Unmanned aerial vehicle and pan / tilt control method thereof

Abstract

The present invention discloses an unmanned aerial vehicle and a gimbal control method thereof, wherein the gimbal control method comprises a flight control system generating a yaw rate instruction of the unmanned aerial vehicle, and the gimbal control system controls the yaw axis motor of the gimbal according to the yaw rate instruction of the unmanned aerial vehicle. The present invention uses the flight control system and the gimbal control system to jointly control the gimbal yaw axis motor, maximizes the advantages of high-precision control and rapid response of the gimbal control system, utilizes the advantages to compensate for the deficiencies of the flight control system in yaw control, realizes stabilization of the gimbal yaw channel, and completely solves the jamming phenomenon of aerial video when the unmanned aerial vehicle yaws at low speed.

Description

Technical Field

[0001] The present invention relates to the technical field of unmanned aerial vehicles, and in particular to an unmanned aerial vehicle and a pan / tilt control method thereof. Background Art

[0002] Aerial photography drones include consumer-grade drones and professional-grade drones. Whether it is a consumer-grade drone or a professional-grade drone, the quality of its aerial photography depends on the control effect of the drone fuselage and the gimbal. The Flight Control System (FCS) is the basic premise for ensuring the stable flight of the drone. The Gimbal Control System (GCS) is used to improve the quality of aerial video and isolate the high-frequency vibration of the fuselage through the vibration reduction system of the gimbal. Its control accuracy is much higher than that of the FCS. In existing aerial photography drones, the GCS and FCS are independent, that is, the pitch and roll channels of the GCS do not respond to changes in the attitude of the FCS, and the yaw angle of the GCS converges to the yaw angle of the FCS in the first order.

[0003] This GCS / FCS independent control concept has the following disadvantages:

[0004] 1. FCS does not have the control authority of GCS. GCS only obtains the actual yaw angle / yaw rate information of the drone, and there is no feedback information to interact with FCS in real time;

[0005] 2. The yaw control torque of FCS is small, and there is channel coupling between yaw control, pitch control, and roll control. When subject to external interference, the rotation speed of the FCS yaw channel will be uneven, resulting in an unsmooth aerial video. In particular, when the FCS controls the drone to yaw at a low speed, the video will freeze severely.

[0006] 3. The control of the gimbal yaw channel is affected by the yaw angle control of the UAV, and the high-precision control advantages of GCS are not effectively brought into play, resulting in increased control pressure on FCS. Summary of the invention

[0007] Based on this, it is necessary to provide a flight control system and a gimbal control system to jointly control the yaw axis motor of the gimbal, and to eliminate the video freeze phenomenon and a gimbal control method thereof to address the above-mentioned problems in the prior art.

[0008] In order to solve the above problems, the present invention provides a method for controlling a gimbal of an unmanned aerial vehicle, wherein the unmanned aerial vehicle comprises a flight control system and a gimbal control system for controlling the gimbal, comprising:

[0009] The flight control system generates a yaw rate instruction for the UAV;

[0010] The gimbal control system controls the yaw axis motor of the gimbal according to the yaw angle rate instruction of the unmanned aerial vehicle.

[0011] In one embodiment of the present invention, the gimbal control system controls the yaw axis motor of the gimbal according to the yaw rate instruction of the drone, including:

[0012] Determining whether the yaw rate command input to the drone is zero;

[0013] If not, then:

[0014] The gimbal control system obtains the actual yaw angular rate of the gimbal;

[0015] The gimbal control system generates a yaw axis motor control instruction of the gimbal according to the yaw angle rate instruction input to the drone and the actual yaw angle rate of the gimbal;

[0016] The gimbal control system obtains an additional control instruction for a yaw-axis motor of the gimbal, wherein the additional control instruction for the yaw-axis motor is used to control the yaw-axis motor of the gimbal so that the line of sight of an imaging device carried by the gimbal coincides with the heading of the drone;

[0017] The gimbal control system generates a yaw axis motor control variable of the gimbal according to the yaw axis motor control instruction of the gimbal and the yaw axis motor additional control instruction of the gimbal;

[0018] The yaw-axis motor of the gimbal is controlled according to the control amount of the yaw-axis motor of the gimbal.

[0019] In one embodiment of the present invention, the gimbal control system obtains the additional control instruction of the yaw axis motor of the gimbal, including:

[0020] The gimbal control system obtains the actual yaw angle of the gimbal and the actual yaw angle of the drone;

[0021] The gimbal control system generates an additional control instruction for the yaw-axis motor of the gimbal according to the actual yaw angle of the gimbal and the actual yaw angle of the drone.

[0022] In one embodiment of the present invention, the method further comprises:

[0023] If the yaw rate command input to the drone is zero, then:

[0024] The gimbal control system obtains the actual yaw angle of the drone and the actual yaw angle of the gimbal;

[0025] The gimbal control system generates a yaw angle rate control instruction of the gimbal according to the actual yaw angle of the UAV and the actual yaw angle of the gimbal;

[0026] The gimbal control system obtains the actual yaw angular rate of the gimbal;

[0027] The gimbal control system generates a yaw axis motor control variable of the gimbal according to the yaw angle rate control instruction of the gimbal and the actual yaw angle rate of the gimbal;

[0028] The gimbal control system controls the yaw-axis motor of the gimbal according to the control amount of the yaw-axis motor of the gimbal.

[0029] In one embodiment of the present invention, the flight control system generates the yaw rate instruction of the drone, including:

[0030] The flight control system obtains at least one of a position instruction and a sight instruction input to the drone;

[0031] The flight control system generates the yaw rate instruction of the UAV according to at least one of the position instruction and the sight line instruction input into the UAV.

[0032] In one embodiment of the present invention, the flight control system generates the yaw rate instruction of the drone, including:

[0033] The flight control system obtains at least one of a speed instruction and a sight line change rate instruction input to the drone;

[0034] The flight control system generates the yaw rate instruction of the UAV according to at least one of the speed instruction and the sight line change rate instruction input into the UAV.

[0035] In one embodiment of the present invention, the method further comprises:

[0036] The gimbal control system controls the pitch axis motor and the roll axis motor of the gimbal according to the pitch angle command input to the gimbal and the output status information of the gimbal, wherein the output status information of the gimbal includes the actual attitude angle and the actual attitude angular rate of the gimbal.

