the tripod head and posture state information. Therefore, axis exchange balancing treatment and control can be realized by using the magnetic encoders and the IMU posture information. The method is relatively simple, and higher in efficiency, and adopts less devices; the tripod head can be simple and compact in structure.

Description

technical field [0001] The invention relates to a method for controlling a three-axis stabilizing platform, in particular to a method for realizing the control of a three-axis brushless motor stabilizing the platform by using a single IMU sensor. Background technique [0002] The gimbal is a device to realize the attitude control of the target object. According to the number of axes, it can be divided into two-axis gimbal and three-axis gimbal. The basic working principle of the gimbal is: send a command signal - the motor rotates according to the command - the target object realizes the attitude adjustment. The three-axis stabilized gimbal is specially used in the gimbal field. It stabilizes the target object, that is, the stabilized carrier, through the detection and control of its pitch, roll and direction. The system consists of two parts: detection and control. The early detection did not have an encoder, so the motor had no torque and torque. The current detection has...

Claims

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Application Information

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IPC IPC(8): G05D3/12
Inventor 魏承赟
Owner GUILIN FEIYU TECH CORP LTD
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