Pan-tilt control method, pan-tilt control system, and pan-tilt device

Abstract

The invention provides a pan-tilt control method, a pan-tilt control system, and a pan-tilt device. The pan-tilt control method comprises the steps that the mock location information, the measuring position information and the simulated angular speed information of a Pitch axis of the pan tilt can be obtained in a real-time manner; a first position error between the mock location information of the Pitch axis and the measuring position information of the Pitch axis can be calculated; proportional differential calculation is conducted on the first position error, and compensation is conducted on the first position error by means of the simulated angular speed information at the same time / during the proportional differential calculation process; based on the result of the proportional differential calculation after compensation, a first torque control instruction for controlling the torque of a Pitch axis motor is generated so as to control the torque of the Pitch axis motor and enable the Pitch axis to reach to a position corresponding to the mock location information of the Pitch axis. The invention is advantageous in that a brush motor is adopted, and thereby the manual adjustmentof the Pitch shaft and / or Yaw visual angle by means of the pan-tilt device can be smooth, and the follow-up effect can be good.

Description

technical field [0001] The invention relates to the technical field of pan-tilt equipment, in particular to a pan-tilt control method, a pan-tilt control system and a pan-tilt equipment. Background technique [0002] At present, the main handheld pan / tilt on the market is the DC brushless pan / tilt. The DC brushless pan / tilt has the advantage of low noise, but the cost is too high, so the DC brushless pan / tilt cannot be popularized in the marketization process. many users. [0003] Moreover, the current brushless gimbals mainly rely on automatic camera tracking or fixed-angle shooting in terms of tracking and shooting. When tracking, they mainly track the heading angle, and the cost requirements are relatively high. Sometimes the response is not timely when tracking and shooting. , has certain limitations. Since the target or angle of view needs to be adjusted in real time, the brushless gimbal has certain limitations in the practicality of many shooting fields. For example...

AI Technical Summary

Problems solved by technology

[0004] The invention provides a pan-tilt control method, a pan-tilt control system, and a pan-tilt device, which solves the problems that the hand-held pan-tilt shakes, shakes or the target moving speed is too fast during the hand-held operation process, which affects the camera quality of the pan-tilt.

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