[0037] In one embodiment of the present invention, the actual attitude angle of the gimbal includes an actual pitch angle of the gimbal, and the actual attitude angular rate of the gimbal includes an actual pitch angular rate of the gimbal;

[0038] The pan / tilt control system controls the pitch axis motor and the roll axis motor of the pan / tilt according to the pan / tilt angle command input to the pan / tilt and the output state information of the pan / tilt, including:

[0039] The gimbal control system generates a control amount of a pitch axis motor of the gimbal according to the pitch angle instruction of the gimbal, the actual pitch angle of the gimbal, and the actual pitch angle rate;

[0040] The pitch-axis motor of the gimbal is controlled according to the control amount of the pitch-axis motor of the gimbal.

[0041] In one embodiment of the present invention, the actual attitude angle of the gimbal further includes an actual roll angle of the gimbal, and the actual attitude angular rate of the gimbal further includes an actual roll angular rate of the gimbal;

[0042] The pan / tilt control system controls the pitch axis motor and the roll axis motor of the pan / tilt according to the pan / tilt angle command input to the pan / tilt and the output state information of the pan / tilt, including:

[0043] The gimbal control system generates a roll axis motor control amount of the gimbal according to the pan-tilt angle instruction of the gimbal, the actual roll angle of the gimbal, and the actual roll angle rate;

[0044] The gimbal control system controls the roll axis motor of the gimbal according to the control amount of the roll axis motor of the gimbal.

[0045] In one embodiment of the present invention, the pan / tilt control system obtains the pan / tilt angle instruction of the pan / tilt, including:

[0046] The pan / tilt control system obtains the overhead shooting angle instruction of the pan / tilt issued by a remote controller or a smart terminal.

[0047] In one embodiment of the present invention, the method further comprises:

[0048] The flight control system controls the attitude of the UAV according to the output status information of the gimbal.

[0049] In one embodiment of the present invention, the flight control system controls the attitude of the drone according to the output status information of the gimbal, including:

[0050] The flight control system generates an attitude angle limit of the UAV according to the actual attitude angle of the gimbal;

[0051] The flight control system obtains the actual attitude angle of the UAV and inputs an attitude angle instruction of the UAV;

[0052] The flight control system generates an attitude angle rate control instruction of the UAV according to the attitude angle limit of the UAV, the attitude angle instruction input to the UAV, and the actual attitude angle of the UAV;

[0053] The flight control system generates an attitude angular rate limit of the UAV according to the actual attitude angular rate of the gimbal;

[0054] The flight control system obtains the actual attitude angular rate of the UAV and inputs the yaw angular rate instruction of the UAV;

[0055] The flight control system generates a motor control instruction for the UAV according to the attitude angular rate control instruction of the UAV, the attitude angular rate limit of the UAV, the yaw angular rate instruction input to the UAV, and the actual attitude angular rate of the UAV;

[0056] The flight control system controls the attitude of the UAV according to the motor control instructions of the UAV.

[0057] In order to solve the technical problem, the present invention also provides a drone, comprising:

[0058] body;

[0059] An arm connected to the fuselage;

[0060] A power device, arranged on the machine arm;

[0061] A gimbal connected to the fuselage;

[0062] a flight control system, disposed on the fuselage; and

[0063] A pan / tilt control system, which is disposed on the pan / tilt or the fuselage and is used to control the pan / tilt;

[0064] The flight control system is used to generate a yaw rate instruction for the UAV;

[0065] The PTZ control system is used for:

[0066] The yaw axis motor of the gimbal is controlled according to the yaw angle rate instruction of the drone generated by the flight control system.

[0067] In one embodiment of the present invention, the PTZ control system is specifically used for:

[0068] Determining whether the yaw rate of the UAV is zero;

[0069] When the yaw rate command of the UAV is not zero, then:

[0070] Obtaining the actual yaw rate of the gimbal;

[0071] Generate a yaw axis motor control instruction of the gimbal according to the yaw angle rate instruction input to the drone and the actual yaw angle rate of the gimbal;

[0072] Acquire an additional control instruction for the yaw-axis motor of the gimbal, wherein the additional control instruction for the yaw-axis motor is used to control the yaw-axis motor of the gimbal so that the line of sight of the imaging device carried by the gimbal coincides with the heading of the drone;

[0073] Generate a yaw-axis motor control variable of the gimbal according to the yaw-axis motor control instruction of the gimbal and the yaw-axis motor additional control instruction of the gimbal; and

[0074] The yaw-axis motor of the gimbal is controlled according to the control amount of the yaw-axis motor of the gimbal.

[0075] In one embodiment of the present invention, the PTZ control system is specifically used for:

[0076] Obtaining an actual yaw angle of the gimbal and an actual yaw angle of the drone;

[0077] According to the actual yaw angle of the gimbal and the actual yaw angle of the drone, an additional control instruction for the yaw-axis motor of the gimbal is generated.

[0078] In one embodiment of the present invention, when the yaw rate command input to the drone is zero, the gimbal control system is further configured to:

[0079] Obtaining an actual yaw angle of the drone and an actual yaw angle of the gimbal;

[0080] Generate a yaw angle rate control instruction of the gimbal according to the actual yaw angle of the drone and the actual yaw angle of the gimbal;

[0081] Obtaining the actual yaw rate of the gimbal;

[0082] Generate a yaw-axis motor control variable of the gimbal according to the yaw angle rate control instruction of the gimbal and the actual yaw angle rate of the gimbal;

[0083] The yaw-axis motor of the gimbal is controlled according to the control amount of the yaw-axis motor of the gimbal.

[0084] In one embodiment of the present invention, the flight control system is specifically used for:

[0085] Obtaining at least one of a position instruction and a sight instruction of the drone; and

[0086] The yaw rate instruction of the UAV is generated according to at least one of the position instruction and the line of sight instruction of the UAV.

[0087] In one embodiment of the present invention, the flight control system is specifically used for:

[0088] Obtaining at least one of a speed instruction and a sight line change rate instruction of the drone;

[0089] The yaw angle rate instruction of the UAV is generated according to at least one of the speed instruction and the sight line change rate instruction of the UAV.

[0090] In one embodiment of the present invention, the pan / tilt control system is further used for:

[0091] The pitch axis motor and the roll axis motor of the gimbal are controlled according to the pitch angle command input to the gimbal and the output status information of the gimbal, wherein the output status information of the gimbal includes the actual attitude angle and the actual attitude angular rate of the gimbal.

[0092] In one embodiment of the present invention, the PTZ control system is specifically used for:

[0093] Generate a pitch-axis motor control amount of the gimbal according to the pitch angle instruction of the gimbal, the actual pitch angle of the gimbal, and the actual pitch angle rate;

[0094] The pitch-axis motor of the gimbal is controlled according to the control amount of the pitch-axis motor of the gimbal.

