Pan-tilt motor signal processing method and system, electronic equipment and storage medium
By setting two linear Hall sensors on the stator of the gimbal motor and combining RC filtering with the fastest control synthesis function of the discrete system, the problem of live broadcast quality caused by gimbal motor signal noise was solved, achieving higher control accuracy and dynamic response speed, and ensuring the stability and real-time performance of the live broadcast.
Patent Information
- Application Number
- CN202511544836.2
- Authority / Receiving Office
- CN · China
- Patent Type
- Applications(China)
- Current Assignee / Owner
- Filing Date
- 2025-10-28
- Publication Date
- 2026-01-27
AI Technical Summary
During the live stream, sensor signal noise from the gimbal motor resulted in poor image quality, especially in high-speed tracking scenarios, causing issues such as camera tracking delay, image jitter, and target loss.
Two linear Hall sensors are installed on the stator of the gimbal motor. The Hall signals are filtered and noise is extracted by RC filtering and the fastest control synthesis function of the discrete system. The electrical angle is calculated by combining nonlinear differential equations to achieve an adaptive balance between noise suppression and phase lag.
It effectively reduces the electrical angle error of the gimbal motor, improves the gimbal control accuracy and dynamic response speed, and ensures the stability and real-time performance of the live broadcast.
Smart Images
Figure CN121409084A_ABST
Abstract
Description
Technical Field
[0001] This application relates to the field of signal processing technology, specifically to a signal processing method, system, electronic device, and storage medium for a gimbal motor. Background Technology
[0002] With the booming development of the live-streaming e-commerce industry, viewers' demands for live-streaming image quality are increasing, making the performance of gimbal motors, which are crucial for precise camera tracking and real-time response, particularly important. In a gimbal motor system, sensors, as core components, are responsible for collecting key information such as motor position and outputting sinusoidal signals. However, the complex electromagnetic environment of a live-streaming event and the mechanical vibrations generated during gimbal motor operation often cause distortion of the sinusoidal signal waveform, thus affecting signal accuracy.
[0003] Currently, the industry commonly uses low-pass filtering algorithms to process signals. While this approach effectively suppresses high-frequency noise interference, it introduces significant phase lag. In high-speed tracking applications of live streaming equipment, this phase lag leads to a decrease in the dynamic response performance of the motor control system. This manifests as camera tracking delay, image jitter, and even target loss, ultimately severely impacting the smoothness of the live stream and the viewer's experience. Therefore, it is urgent to address the problem of poor live stream image quality caused by sensor signal noise from the gimbal motor during live streaming. Summary of the Invention
[0004] In view of the above-mentioned shortcomings of the prior art, this application provides a signal processing method, system, electronic device and storage medium for gimbal motors, which effectively solves the problem of poor live broadcast image quality caused by sensor signal noise of gimbal motors during live broadcasts.
[0005] In a first aspect, this application provides a signal processing method for a gimbal motor, wherein the stator of the gimbal motor is equipped with two linear Hall sensors, and the method includes: Hall signals from the two linear Hall sensors were collected respectively; The two Hall signals are processed to obtain two Hall voltage signals; Based on the fastest control synthesis function of discrete system, noise is extracted from the two Hall voltage signals to obtain two standard voltage signals; The electrical angle of the gimbal motor is calculated based on the two standard voltage signals.
[0006] In an optional implementation, the expression for noise extraction is as follows:
[0007] In the above formula, express kThe standard voltage signal after constant noise filtering. express k The standard voltage signal after noise removal at time +1 express k The differential component of the Hall voltage signal at time t. express k The differential component of the Hall voltage signal at time +1 h It indicates that the distance from the walk is long. express The input increment, r express The maximum value.
[0008] In an optional implementation, the expression for the fastest control synthesis function of the discrete system is as follows:
[0009] in:
[0010] In the above formula, fsun This represents the fastest control synthesis function for a discrete system. sat () represents the saturation function. y This represents the overall error signal. This represents the signal error before and after noise filtering. Indicates intermediate variables. Indicate intermediate variables The function, sign () represents a symbolic function. x r This represents the input Hall voltage signal. fix () represents the floor function.
[0011] In an optional implementation, the two linear Hall sensors are spaced 120 degrees apart.
