Micrometer precise holder motion control device and method

Abstract

The invention discloses a micrometer precise holder motion control device. The control device is composed of a shell, and an orientation driving component, a pitching driving part, a north part, a control part, a network communication part and a power supply management part arranged in the shell. The invention further discloses a control method of the control device. The control method comprises path planning, motion control and motion compensation. Through the path planning, a motion path is segmented, and for different path segments, different motion control algorithms are adopted: at the beginning, a relatively low starting speed is adopted for preventing the step-out of the motor, and by loading a driving force, a maximum speed is reached within the shortest time; at a high-speed motion stage, a uniform motion is performed at the maximum motion speed to guarantee the minimum motion time, so that the motion control time of a micrometer holder is optimized; and finally for a pitchingmotion, a lost motion position error of the holder caused by the influence of a load torque is eliminated through a compensation algorithm, so that the motion control precision of the holder is improved.

Description

technical field [0001] The invention belongs to the technical field of pan-tilt motion control, and in particular relates to a precise control device for the position of a thousand-division pan-tilt and a control method thereof. Background technique [0002] The PTZ is a common equipment in the security industry. With the development of the security industry, it is not only necessary to monitor the target in a timely manner, but also to accurately locate, measure and quickly track the target. [0003] Most of the traditional security pan / tilts use a repeat positioning accuracy of only 0.1°. Basically, they are driven by stepping motors, and the step accuracy and repeat positioning accuracy are achieved through the indexing method. The motion accuracy of the gimbal cannot be further improved; and the use of a torque motor will make the price of the micrometer gimbal high. At the same time, the driving force is always balanced with the resistance after starting up, so that the...

AI Technical Summary

Problems solved by technology

[0003] Most of the traditional security pan / tilts use a repeat positioning accuracy of only 0.1°. Basically, they are driven by stepping motors, and the step accuracy and repeat positioning accuracy are achieved through the indexing method. The motion accuracy of the gimbal cannot be further improved; and the use of a torque motor will make the price of the micrometer gimbal high. At the same time, the driving force is always balanced with the resistance after starting up, so that the power consumption is large, which is not suitable for high performance ratio. Required security industry

[0004] With the development of the security industry, the visible light cameras currently used in border security monitoring, fishery security monitoring and other fields use high-definition lenses with a focal length of 500mm or above, and thermal imaging cameras use lenses with a focal length of 100mm or above, and most of the working distances reach or far At 4km, if a gimbal with a repeat positioning accuracy of 0.1° is used, the positioning error for a family car or a fishing boat of about 5m is about 6.8m. If laser ranging is used, it is impossible to quickly aim at the target, and it is impossible to accurately measure the distance

At the same time, for a target of 4km, the error of 6.8m cannot satisfy the precise positioning of the target

[0005] In the position control of the micrometer pan / tilt, due to sudden changes in acceleration or speed, especially when it is close to stopping, the vibration of the movement will affect the end position of the pan / tilt stop, thereby affecting the positioning accuracy of the micrometer pan / tilt; in addition, due to The influence of the load on the gimbal itself, after gradually reducing the speed, as the driving force drops to zero, the backlash error of the transmission system will cause a deviation between the final position and the current control position, according to the backlash processing And the size of the assembly accuracy, the error is larger than the error value of motion jitter, and the error value is not a constant value

Due to the above reasons, the motion accuracy of the gimbal cannot reach 0.005 degrees or less

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