[0095] In one embodiment of the present invention, the pan / tilt control system is further used for:

[0096] Generate a roll axis motor control amount of the gimbal according to the pan-tilt angle instruction of the gimbal, the actual roll angle of the gimbal, and the actual roll angle rate;

[0097] The roll axis motor of the gimbal is controlled according to the control amount of the roll axis motor of the gimbal.

[0098] In one embodiment of the present invention, the gimbal control system is specifically used to obtain the overhead shooting angle instruction of the gimbal issued by a remote controller or a smart terminal.

[0099] In one embodiment of the present invention, the flight control system is further used for:

[0100] The attitude of the drone is controlled according to the output status information of the gimbal.

[0101] In one embodiment of the present invention, the flight control system is specifically used for:

[0102] Generating an attitude angle limit of the UAV according to the actual attitude angle of the gimbal;

[0103] Acquiring the actual attitude angle of the UAV and inputting an attitude angle instruction of the UAV;

[0104] Generate an attitude angle rate control instruction of the UAV according to the attitude angle limit of the UAV, the attitude angle instruction input to the UAV, and the actual attitude angle of the UAV;

[0105] Generating an attitude angular rate limit of the UAV according to the actual attitude angular rate of the gimbal;

[0106] Obtaining the actual attitude angular rate of the UAV and inputting a yaw angular rate instruction of the UAV;

[0107] Generate a motor control instruction for the drone according to the attitude angular rate control instruction of the drone, the attitude angular rate limit of the drone, the yaw angular rate instruction input to the drone, and the actual attitude angular rate of the drone;

[0108] The posture of the drone is controlled according to the motor control instruction of the drone.

[0109] The present invention controls the gimbal yaw axis motor jointly by the flight control system and the gimbal control system, which maximizes the advantages of high-precision control and rapid response of the gimbal control system, and utilizes this advantage to compensate for the deficiencies of the flight control system in yaw control, thereby achieving stabilization of the gimbal yaw channel and completely solving the problem of aerial video jamming when the UAV yaws at a low speed. BRIEF DESCRIPTION OF THE DRAWINGS

[0110] Figure 1 This is a schematic structural diagram of one embodiment of a drone of the present invention;

[0111] Figure 2 This is a control principle block diagram of the flight control system and the gimbal control system in the UAV of the present invention;

[0112] Figure 3 This is a control principle block diagram of the flight control system in the UAV of the present invention;

[0113] Figure 4 This is a control principle block diagram of the gimbal control system in the UAV of the present invention;

[0114] Figure 5 The schematic diagram is a schematic diagram showing the principle of the flight control system and the gimbal control system in the UAV of the present invention jointly controlling the yaw axis motor of the gimbal;

[0115] Figure 6This is a flow chart of one embodiment of a method for controlling a drone gimbal according to the present invention;

[0116] Figure 7 for Figure 6 A flowchart of one embodiment of step S200 in the method shown;

[0117] Figure 8 for Figure 6 A flow chart of the pan / tilt control system controlling the pitch axis motor in step S300 of the method shown;

[0118] Fig. 9 for Figure 6 A flow chart of the pan / tilt control system controlling the roll axis motor in step S300 of the method shown;

[0119] Fig.10 for Figure 6 The method shown is a flow chart of step S400 in which the flight control system controls the attitude of the drone according to the output status information of the gimbal control system. DETAILED DESCRIPTION

[0120] In order to make the purpose, technical solution and advantages of the present invention more clearly understood, the present invention is further described in detail below in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the present invention and are not intended to limit the present invention.

[0121] like Figure 1 As shown, a drone 30 proposed in the present invention includes a fuselage 31, an arm 32 connected to the fuselage 31, a power device 33 arranged at one end of the arm 32, a gimbal 35 connected to the fuselage 31, an imaging device 34 connected to the gimbal 35, and a flight control system, IMU, GPS, and a gimbal control system for controlling the gimbal 35 arranged in the fuselage 21.

[0122] In this embodiment, the number of arms 32 is 4, that is, the drone 30 is a quad-rotor aircraft. In other possible embodiments, the number of arms 32 may also be 3, 6, 8, 10, etc. The drone 30 may also be other movable objects that need to estimate or alarm the wind speed in the flight environment in which it is located, such as industrial drones, manned aircraft, model aircraft, unmanned airships, fixed-wing drones, and unmanned hot air balloons. The arms 32 may be fixedly connected to the fuselage 31, integrally formed, or foldable relative to the fuselage 31.

[0123] The power device 33 includes a motor 332 disposed at one end of the arm 32 and a propeller 331 connected to the rotating shaft of the motor 332. The rotating shaft of the motor 332 rotates to drive the propeller 331 to rotate, thereby providing the drone 30 with the lifting force required for flight.

[0124] The imaging device 34 may be a laser sensor, an RGBD depth camera or a video camera, etc.

[0125] The visual system may include binocular and / or monocular cameras and a visual chip. The visual chip is arranged inside the fuselage and is connected to the flight control system. The binocular and / or monocular cameras may be arranged at any one or two positions of the front, bottom and rear of the fuselage, or at any other suitable position.

[0126] An inertial measurement unit (IMU) (not shown) is a device for measuring the three-axis attitude angle and acceleration of the drone. The IMU may include a three-axis gyroscope and three-direction accelerometers to measure the attitude angle information and acceleration information of the drone in three-dimensional space. The IMU may be disposed inside the fuselage 31 of the drone 30, for example, at the center of gravity of the drone 30, or at other suitable locations.

[0127] A global positioning system (GPS) (not shown) is used to measure the position information and speed information of the drone in three-dimensional space. The GPS can be set on the fuselage 31 of the drone 30, or on the arm 32. In some embodiments, the fuselage 31 may also include a landing gear, and the GPS may also be set on the landing gear to avoid interference from other electronic devices.

[0128] The flight control system (not shown) is used to stabilize the flight attitude of the drone 30 and control the autonomous or semi-autonomous flight of the drone 30. The flight control system can collect the flight status data measured by the various sensors of the drone in real time, receive the control instructions and data sent by the control terminal, and output the control instructions and data to the actuator (such as a power unit) to achieve the control of the flight attitude of the drone or the execution of tasks. In an embodiment of the present invention, the flight control system may include other necessary units such as a flight control chip and a processor that is communicatively connected to the flight control chip. The flight control system can be arranged inside the fuselage 31 of the drone 30, or it can be arranged on the outer surface of the fuselage 31 or any other possible position.