[0012] In an optional implementation, the expression for calculating the electrical angle of the gimbal motor based on the two standard voltage signals is as follows:
[0013] In the above formula, This indicates the electrical angle of the gimbal motor. atan2 () represents inverse trigonometric functions. This indicates the first standard voltage signal. This refers to the second standard voltage signal.
[0014] In an optional implementation, signal processing is performed on the two Hall signals to obtain two Hall voltage signals, including: The two Hall signals are filtered to obtain two filtered Hall signals. Voltage acquisition is performed on the two filtered Hall signals to obtain two Hall voltage signals.
[0015] In an optional implementation, the filtering process employs an RC filter unit.
[0016] Secondly, this application provides a signal processing system for a gimbal motor, wherein the stator of the gimbal motor is equipped with two linear Hall sensors, and the system includes: The signal acquisition module is used to acquire the Hall signals of the two linear Hall sensors respectively; The signal processing module is used to process the two Hall signals to obtain two Hall voltage signals; The noise extraction module is used to extract noise from the two Hall voltage signals based on the fastest control synthesis function of the discrete system to obtain two standard voltage signals. An angle calculation module is used to calculate the electrical angle of the gimbal motor based on the two standard voltage signals.
[0017] Thirdly, this application provides an electronic device, including a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor executes the computer program to implement the signal processing method for the gimbal motor as described in the first aspect of this application.
[0018] Fourthly, this application provides a computer-readable storage medium having a computer program stored thereon, which, when executed by a processor, implements the signal processing method for the gimbal motor as described in the first aspect of this application.
[0019] The signal processing method, system, electronic equipment, and storage medium for the gimbal motor provided in this application collect the Hall sensor signal of the gimbal motor, perform filtering and voltage sampling processing, and combine it with the discrete fastest tracking differentiator algorithm to achieve an adaptive balance between noise suppression and phase lag through nonlinear differential equations. This effectively reduces the electrical angle error of the gimbal motor, improves the control accuracy of the gimbal, optimizes the high-speed dynamic tracking capability of the gimbal, and thus ensures the stability and real-time performance of the live broadcast. Attached Figure Description
[0020] To more clearly illustrate the technical solutions of the embodiments of this application, the accompanying drawings used in the embodiments will be briefly introduced below. It should be understood that the following drawings only show some embodiments of this application and should not be regarded as a limitation of the scope. For those skilled in the art, other related drawings can be obtained based on these drawings without creative effort.
[0021] Figure 1 This is a schematic flowchart of the signal processing method for the gimbal motor provided in the embodiments of this application; Figure 2 This is a first comparative schematic diagram of different signal processing methods in the embodiments of this application; Figure 3 This is a second comparative schematic diagram of different signal processing methods in the embodiments of this application; Figure 4 This is a schematic diagram of the signal processing system structure of the gimbal motor provided in an embodiment of this application; Figure 5 This is a schematic diagram of the structure of an electronic device provided in an embodiment of this application.
[0022] 200. Signal processing system for the gimbal motor; 210. Signal acquisition module; 220. Signal processing module; 230. Noise extraction module; 240. Angle calculation module; 300. Electronic equipment; 310. Processor; 320. Communication interface; 330. Memory; 340. Communication bus. Detailed Implementation
[0023] To make the objectives, technical solutions, and advantages of this application clearer, the technical solutions of this application will be further described clearly and completely below with reference to the accompanying drawings of the embodiments. It should be noted that the described embodiments are merely some embodiments of this application, and not all embodiments. All other embodiments obtained by those skilled in the art based on the embodiments of this application without creative effort are within the scope of protection of this application.
[0024] Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of that feature. In the description of this application, "multiple" means two or more, unless otherwise explicitly specified.
[0025] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this application belongs. The terminology used in this specification is for the purpose of describing particular embodiments only and is not intended to be limiting of this application.
[0026] In a gimbal motor system, sensors, as core functional components, are mainly used to collect key operating parameters such as motor position in real time and output standard sinusoidal signals. However, in actual live streaming applications, due to complex electromagnetic environmental factors such as motor current noise and power supply ripple interference, coupled with the mechanical vibration generated during the operation of the gimbal motor, the output signal waveform often exhibits nonlinear distortion phenomena such as amplitude attenuation and phase shift, which seriously affects the accuracy of the measurement signal.
