Method for eliminating PTZ (pan/tilt/zoom) heading axis drift and motor electromagnetic interference
A technology of motor magnetic field and heading, which is applied in the field of aircraft stabilization gimbal heading angle control, handheld three-axis stabilization gimbal, and can solve problems such as gyroscope heading axis drift
Pending Publication Date: 2017-06-13
JIANGNAN UNIV
View PDF0 Cites 5 Cited by
- Summary
- Abstract
- Description
- Claims
- Application Information
AI Technical Summary
Problems solved by technology
[0002] In the current stabilization equipment, the heading angle is often affected by the magnetic field of the motor, or the accelerometer cannot calculate the heading angle. Often only the gyroscope is used to calculate the attitude of the heading axis of the stabilization equipment. The result is that it can satisfy The requirement of dynamic response, but in the static situation, the zero drift of the gyroscope often causes serious drift of the heading axis, so a method that can eliminate the influence of the motor magnetic field and solve the zero drift of the gyroscope is needed
Method used
the structure of the environmentally friendly knitted fabric provided by the present invention; figure 2 Flow chart of the yarn wrapping machine for environmentally friendly knitted fabrics and storage devices; image 3 Is the parameter map of the yarn covering machine
View moreImage
Smart Image Click on the blue labels to locate them in the text.
Smart ImageViewing Examples
Examples
Experimental program
Comparison scheme
Effect test
Embodiment Construction
[0010] The present invention will be further described below in conjunction with accompanying drawing and embodiment figure 1 For the system structure diagram:, figure 2 It is a specific device used in a specific implementation. figure 2 The middle controller 1 is a digital signal processor DSP of Ti Company, the motor-driven controller 2 is a 32-bit single-chip microcomputer of ST Company, the motor rotor position detection sensor 3 is a magnetic rotary encoder or rotary potentiometer, the brushless motor 4, and the motor The drive circuit 5 is a three-way full-bridge drive built with MOS tubes, a three-axis gyroscope 6 placed on the rotor, and a three-axis accelerometer and three-axis magnetometer 7 placed at the end of the connecting handle of the motor base.
[0011] The controller in this example uses DSP, which has the characteristics of strong digital signal processing capability. The drive circuit is a common classic brushless motor drive circuit. The controller of ...
the structure of the environmentally friendly knitted fabric provided by the present invention; figure 2 Flow chart of the yarn wrapping machine for environmentally friendly knitted fabrics and storage devices; image 3 Is the parameter map of the yarn covering machine
Login to View More PUM
Login to View More Abstract
The device involved in the method includes a brushless motor, a motor rotor angle sensor, a processor, a motor drive, a three-axis magnetometer, a three-axis gyroscope, a three-axis accelerometer, and a motor base with a shaft handle. The method includes: the three-axis magnetometer and the three-axis accelerometer are placed under the shaft handle away from the influence range of the strong magnetic field of the motor, the three-axis gyroscope is fixedly placed on the motor rotor, the motor rotor angle sensor collects the position of the motor rotor, and the data of each sensor is transmitted to the processor , through the method of the present invention, the control of the yaw axis of the pan / tilt is realized, the drift of the yaw axis and the influence of the motor magnetic field are eliminated, the effect of gyroscope stabilization is more perfectly reflected, and the length of the yaw axis of the traditional three-axis stabilized pan / tilt is made up There is a serious drift problem with time.
Description
technical field [0001] The invention relates to a control and attitude calculation method of a stabilization device, and is commonly used in the fields of hand-held three-axis stabilization pan-tilt and aircraft stabilization pan-tilt heading angle control. Background technique [0002] In the current stabilization equipment, the heading angle is often affected by the magnetic field of the motor, or the accelerometer cannot calculate the heading angle. Often only the gyroscope is used to calculate the attitude of the heading axis of the stabilization equipment. The result is that it can satisfy The requirement of dynamic response, but in the static situation, the zero drift of the gyroscope often causes serious drift of the heading axis. Therefore, a method that can eliminate the influence of the motor magnetic field and solve the zero drift of the gyroscope is needed. Contents of the invention [0003] The object of the present invention is to propose a method for calcula...
Claims
the structure of the environmentally friendly knitted fabric provided by the present invention; figure 2 Flow chart of the yarn wrapping machine for environmentally friendly knitted fabrics and storage devices; image 3 Is the parameter map of the yarn covering machine
Login to View More Application Information
Patent Timeline
Login to View More IPC IPC(8): G05D3/20H02P6/16
CPCG05D3/20H02P6/16H02P2203/03
Inventor 樊启高张鹏松庄祥鹏孙艳张威高寒静
Owner JIANGNAN UNIV