[0129] In an embodiment of the present invention, the imaging device 34 is connected to the fuselage 31 via the gimbal 35. The gimbal control system controls the gimbal 35 to allow the imaging device 34 to rotate around at least one axis relative to the drone 30, and is used to reduce or even eliminate the vibration transmitted to the imaging device 34 by the power device 33, so as to ensure that the imaging device 34 can shoot stable and clear images or videos. In one embodiment of the present invention, the gimbal 35 is a three-axis gimbal, that is, the gimbal 35 allows the imaging device 34 to rotate around the yaw axis, the roll axis, and the pitch axis. Therefore, the gimbal 35 has a yaw axis motor for driving the imaging device 34 to rotate around the yaw axis, a roll axis motor for driving the imaging device 34 to rotate around the roll axis, and a pitch axis motor for driving the imaging device 34 to rotate around the pitch axis.

[0130] In an embodiment of the present invention, the flight control system and the gimbal control system can cooperate with each other to improve the aerial photography quality of the imaging device 34 when the gimbal 35 controls the imaging device 34 to rotate around the yaw axis when the drone is yawing at low speed in various states (hovering, normal flight, extreme flight, etc.).

[0131] Therefore, the present invention provides a joint control scheme of the flight control system and the gimbal control system, which realizes high-precision control of aerial photography, achieves the aerial photography stabilization effect, ensures the uniformity of the gimbal yaw channel speed when the yaw channel of the drone has a low speed, and completely solves the video freeze phenomenon during low-speed aerial photography.

[0132] Figure 2 The combined control structure block diagram of the UAV flight control system 36 and the gimbal control system 37 of the present invention is given. Figure 2 The control mechanism given is described.

[0133] Flight control system controls the drone:

[0134] like Figure 2 and Figure 3 As shown, the flight control system 36 includes a position control part and an attitude control part, so it can be considered that the flight control system 36 includes a position control module 361 and an attitude control module 362. Among them, the position control module 361 is used to control the position and / or speed of the drone 30. The attitude control module 362 is used to control the attitude of the drone 30.

[0135] The flight control system 36 obtains the control instruction 101 input into the drone 30 by the visual system, intelligent control terminal, remote controller, or navigation system of the drone 30 , and the position control module 361 outputs the control instruction 102 according to the control instruction 101 and the output status information 108 of the drone 30 .

[0136] The control instruction 101 includes at least one of a position instruction and a speed instruction of the drone 30. In other possible embodiments, the control instruction 101 may also include at least one of a line of sight instruction and a line of sight change rate instruction. The control instruction 102 includes an attitude angle instruction 102.1 of the drone 30, a thrust instruction of the motor, and a yaw rate instruction 103 input to the drone. The output status information 108 of the drone 30 includes the actual speed of the drone, the actual attitude angle 108.2 of the drone (including the actual roll angle, actual pitch angle, and actual yaw angle 108.21 of the drone (such as Figure 4 )) and the actual attitude angular rate of the UAV 108.1 (including the actual roll angular rate, actual pitch angular rate and actual yaw angular rate of the UAV).

[0137] The attitude control module 362 outputs the control instruction 104 according to the control instruction 102, the output status information 108 of the UAV 30 and the output status information 109 of the gimbal 35 to control the actuator (ie, the power device 33) of the UAV 30, thereby achieving control of the attitude of the UAV.

[0138] In one embodiment of the present invention, the control instruction 104 is a control signal for controlling the motor of the drone 30. In other embodiments, when the drone is a fixed-wing aircraft or a hybrid-wing aircraft, the control instruction 104 may also be the thrust and rudder angle of the fixed-wing aircraft, or the hybrid control amount of the hybrid-wing aircraft. The output status information 109 of the gimbal 35 includes the actual attitude angle and the actual attitude angular rate of the gimbal. Specifically, the output status information 109 of the gimbal 35 can be divided into status information 109.1 and status information 109.2 (such as Figure 4 ). The state information 109.1 includes the actual pitch angle, actual pitch angle rate, actual roll angle, and actual roll angle rate of the gimbal 35. The state information 109.2 includes the actual yaw angle 109.21 and actual yaw angle rate 109.22 of the gimbal 35.

[0139] It is worth noting that when the gimbal 35 is at different aerial photography angles, the sensitivity to the attitude of the drone 30 will be different. The present invention can dynamically adjust the attitude angle and / or attitude angular rate restriction conditions of the drone 30 according to the different aerial photography angles of the gimbal 35 to ensure the high precision and stability of the gimbal. This is because the gimbal 35 is subjected to different disturbances in different flight states. Especially in extreme flight conditions, the disturbance to the gimbal 30 is extremely obvious. Therefore, it is necessary to limit the flight attitude of the drone 30, which is conducive to stabilizing the gimbal. For example, when the aerial photography angle of the gimbal 35 is -90° to 75°, the pitch angle of the drone 30 is limited to ±20°; when the aerial photography angle of the gimbal 35 is -10° to 0°, the pitch angle of the drone 30 is limited to ±25°; in other cases, the pitch angle of the drone 30 is limited to ±30°.

[0140] Specifically, if Figure 3 As shown, the flight control system 36 can automatically generate the attitude angle limit 111 and the attitude angular rate limit 112 of the drone according to the output status information 109 of the gimbal 35 , thereby limiting the attitude of the drone 30 .

[0141] The attitude control module 362 generates an attitude angle rate control instruction 110 of the UAV 30 according to the attitude angle instruction 102 . 1 in the control instruction 102 , the actual attitude angle 108 . 2 of the UAV, and the attitude angle limit 111 of the UAV.

[0142] The attitude control module 362 generates a motor control instruction 104 according to the attitude angular rate control instruction 110 of the UAV, the yaw angular rate instruction 103 of the UAV, the attitude angular rate limit 112 of the UAV and the actual attitude angular rate 108.1 of the UAV, and controls the attitude of the UAV according to the motor control instruction 104.

[0143] In one embodiment of the present invention, the attitude angle instruction 102.1 mainly includes a pitch angle instruction and a roll angle instruction. In other embodiments, the attitude angle instruction 102.1 may also include a yaw angle instruction. The actual attitude angle 108.2 of the drone mainly includes an actual pitch angle and an actual roll angle, and may also include an actual yaw angle. The attitude angle limit 111 of the drone mainly includes a pitch angle limit and a roll angle limit. Among them, the attitude angle limit 111 of the drone can be generated according to the actual attitude angle of the gimbal in the gimbal output status information 109 (mainly including the actual pitch angle and actual roll angle of the gimbal). The attitude angular rate control instruction 110 of the drone mainly includes a pitch angle rate control instruction and a roll angle rate control instruction, and the attitude angular rate limit 112 of the drone mainly includes a pitch angle rate limit, a roll angle rate limit and a yaw angle rate limit. The attitude angular rate limit 112 of the drone can be generated according to the actual attitude angular rate of the gimbal 35 in the gimbal output status information 109.