[0027] Traditional solutions typically employ low-pass filtering algorithms for noise suppression, but this method inevitably introduces significant phase lag, thereby reducing the dynamic response accuracy of the motor control system. Especially in high-speed tracking scenarios requiring rapid response, such as when a broadcaster suddenly turns, moves quickly, or switches actions, the phase lag effect directly leads to technical problems like pan-tilt-zoom (PTZ) image jitter and tracking delays. In severe cases, it can even cause target loss, ultimately affecting the stability of the live broadcast and the overall broadcast quality.
[0028] Example 1 This application provides a signal processing method for a gimbal motor, which effectively solves the problem of poor live broadcast quality caused by sensor signal noise from the gimbal motor during live broadcasting. Figure 1 This is a first schematic diagram of the signal processing method for a gimbal motor provided in an embodiment of this application, as shown below. Figure 1 As shown, the method includes the following steps: S100: Collect Hall signals from two linear Hall sensors respectively.
[0029] In this embodiment, two linear Hall sensors can be installed on the stator of the gimbal motor. These linear Hall sensors output a voltage signal proportional to the magnetic field strength, thereby detecting the position of the gimbal motor. Optionally, the two Hall sensors are positioned 120 degrees apart on the stator of the gimbal motor, sensing changes in the rotor magnetic field in real time and outputting a sinusoidal signal with a 120-degree phase difference. This arrangement ensures that the Hall signals output by the two linear Hall sensors have a 120-degree phase difference when the gimbal motor rotates, thus providing richer position information for the gimbal motor.
[0030] S200: Perform signal processing on the two Hall signals to obtain two Hall voltage signals.
[0031] In this embodiment, the Hall signals are filtered and converted from analog to digital. First, the two Hall signals are filtered to obtain two filtered Hall signals. Optionally, a series RC filter can be used to suppress high-frequency electromagnetic interference. The design of the RC filter needs to consider the filter's cutoff frequency, which is determined by the parameters of the resistor and capacitor, and the calculation formula is as follows:
[0032] In the above formula, f c Indicates the cutoff frequency. R This represents the resistance of the RC filter. C This represents the capacitance of the RC filter.
[0033] The two filtered Hall signals can be sampled by the built-in AD module of the microcontroller chip to obtain the Hall voltage signal sample value, i.e., the two Hall voltage signals.
[0034] S300: Based on the fastest control synthesis function of discrete system, noise is extracted from the two Hall voltage signals to obtain two standard voltage signals.
[0035] Although RC filters can suppress high-frequency interference, their filtering characteristics cannot be dynamically adjusted after the hardware design is completed. When the actual interference frequency deviates significantly from the preset value, the analog filtering effect will decrease significantly. Furthermore, the actual values of resistors and capacitors may deviate due to temperature, aging, or manufacturing tolerances, causing the cutoff frequency to drift. For example, the capacitance of an electrolytic capacitor may decrease by more than 20% with increasing temperature, directly affecting the filtering effect. Therefore, in this embodiment, a digital filtering algorithm is designed based on the fastest control synthesis function of a discrete system to extract noise from the Hall voltage signal, as shown in the following expression:
[0036] In the above formula, express k The standard voltage signal after constant noise filtering. express k The standard voltage signal after noise removal at time +1 express k The differential component of the Hall voltage signal at time t. express k The differential component of the Hall voltage signal at time +1 h It indicates that the distance from the walk is long. express The input increment, r express The maximum value.
[0037] In this embodiment, the expression for the fastest control synthesis function of the discrete system is as follows:
[0038] in:
[0039] In the above formula, fsunThis represents the fastest control synthesis function for a discrete system. sat () represents the saturation function. y This represents the combined error signal, which integrates the signal position error and velocity state. This represents the signal error before and after noise filtering. This represents an intermediate variable used to adjust the control input. Indicate intermediate variables The function is used to further adjust the control input. sign () represents a symbolic function. x r This represents the input Hall voltage signal. fix () represents the floor function.
