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Method for solving singular problem when all axes of three-axis stabilization system approach to horizontal plane

A three-axis stable, horizontal plane technology, applied in the field of shooting, can solve problems such as abnormal work

Inactive Publication Date: 2018-09-28
广州市景沃电子有限公司
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  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0005] A method to solve the problem of abnormal operation when all axes of the three-axis stabilization system are close to the horizontal plane. It is described by coordinate system and parameter symbols. The relevant definitions are as follows

Method used

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  • Method for solving singular problem when all axes of three-axis stabilization system approach to horizontal plane
  • Method for solving singular problem when all axes of three-axis stabilization system approach to horizontal plane
  • Method for solving singular problem when all axes of three-axis stabilization system approach to horizontal plane

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Embodiment Construction

[0020] Combine below Figure 1 to Figure 3 , the specific embodiment of the present invention is described in further detail, and the following examples are used to illustrate the present invention, but are not used to limit the scope of the present invention.

[0021] Such as figure 1 Shown, the platform axis angle defined as the inner surround y F The rotation angle of the axis relative to the platform body, the definition domain is [-π,+π);

[0022] Inner shaft angle defined as the outer surround x F The rotation angle of the shaft relative to the inner ring, the definition domain is [-π,+π);

[0023] External axis angle defined as the handle around z F The rotation angle of the shaft relative to the outer ring, the definition domain is [-π,+π);

[0024] Platform system p: fixed to the platform body, y p axis and y F Parallel, when the angles of each axis of the gimbal are 0, x F axis and x p parallel, x p 、y p and z p Form a right-handed Cartesian coordin...

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Abstract

The invention discloses a method for solving a singular problem when all axes of a three-axis stabilization system approach to a horizontal plane. A mathematic method is employed for regulating and controlling the stabilization of three axes, thereby guaranteeing that a platform body cannot vibrate or turn over when all axes of the three-axis stabilization system approach to the horizontal plane,and guaranteeing that an object carried by the platform body is not damaged. The pitching and lateral rolling of the platform body still can remain stable, so an acceptable stabilization result can bestill obtained in many occasions in a singular working state.

Description

technical field [0001] The invention belongs to the field of photographing, and in particular relates to a method for solving the singular problem that each axis of a three-axis stabilization system is close to a horizontal plane. Background technique [0002] The three-axis stabilization system generally consists of a table body, an inner ring, an outer ring and a base. The table body and the inner ring are hinged through the inner ring shaft; the inner ring and the outer ring are hinged through the inner shaft; and the outer ring and the base are hinged through the outer shaft. An attitude sensor combination for measuring the inclination and orientation of the platform relative to the earth is installed on the platform. An electric motor is respectively installed on the platform shaft, the inner shaft and the outer shaft. A shaft angle sensor is respectively installed on the body shaft, the inner shaft and the outer shaft. [0003] When the axis of the three-axis stabil...

Claims

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Application Information

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IPC IPC(8): G05D3/12
CPCG05D3/12
Inventor 赵长山吴颖群李播刘英俊
Owner 广州市景沃电子有限公司
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