[0144] Joint control of the gimbal by the flight control system and the gimbal control system:

[0145] like Figure 4 As shown, the control of the gimbal 35 by the gimbal control system 37 can be divided into two parts, one is the control of the yaw axis motor of the gimbal 35, and the other is the control of the pitch axis motor and the roll axis motor of the gimbal 35. Among them, the control of the yaw axis motor of the gimbal 35 is completed by the flight control system 36 and the gimbal control system 37. Figure 5 It is a principle block diagram of the joint control of the yaw axis motor of the gimbal 35 by the flight control system 36 and the gimbal control system 37 in the present invention.

[0146] like Figure 5 As shown, the flight control system 36 first sends the yaw rate instruction 103 input to the UAV in the control instruction 102 to the gimbal control system 37, and the gimbal control system 37 obtains the yaw rate instruction 103 input to the UAV and then performs a logical judgment to determine whether the yaw rate instruction 103 input to the UAV is zero.

[0147] When the yaw rate command 103 input to the drone is not zero, the control authority of the yaw axis motor of the gimbal 35 is handed over to the flight control system 36, and the yaw rate error of the gimbal 35 has a larger weight, and the yaw error is only used as compensation and has a lower weight. Specifically, at this time, since the yaw rate command 103 input to the drone is not zero, the gimbal control system 37 selects the control rate 1 (control law, the algorithm for the gimbal control system to form control commands, describes the functional relationship between the controlled state variable and the system input signal.), and the gimbal control system 37 generates the yaw axis motor control command of the gimbal 35 according to the yaw rate command 103 of the drone and the actual yaw rate 109.22 of the gimbal 35. Then, the gimbal control system 37 generates additional control instructions for the yaw axis motor of the gimbal 35, and finally generates a yaw axis motor control quantity of the gimbal 35 according to the yaw axis motor control instructions of the gimbal 35 and the additional control instructions for the yaw axis motor of the gimbal 35, and controls the yaw axis motor of the gimbal according to the yaw axis motor control quantity.

[0148] In one embodiment of the present invention, the additional control instruction of the yaw axis motor of the gimbal 35 refers to the difference between the actual yaw angle 109.21 of the gimbal and the actual yaw angle 108.21 of the drone. The additional control instruction of the yaw axis motor of the gimbal is introduced to make the line of sight of the imaging device 34 carried by the gimbal 35 coincide with or keep consistent with the heading of the drone as much as possible.

[0149] The yaw rate instruction 103 of the UAV reflects the flight control system's control expectations for the UAV's yaw channel. The gimbal control system 37 uses its own high-precision control and rapid response characteristics, combined with the UAV's yaw rate instruction 103 given by the flight control system, to control the yaw axis motor of the gimbal. Therefore, it can maximize the advantages of high-precision control and rapid response of the gimbal control system, achieve stabilization of the gimbal's yaw axis, and thus eliminate the jamming of the imaging equipment it carries in the yaw axis direction.

[0150] like Figure 5As shown, when the yaw rate command 103 input to the UAV is zero, the control authority of the yaw axis motor of the gimbal 35 is handed over to the gimbal control system 37, and the gimbal control system 37 selects the control rate 2, that is, the gimbal control system 37 directly controls the yaw axis motor of the gimbal 35, and the yaw axis motor of the gimbal 35 is not affected by the command output by the flight control system 36. At this time, the gimbal control system 37 obtains the actual yaw angle 108.21 of the UAV and the actual yaw angle 109.21 of the gimbal, generates the yaw rate control command of the gimbal according to the actual yaw angle 108.21 of the UAV and the actual yaw angle 109.21 of the gimbal, and then obtains the actual yaw rate 109.22 of the gimbal, and finally generates the control amount of the yaw axis motor of the gimbal 35 according to the yaw rate control command of the gimbal and the actual yaw rate 109.22 of the gimbal, and controls the yaw axis motor of the gimbal 35. At this time, the yaw angle of the gimbal converges to the yaw angle of the UAV in the first order.

[0151] It is worth noting that no matter whether the gimbal control system 37 selects control rate 1 or control rate 2, the control authority of the pitch axis motor and roll axis motor of the gimbal 35 always belongs to the gimbal control system 37.

[0152] like Figure 4 As shown, the gimbal control system 37 controls the pitch axis motor and the roll axis motor specifically as follows: the gimbal control system 37 obtains the pitch angle command 100 of the gimbal 35, the actual pitch angle and the actual pitch angle rate of the gimbal, generates the pitch axis motor control amount of the gimbal according to the pitch angle command 100 of the gimbal 35, the actual pitch angle and the actual pitch angle rate of the gimbal, and the gimbal control system 37 controls the pitch axis motor of the gimbal 35 according to the pitch axis motor control amount.

[0153] Similarly, the gimbal control system 37 obtains the input overhead angle command 100 of the gimbal 35, the actual roll angle and the actual roll angle rate of the gimbal, and generates the roll axis motor control quantity of the gimbal according to the overhead angle command 100 of the gimbal, the actual roll angle and the actual roll angle rate of the gimbal. The gimbal control system 37 controls the roll axis motor of the gimbal 35 according to the roll axis motor control quantity.

[0154] In one embodiment of the present invention, the overhead shooting angle instruction 100 of the above-mentioned gimbal 35 can be issued by a remote controller or a smart terminal (such as an app on a mobile phone or tablet computer).

[0155] in, Figure 4 The status information 109.1 in the control command 107.1 includes the actual pitch angle, actual pitch angle rate, actual roll angle and actual roll angle rate of the gimbal 35. The control command 107.1 includes the pitch axis motor control amount and the roll axis motor control amount of the gimbal. The control command 107.2 is the yaw axis motor control amount of the gimbal.

[0156] The above scheme of jointly controlling the gimbal yaw axis motor by the flight control system and the gimbal control system cleverly uses the high-precision and fast-response characteristics of the gimbal control system to compensate for the shortcomings of the flight control system in yaw control, maximizes the advantages of high-precision control and fast response of the gimbal control system, and uses this advantage to compensate for the shortcomings of the flight control system in yaw control, thereby achieving stabilization of the gimbal yaw channel and completely solving the problem of aerial video jamming when the drone yaws at low speed.

[0157] like Figure 6 As shown, the present invention also provides a pan / tilt control method, comprising:

[0158] S100: The flight control system generates a yaw rate instruction for the UAV.

[0159] In one embodiment of the present invention, the yaw rate instruction of the UAV can be generated by the flight control system of the UAV according to at least one of the position instruction and the speed instruction input to the UAV. In other possible embodiments, the flight control system can also generate the yaw rate instruction of the UAV according to at least one of the sight line instruction and the sight line change rate instruction. In one embodiment of the present invention, any one of the position instruction, the speed instruction, the sight line instruction and the sight line change rate instruction can be input by the visual system, the intelligent control terminal, the remote controller, or the navigation system of the UAV.