[0040] In this embodiment, a saturation function is used to limit the amplitude range of the Hall voltage signal in order to provide control over the performance of the gimbal motor system. sat The parentheses are defined as follows:
[0041] In the above formula, x This indicates the input signal that needs to be amplitude-limited. This represents the threshold of the function.
[0042] This application's embodiments utilize the fastest control synthesis function for discrete systems to extract noise from two Hall voltage signals using nonlinear differential equations, obtaining two standard voltage signals. On one hand, this efficiently filters out high-frequency noise, providing a clean signal foundation for subsequent electrical angle calculations. On the other hand, it cleverly utilizes the fastest control characteristics to achieve rapid tracking of changes in the Hall voltage signals, effectively reducing phase lag and ensuring signal integrity and real-time performance.
[0043] S400: Calculate the electrical angle of the gimbal motor based on two standard voltage signals.
[0044] In this embodiment, the electrical angle of the gimbal motor can be calculated based on two standard voltage signals after noise filtering. Since the two Hall sensors are set at a mechanical angle interval of 120 degrees on the stator of the gimbal motor, the formula for calculating the electrical angle of the gimbal motor is as follows:
[0045] In the above formula, This indicates the electrical angle of the gimbal motor. atan2 () represents inverse trigonometric functions. This represents the first standard voltage signal. This indicates the second standard voltage signal.
[0046] Ultimately, the real-time electrical angle of the gimbal motor is obtained. The electrical angle is a crucial parameter in gimbal motor control, used to determine the motor's rotational position and speed. Its accuracy directly affects the torque control precision, efficiency, and overall control performance of the gimbal motor. Accurate electrical angle calculation enables precise control of the gimbal motor, improving the dynamic response speed and stability of related systems.
[0047] As a further implementation of the embodiments of this application, in order to verify the effectiveness of the signal processing method of the gimbal motor in the embodiments of this application, the optimized algorithm in the embodiments of this application and the traditional low-pass filtering algorithm are used to filter the Hall signal of the same gimbal motor. Figure 2 This is a first comparative schematic diagram of different signal processing methods in the embodiments of this application, such as... Figure 2 As shown, under the same phase lag conditions, the optimization algorithm provided in this application embodiment exhibits better noise suppression capability. Figure 3 This is a second comparative schematic diagram of different signal processing methods in the embodiments of this application, such as... Figure 3 As shown, when the cutoff frequency of the low-pass filter is reduced, although the filtering effect of the traditional low-pass filter algorithm is close to that of the optimized algorithm in this embodiment, its phase lag characteristic increases significantly. Therefore, the signal processing method for the gimbal motor provided in this embodiment has significant advantages in terms of noise filtering performance and phase characteristic balance, achieving a better filtering effect.
[0048] The signal processing method for gimbal motors provided in this application combines RC filtering and digital filtering techniques to effectively suppress high-frequency electromagnetic interference and noise, improving signal accuracy and stability. Based on the fastest control synthesis function for discrete systems, it achieves zero overshoot and rapid steady-state attainment of state variables, improving the dynamic response speed of the gimbal motor system. Through nonlinear differential equations, it achieves an adaptive balance between noise suppression and phase lag, effectively reducing the electrical angle error of the gimbal motor, improving gimbal control accuracy, and optimizing the high-speed dynamic tracking capability of the gimbal, thereby ensuring the stability and real-time performance of the live broadcast.
[0049] Example 2 Based on the same technical concept as Embodiment 1 above, this application provides a signal processing system for a gimbal motor. The signal processing system for the gimbal motor is applied to the gimbal motor, and the stator of the gimbal motor is equipped with two linear Hall sensors. Figure 4 This is a schematic diagram of the signal processing system structure of the gimbal motor provided in the embodiments of this application, as shown below. Figure 4 As shown, the signal processing system 200 of the gimbal motor includes: The signal acquisition module 210 is used to acquire the Hall signals of the two linear Hall sensors respectively.
[0050] The signal processing module 220 is used to process the two Hall signals to obtain two Hall voltage signals.
[0051] The noise extraction module 230 is used to extract noise from two Hall voltage signals based on the fastest control synthesis function of the discrete system to obtain two standard voltage signals.
[0052] Angle calculation module 240 is used to calculate the electrical angle of the gimbal motor based on two standard voltage signals.
