Pan-tilt motor shaft rotating frame angle acquisition method and device, storage medium, electronic equipment and unmanned aerial vehicle

A technology of rotating frame and acquisition method, which is applied in the field of unmanned aerial vehicles, can solve the problems such as inconvenient pan/tilt miniaturization, occupying space volume, etc., and achieve the effect of solving the axial space volume and meeting the miniaturization requirements

Pending Publication Date: 2020-04-14
PRODRONE TECH (SHENZHEN) CO LTD
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

Installing the angle measurement sensor on the motor shaft will occupy the space volume of the rotation axis, which is not convenient for the miniaturization of the pan / tilt

Method used

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  • Pan-tilt motor shaft rotating frame angle acquisition method and device, storage medium, electronic equipment and unmanned aerial vehicle
  • Pan-tilt motor shaft rotating frame angle acquisition method and device, storage medium, electronic equipment and unmanned aerial vehicle
  • Pan-tilt motor shaft rotating frame angle acquisition method and device, storage medium, electronic equipment and unmanned aerial vehicle

Examples

Experimental program
Comparison scheme
Effect test

Embodiment 1

[0033] like Figure 2-3 As shown, the pan-tilt motor shaft rotation frame angle acquisition method in the present invention comprises the following steps:

[0034] S1, installing the first inertial attitude information acquisition unit for acquiring the inertial attitude information of the motor stator end at the motor stator end, and installing the second inertial attitude information acquisition unit for acquiring the motor rotor end inertial attitude information at the motor rotor end; wherein , the inertial attitude information of the motor stator end and the inertial attitude information of the motor rotor end include gyroscope data and accelerometer data, etc., and the first inertial attitude information acquisition unit and / or the second inertial attitude information acquisition unit is an IMU (Inertial Measurement Unit) sensor;

[0035] S2. According to the attitude calculation algorithm, the inertial attitude information of the motor stator end and the inertial attit...

Embodiment 2

[0039] This embodiment provides a pan / tilt motor shaft rotation frame angle acquisition device that implements the method for acquiring the pan / tilt motor shaft rotation frame angle described in Embodiment 1, such as Figures 6a-6b shown, which includes:

[0040] The first inertial attitude information acquisition unit 1, which is installed on the motor stator end 100, is used to acquire the inertial attitude information of the motor stator end;

[0041] The second inertial attitude information acquisition unit 2, which is installed on the motor rotor end 200, is used to acquire the inertial attitude information of the motor rotor end;

[0042]A peripheral interface 3, which is electrically connected to the first inertial attitude information acquisition unit 1 and the second inertial attitude information acquisition unit 2, to realize data transmission or interaction;

[0043] And a calculation unit 4, which is connected to the peripheral interface 3, and obtains the inertia...

Embodiment 3

[0045] This embodiment provides a readable storage medium, on which a computer program is stored. When the computer program is executed, the method for obtaining the angle of the pan / tilt motor shaft rotation frame described in the first embodiment is implemented.

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Abstract

The invention discloses a pan-tilt motor shaft rotating frame angle obtaining method and device, a storage medium, electronic equipment and an unmanned aerial vehicle. The pan-tilt motor shaft rotating frame angle obtaining method comprises the steps that S1, installing a first inertia attitude information obtaining unit at the motor stator end, and installing a second inertia attitude informationobtaining unit at the motor rotor end; S2, respectively and correspondingly calculating a first attitude angle theta 1 and a second attitude angle theta 2 of the first inertial attitude information obtaining unit and the second inertial attitude information obtaining unit along the radial direction of the motor rotating shaft according to an attitude calculation algorithm; and S3, calculating theabsolute value |theta| of the angle of a rotating frame of a motor shaft according to the first attitude angle theta 1 and the second attitude angle theta 2. The IMU sensors are installed at the stator end and the rotor end of the motor respectively for algorithm operation, so that the frame angle of the motor rotating shaft can be obtained without installing an angle measurement sensor on the motor rotating shaft, and the pan-tilt miniaturization requirement is met.

Description

technical field [0001] The invention relates to the field of unmanned aerial vehicles, in particular to a method for acquiring the angle of a pan-tilt motor shaft rotation frame, an acquisition device, a storage medium, electronic equipment, and an unmanned aerial vehicle. Background technique [0002] During the control process of the UAV gimbal stabilization loop, it is necessary to use the motor shaft rotation frame angle to realize the gyro rate decoupling, especially the brushless DC motor control needs to use the motor shaft frame angle for vector control, such as figure 1 As shown, the motor rotating shaft frame angle θ is the angle formed by the motor rotor and the stator after the motor rotating shaft 100 rotates. At present, the method of obtaining the angle of the rotating frame of the motor shaft on the market is mainly by directly obtaining the angle measurement sensor (including potentiometer, magnetic encoder, photoelectric encoder, resolver and other related ...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G05D13/62
CPCG05D13/62
Inventor 黄立李攀薛源顾兴刘华斌王效杰
Owner PRODRONE TECH (SHENZHEN) CO LTD
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