[0160] S200, the gimbal control system controls the yaw axis motor of the gimbal according to the yaw angle rate instruction of the drone.

[0161] like Figure 7 As shown, in one embodiment of the present invention, the step further includes:

[0162] S201: Determine whether the yaw rate command input to the UAV is zero.

[0163] In one embodiment of the present invention, the gimbal control system of the UAV can determine whether the yaw rate command input to the UAV is zero. Whether the yaw rate command of the UAV is zero determines the control rate adopted by the gimbal control system. Figure 5 When the yaw rate command input to the drone is not zero, the control authority of the gimbal's yaw motor is handed over to the drone's flight control system. The gimbal's yaw rate error has a larger weight, and the yaw error is only used as compensation, with a lower weight. When the yaw rate command input to the drone is zero, the control authority of the gimbal's yaw motor is handed over to the gimbal control system, that is, the gimbal's yaw motor is directly controlled by the gimbal control system, and the gimbal's yaw motor is not affected by the flight control system. It is worth noting that regardless of whether the gimbal control system selects control rate 1 or control rate 2, the control authority of the gimbal's pitch axis motor and roll axis motor always belongs to the gimbal control system.

[0164] When the yaw rate command input to the drone is not zero, the gimbal control system executes steps S202-S206:

[0165] S202: Acquire the actual yaw rate of the gimbal.

[0166] In one embodiment of the present invention, the actual yaw rate of the gimbal can be measured by the IMU of the gimbal, wherein the IMU of the gimbal is generally installed on the gimbal and is in communication with the gimbal control system. It can also be obtained from the output status information fed back by the gimbal, wherein the output status information of the gimbal includes the actual attitude angle and angular rate of the gimbal, that is, the actual pitch angle, actual pitch angular rate, actual roll angle, actual roll angular rate, actual yaw angle and actual yaw angular rate of the gimbal.

[0167] S203, generating a yaw axis motor control instruction of the gimbal according to the yaw angle rate instruction input to the drone and the actual yaw angle rate of the gimbal.

[0168] S204, obtaining additional control instructions for the yaw axis motor of the gimbal.

[0169] In one embodiment of the present invention, the additional control instruction of the yaw axis motor of the gimbal refers to the difference between the actual yaw angle of the gimbal and the actual yaw angle of the drone. The instruction can ensure that the line of sight of the imaging device carried by the gimbal is consistent with the heading or line of sight of the drone. Among them, the actual yaw angle of the gimbal can be measured by the IMU of the gimbal, or obtained from the output status information fed back by the gimbal. The actual yaw angle of the drone can be measured by the IMU of the drone, or obtained from the output status information fed back by the drone. The output status information of the drone includes the actual attitude angle of the drone and its angular rate, that is, the actual pitch angle of the drone, the actual pitch angle rate, the actual roll angle, the actual roll angle rate, the actual yaw angle and the actual yaw angle rate.

[0170] S205 . Generate a yaw-axis motor control variable of the gimbal according to the yaw-axis motor control instruction of the gimbal and the yaw-axis motor additional control instruction of the gimbal.

[0171] S206 , controlling the yaw-axis motor of the gimbal according to the control amount of the yaw-axis motor of the gimbal.

[0172] When the yaw rate command input to the drone is zero, execute steps S207-S211:

[0173] S207: Obtain the actual yaw angle of the UAV and the actual yaw angle of the gimbal.

[0174] Similarly, the actual yaw angle of the drone can be measured by the IMU of the drone or the output status information fed back by the drone, and the actual yaw angle of the gimbal can be measured by the IMU of the gimbal or the output status information fed back by the gimbal.

[0175] S208: Generate a yaw angle rate control instruction for the gimbal according to the actual yaw angle of the UAV and the actual yaw angle of the gimbal.

[0176] S209: Obtain the actual yaw rate of the gimbal.

[0177] S210, generating a yaw axis motor control variable of the gimbal according to the yaw angle rate control instruction of the gimbal and the actual yaw angle rate of the gimbal.

[0178] S211. Control the yaw-axis motor of the gimbal according to the control amount of the yaw-axis motor of the gimbal.

[0179] In one embodiment of the present invention, the method further comprises:

[0180] S300, the gimbal control system controls the pitch axis motor and the roll axis motor of the gimbal according to the input gimbal tilt angle command and the output status information of the gimbal, wherein the output status information of the gimbal includes the actual attitude angle and the actual attitude angular rate of the gimbal.

[0181] In one embodiment of the present invention, the actual attitude angle of the gimbal includes an actual pitch angle, an actual roll angle, and an actual yaw angle. The actual attitude angular rate of the gimbal includes an actual pitch angular rate, an actual roll angular rate, and an actual yaw angular rate.

[0182] In one embodiment of the present invention, the input command of the pan-tilt camera can be issued by a remote controller or a smart terminal, wherein the remote controller is used to control the drone and communicate with the drone. The smart terminal includes a mobile phone, a tablet computer, etc., and an app for controlling the drone is usually installed on the smart terminal.

[0183] like Figure 8 As shown, the pan / tilt control system controls the pan / tilt motor according to the pan / tilt angle command input to the pan / tilt and the pan / tilt status information output, including:

[0184] S301, generating a pitch axis motor control variable of the gimbal according to the gimbal pitch angle instruction, the gimbal actual pitch angle and the actual pitch angle rate.

[0185] S302, controlling the pitch axis motor of the gimbal according to the control amount of the pitch axis motor of the gimbal.

[0186] Similarly, the pan / tilt control system controls the pan / tilt roll axis motor by:

[0187] S303, generating a roll axis motor control variable of the gimbal according to the input pan angle instruction of the gimbal, the actual roll angle of the gimbal, and the actual roll angle rate.

[0188] S304, controlling the roll axis motor of the gimbal according to the control amount of the roll axis motor of the gimbal.

[0189] In one embodiment of the present invention, the method further comprises:

[0190] S400, the flight control system controls the attitude of the drone according to the output status information of the gimbal.

[0191] The attitude of the UAV includes the attitude angle of the UAV and the attitude angular rate of the UAV.

[0192] like Fig.10 As shown, step S400 further includes:

[0193] S401: Generate an attitude angle limit of the drone according to the actual attitude angle of the gimbal.