[0053] The signal processing system for the gimbal motor provided in this application embodiment designs a nonlinear differential equation based on the discrete fastest tracking differentiator algorithm to achieve a balance between noise suppression and phase preservation. Through nonlinear adaptive adjustment, it achieves high-precision and low-hysteresis signal processing, providing strong support for various live streaming application scenarios with extremely high signal quality requirements.
[0054] It is understood that the implementation method of the signal processing method of the gimbal motor in Embodiment 1 above is also applicable to this embodiment and can achieve the same technical effect, so it will not be described again here.
[0055] Example 3 Based on the same concept, this application also provides an electronic device. Figure 5 This is a schematic diagram of the structure of an electronic device provided in an embodiment of this application, such as... Figure 5 As shown, the electronic device 300 may include a processor 310, a communication interface 320, a memory 330, and a communication bus 340, wherein the processor 310, the communication interface 320, and the memory 330 communicate with each other via the communication bus 340. The processor 310 can call logical instructions in the memory 330 to execute the steps of the signal processing method for the gimbal motor as described in the above embodiments. For example, this includes: S100: Collect the Hall signals from the two linear Hall sensors respectively; S200: Perform signal processing on the two Hall signals to obtain two Hall voltage signals; S300: Based on the fastest control synthesis function of discrete system, noise is extracted from the two Hall voltage signals to obtain two standard voltage signals; S400: Calculate the electrical angle of the gimbal motor based on two standard voltage signals.
[0056] The processor 310 can be a central processing unit (CPU). The processor can also be other general-purpose processors, digital signal processors (DSPs), application-specific integrated circuits (ASICs), field-programmable gate arrays (FPGAs), or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, or combinations of the above types of chips.
[0057] Furthermore, the logical instructions in the aforementioned memory 330 can be implemented as software functional units and, when sold or used as independent products, can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of this application, in essence, or the part that contributes to the prior art, or a part of the technical solution, can be embodied in the form of a software product. This computer software product is stored in a storage medium and includes several instructions to cause a computer device (which may be a personal computer, server, or network device, etc.) to execute all or part of the steps of the methods described in the various embodiments of this application. The aforementioned storage medium includes various media capable of storing program code, such as USB flash drives, portable hard drives, read-only memory (ROM), random access memory (RAM), magnetic disks, or optical disks.
[0058] The memory 330 may include a program storage area and a data storage area. The program storage area may store the operating system and applications required for at least one function; the data storage area may store data created by the processor, etc. Furthermore, the memory may include high-speed random access memory and non-transitory memory, such as at least one disk storage device, flash memory device, or other non-transitory solid-state storage device. In some embodiments, the memory may optionally include memory remotely located relative to the processor, which can be connected to the processor via a network. Examples of such networks include, but are not limited to, the Internet, corporate intranets, local area networks, mobile communication networks, and combinations thereof.
[0059] Example 4 Based on the same concept, embodiments of this application also provide a computer-readable storage medium storing a computer program. This computer program includes at least one piece of code that can be executed by a main control device to control the main control device to implement the signal processing methods for the gimbal motors as described in the above embodiments. For example, it includes: S100: Collect the Hall signals from the two linear Hall sensors respectively; S200: Perform signal processing on the two Hall signals to obtain two Hall voltage signals; S300: Based on the fastest control synthesis function of discrete system, noise is extracted from the two Hall voltage signals to obtain two standard voltage signals; S400: Calculate the electrical angle of the gimbal motor based on two standard voltage signals.
[0060] Based on the same technical concept, this application also provides a computer program, which, when executed by a main control device, is used to implement the above-described method embodiments.
[0061] The computer program may be stored, in whole or in part, on a computer-readable storage medium packaged with the processor, or in part or in whole on a memory not packaged with the processor.
[0062] Based on the same technical concept, embodiments of this application also provide a processor for implementing the above-described method embodiments. The processor may be a chip.
[0063] In summary, the signal processing method, system, electronic device, and storage medium for the gimbal motor provided in this application, by collecting the Hall sensor signal of the gimbal motor, filtering and voltage sampling processing, and combining it with the discrete fastest tracking differentiator algorithm, achieves an adaptive balance between noise suppression and phase lag through nonlinear differential equations. This effectively reduces the electrical angle error of the gimbal motor, improves the gimbal control accuracy, optimizes the high-speed dynamic tracking capability of the gimbal, and thus ensures the stability and real-time performance of the live broadcast.