[0194] In one embodiment of the present invention, the actual attitude angle of the gimbal mainly includes the actual pitch angle and the actual roll angle of the gimbal, and in other possible embodiments, it may further include the actual yaw angle of the gimbal. The actual attitude angle of the gimbal can be obtained through the output information fed back by the gimbal. Correspondingly, the attitude angle limit of the drone mainly includes the pitch angle limit and the roll angle limit of the drone, and may further include the yaw angle limit of the drone.

[0195] S402: Acquire the actual attitude angle of the UAV and input an attitude angle command of the UAV.

[0196] In one embodiment of the present invention, the actual attitude angle of the drone can be obtained through the output state information (including the actual attitude angle and the actual attitude angle rate) fed back by the drone, or can be obtained through the IMU measurement of the drone. The attitude angle command of the drone mainly includes the pitch angle command and the roll angle command input to the drone. Among them, the pitch angle command and the roll angle command input to the drone can be generated by the flight control system according to at least one of the position command, speed command, sight line command and sight line change rate command input to the drone.

[0197] S403: Generate an attitude angle rate control instruction of the UAV according to the attitude angle limit of the UAV, the attitude angle instruction input to the UAV, and the actual attitude angle of the UAV.

[0198] Among them, the attitude angle control instructions of the UAV mainly include the pitch angle rate control instructions and roll angle rate control instructions of the UAV.

[0199] S404: Generate an attitude angular rate limit of the UAV according to the actual attitude angular rate of the gimbal.

[0200] The actual attitude angular rate of the gimbal includes the actual pitch angular rate, the actual roll angular rate, and the actual yaw angular rate of the gimbal. Therefore, the attitude angular rate limit of the drone includes the pitch angular rate limit, the roll angular rate limit, and the yaw angular rate limit of the drone.

[0201] S405: Acquire the actual attitude angular rate of the UAV and input a yaw angular rate instruction of the UAV.

[0202] The yaw rate command input to the drone can be obtained in step S100.

[0203] S406, generating a motor control instruction for the UAV according to the attitude angular rate control instruction of the UAV, the attitude angular rate limit of the UAV, the yaw angular rate instruction input to the UAV, and the actual attitude angular rate of the UAV.

[0204] S407: Control the attitude of the UAV according to the motor control instructions of the UAV.

[0205] The detailed description of the gimbal control method of the present invention can refer to the detailed description of the drone embodiment.

[0206] The gimbal control method of the present invention adopts the joint control of the gimbal control system and the flight control system, which maximizes the advantages of high-precision control and rapid response of the gimbal control system, and uses this advantage to compensate for the deficiencies of the flight control system in yaw control, thereby achieving stabilization of the gimbal yaw channel and completely solving the problem of aerial video jamming when the drone yaws at low speed.

[0207] A person skilled in the art can understand that all or part of the processes in the above-mentioned embodiments can be implemented by instructing the relevant hardware through a computer program, and the program can be stored in a non-volatile computer-readable storage medium, and when the program is executed, it can include the processes of the embodiments of the above-mentioned methods. The storage medium can be a disk, an optical disk, a read-only memory (ROM), etc.

[0208] The technical features of the above-described embodiments may be arbitrarily combined. To make the description concise, not all possible combinations of the technical features in the above-described embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this specification.

[0209] The above-mentioned embodiments only express several implementation methods of the present invention, and the descriptions thereof are relatively specific and detailed, but they cannot be understood as limiting the scope of the invention patent. It should be pointed out that, for ordinary technicians in this field, several variations and improvements can be made without departing from the concept of the present invention, and these all belong to the protection scope of the present invention. Therefore, the protection scope of the patent of the present invention shall be subject to the attached claims.

Claims

1. A method for controlling a gimbal of an unmanned aerial vehicle, wherein the unmanned aerial vehicle comprises a flight control system and a gimbal control system for controlling the gimbal, characterized in that: include: The flight control system generates a yaw rate instruction for the UAV; If the yaw rate command input to the UAV is not zero, the gimbal control system controls the yaw motor of the gimbal according to the yaw rate command input to the UAV and the additional control command of the yaw motor of the gimbal; The gimbal control system controls the pitch axis motor and the roll axis motor of the gimbal according to the tilt angle command input to the gimbal and the output status information of the gimbal, wherein the output status information of the gimbal includes the actual attitude angle of the gimbal and the actual attitude angular rate; the flight control system controls the attitude of the UAV according to the output status information of the gimbal; The flight control system generates an attitude angle limit of the UAV according to the actual attitude angle of the gimbal; The flight control system obtains the actual attitude angle of the UAV and inputs an attitude angle command of the UAV, wherein the attitude angle command includes a pitch angle command and a roll angle command; The flight control system generates an attitude angle rate control instruction of the UAV according to the attitude angle limit of the UAV, the attitude angle instruction input to the UAV, and the actual attitude angle of the UAV; The flight control system generates an attitude angular rate limit of the UAV according to the actual attitude angular rate of the gimbal; The flight control system obtains the actual attitude angular rate of the UAV and inputs the yaw angular rate instruction of the UAV; The flight control system generates a motor control instruction for the UAV according to the attitude angular rate control instruction of the UAV, the attitude angular rate limit of the UAV, the yaw angular rate instruction input to the UAV, and the actual attitude angular rate of the UAV; The flight control system controls the attitude of the UAV according to the motor control instructions of the UAV.

2. The PTZ control method according to claim 1, characterized in that: The gimbal control system controls the yaw axis motor of the gimbal according to the yaw angle rate instruction of the drone, including: Determining whether the yaw rate command input to the drone is zero; If not, then: The gimbal control system obtains the actual yaw angular rate of the gimbal; The gimbal control system generates a yaw axis motor control instruction of the gimbal according to the yaw angle rate instruction input to the drone and the actual yaw angle rate of the gimbal; The gimbal control system obtains an additional control instruction for a yaw-axis motor of the gimbal, wherein the additional control instruction for the yaw-axis motor is used to control the yaw-axis motor of the gimbal so that the line of sight of an imaging device carried by the gimbal coincides with the heading of the drone; The gimbal control system generates a yaw axis motor control variable of the gimbal according to the yaw axis motor control instruction of the gimbal and the yaw axis motor additional control instruction of the gimbal; The yaw-axis motor of the gimbal is controlled according to the control amount of the yaw-axis motor of the gimbal.

3. The method according to claim 2, characterized in that The gimbal control system obtains the additional control instruction of the yaw axis motor of the gimbal, including: The gimbal control system obtains the actual yaw angle of the gimbal and the actual yaw angle of the drone; The gimbal control system generates an additional control instruction for the yaw-axis motor of the gimbal according to the actual yaw angle of the gimbal and the actual yaw angle of the drone.