[0064] In this document, the term "embodiment" means that a particular feature, structure, or characteristic described in connection with an embodiment may be included in at least one embodiment of this application. The appearance of this phrase in various places throughout the specification does not necessarily refer to the same embodiment, nor is it a separate or alternative embodiment mutually exclusive with other embodiments. It will be explicitly and implicitly understood by those skilled in the art that the embodiments described herein can be combined with other embodiments.
[0065] The embodiments described above are merely examples of several implementation methods of this application, and while the descriptions are specific and detailed, they should not be construed as limiting the scope of this patent application. It should be noted that those skilled in the art can make various modifications and improvements without departing from the concept of this application, and these modifications and improvements all fall within the protection scope of this application.
[0066] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of this application, and are not intended to limit them. Although this application has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some of the technical features. Such modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the spirit and scope of the technical solutions of the embodiments of this application.
Claims
1. A signal processing method for a gimbal motor, characterized in that, The stator of the gimbal motor is equipped with two linear Hall sensors, and the method includes: Hall signals from the two linear Hall sensors were collected respectively; The two Hall signals are processed to obtain two Hall voltage signals; Based on the fastest control synthesis function of discrete system, noise is extracted from the two Hall voltage signals to obtain two standard voltage signals; The electrical angle of the gimbal motor is calculated based on the two standard voltage signals.
2. The signal processing method for the gimbal motor according to claim 1, characterized in that, The expression for noise extraction is as follows: In the above formula, express k The standard voltage signal after constant noise filtering. express k The standard voltage signal after noise removal at time +1 express k The differential component of the Hall voltage signal at time t. express k The differential component of the Hall voltage signal at time +1 h It indicates that the distance from the walk is long. express The input increment, r express The maximum value.
3. The signal processing method for the gimbal motor according to claim 2, characterized in that, The expression for the fastest control synthesis function of the discrete system is as follows: in: In the above formula, fsun This represents the fastest control synthesis function for a discrete system. sat () represents the saturation function. y This represents the overall error signal. This represents the signal error before and after noise filtering. Indicates intermediate variables. Indicate intermediate variables The function, sign () represents a symbolic function. x r This represents the input Hall voltage signal. fix () represents the floor function.
4. The signal processing method for the gimbal motor according to claim 1, characterized in that, The two linear Hall sensors are spaced 120 degrees apart.
5. The signal processing method for the gimbal motor according to claim 4, characterized in that, The expression for calculating the electrical angle of the gimbal motor based on the two standard voltage signals is as follows: In the above formula, This indicates the electrical angle of the gimbal motor. atan2 () represents the inverse trigonometric function. This indicates the first standard voltage signal. This represents the second standard voltage signal.
6. The signal processing method for the gimbal motor according to claim 1, characterized in that, Signal processing is performed on the two Hall signals to obtain two Hall voltage signals, including: The two Hall signals are filtered to obtain two filtered Hall signals. Voltage acquisition is performed on the two filtered Hall signals to obtain two Hall voltage signals.
7. The signal processing method for a gimbal motor according to claim 6, characterized in that, The filtering process uses an RC filter unit.
8. A signal processing system for a gimbal motor, characterized in that, The stator of the gimbal motor is equipped with two linear Hall sensors, and the system includes: The signal acquisition module is used to acquire the Hall signals of the two linear Hall sensors respectively; The signal processing module is used to process the two Hall signals to obtain two Hall voltage signals; The noise extraction module is used to extract noise from the two Hall voltage signals based on the fastest control synthesis function of the discrete system to obtain two standard voltage signals. An angle calculation module is used to calculate the electrical angle of the gimbal motor based on the two standard voltage signals.
9. An electronic device comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, characterized in that, The processor executes the computer program to implement the signal processing method for the gimbal motor as described in any one of claims 1-7.
10. A computer-readable storage medium having a computer program stored thereon, characterized in that, When the computer program is executed by the processor, it implements the signal processing method for the gimbal motor as described in any one of claims 1-7.