4. The method according to claim 2 or 3, characterized in that: The method further includes: If the yaw rate command input to the drone is zero, then: The gimbal control system obtains the actual yaw angle of the drone and the actual yaw angle of the gimbal; The gimbal control system generates a yaw angle rate control instruction of the gimbal according to the actual yaw angle of the UAV and the actual yaw angle of the gimbal; The gimbal control system obtains the actual yaw angular rate of the gimbal; The gimbal control system generates a yaw axis motor control variable of the gimbal according to the yaw angle rate control instruction of the gimbal and the actual yaw angle rate of the gimbal; The gimbal control system controls the yaw-axis motor of the gimbal according to the control amount of the yaw-axis motor of the gimbal.

5. The method according to any one of claims 1 to 3, characterized in that: The flight control system generates the yaw rate instruction of the drone, including: The flight control system obtains at least one of a position instruction and a sight instruction input to the drone; The flight control system generates the yaw rate instruction of the UAV according to at least one of the position instruction and the sight line instruction input into the UAV.

6. The method according to any one of claims 1 to 3, characterized in that The flight control system generates the yaw rate instruction of the drone, including: The flight control system obtains at least one of a speed instruction and a sight line change rate instruction input to the drone; The flight control system generates the yaw rate instruction of the UAV according to at least one of the speed instruction and the sight line change rate instruction input into the UAV.

7. The method according to claim 1, characterized in that The actual attitude angle of the gimbal includes the actual pitch angle of the gimbal, and the actual attitude angular rate of the gimbal includes the actual pitch angular rate of the gimbal; The pan / tilt control system controls the pitch axis motor and the roll axis motor of the pan / tilt according to the pan / tilt angle command input to the pan / tilt and the output state information of the pan / tilt, including: The gimbal control system generates a control amount of a pitch axis motor of the gimbal according to the pitch angle instruction of the gimbal, the actual pitch angle of the gimbal, and the actual pitch angle rate; The pitch-axis motor of the gimbal is controlled according to the control amount of the pitch-axis motor of the gimbal.

8. The method according to claim 7, characterized in that The actual attitude angle of the gimbal further includes the actual roll angle of the gimbal, and the actual attitude angular rate of the gimbal further includes the actual roll angular rate of the gimbal; The pan / tilt control system controls the pitch axis motor and the roll axis motor of the pan / tilt according to the pan / tilt angle command input to the pan / tilt and the output state information of the pan / tilt, including: The gimbal control system generates a roll axis motor control amount of the gimbal according to the pan-tilt angle instruction of the gimbal, the actual roll angle of the gimbal, and the actual roll angle rate; The gimbal control system controls the roll axis motor of the gimbal according to the control amount of the roll axis motor of the gimbal.

9. The method according to any one of claims 7-8, characterized in that The pan / tilt control system obtains the overhead shooting angle instruction of the pan / tilt, including: The pan / tilt control system obtains the overhead shooting angle instruction of the pan / tilt issued by a remote controller or a smart terminal.

10. A drone, characterized in that: include: body; A machine arm connected to the machine body; A power device, arranged on the machine arm; A gimbal connected to the fuselage; A flight control system, arranged on the fuselage; and a pan / tilt control system, which is disposed on the pan / tilt or the body and is used to control the pan / tilt; The flight control system is used to generate a yaw rate instruction for the UAV; The PTZ control system is used for: If the yaw rate command input to the UAV is not zero, the gimbal control system controls the yaw motor of the gimbal according to the yaw rate command input to the UAV and the additional control command of the yaw motor of the gimbal; The PTZ control system is also used for: Controlling the pitch axis motor and the roll axis motor of the gimbal according to the tilt angle command input to the gimbal and the output status information of the gimbal, wherein the output status information of the gimbal includes the actual attitude angle and the actual attitude angular rate of the gimbal; The flight control system is also used for: Controlling the attitude of the UAV according to the output status information of the gimbal; Generating an attitude angle limit of the UAV according to the actual attitude angle of the gimbal; Acquiring the actual attitude angle of the UAV and inputting an attitude angle instruction of the UAV; Generate an attitude angle rate control instruction of the UAV according to the attitude angle limit of the UAV, the attitude angle instruction input to the UAV, and the actual attitude angle of the UAV; According to the actual attitude angular rate of the gimbal, the attitude angular rate limit of the UAV is generated, and the attitude angle instruction includes a pitch angle instruction and a roll angle instruction The flight control system obtains the actual attitude angular rate of the UAV and inputs the yaw angular rate instruction of the UAV; Generate a motor control instruction for the drone according to the attitude angular rate control instruction of the drone, the attitude angular rate limit of the drone, the yaw angular rate instruction input to the drone, and the actual attitude angular rate of the drone; The attitude of the drone is controlled according to the motor control instruction of the drone.

11. The drone according to claim 10, characterized in that: The PTZ control system is specifically used for: Determining whether the yaw rate of the UAV is zero; When the yaw rate command of the UAV is not zero, then: Obtaining the actual yaw rate of the gimbal; Generate a yaw axis motor control instruction of the gimbal according to the yaw angle rate instruction input to the drone and the actual yaw angle rate of the gimbal; Acquire an additional control instruction for the yaw-axis motor of the gimbal, wherein the additional control instruction for the yaw-axis motor is used to control the yaw-axis motor of the gimbal so that the line of sight of the imaging device carried by the gimbal coincides with the heading of the drone; Generate a yaw-axis motor control quantity of the gimbal according to the yaw-axis motor control instruction of the gimbal and the yaw-axis motor additional control instruction of the gimbal; and control the yaw-axis motor of the gimbal according to the yaw-axis motor control quantity of the gimbal.

12. The drone according to claim 11, characterized in that: The PTZ control system is specifically used for: Obtaining an actual yaw angle of the gimbal and an actual yaw angle of the drone; According to the actual yaw angle of the gimbal and the actual yaw angle of the drone, an additional control instruction for the yaw-axis motor of the gimbal is generated.

13. The drone according to claim 11 or 12, characterized in that: When the yaw rate command input to the UAV is zero, the gimbal control system is further used to: Obtaining an actual yaw angle of the drone and an actual yaw angle of the gimbal; Generate a yaw angle rate control instruction of the gimbal according to the actual yaw angle of the drone and the actual yaw angle of the gimbal; Obtaining the actual yaw rate of the gimbal; Generate a yaw-axis motor control variable of the gimbal according to the yaw angle rate control instruction of the gimbal and the actual yaw angle rate of the gimbal; The yaw-axis motor of the gimbal is controlled according to the control amount of the yaw-axis motor of the gimbal.

14. The drone according to any one of claims 11-12, characterized in that: The flight control system is specifically used for: Acquire at least one of a position instruction and a sight line instruction of the UAV; and generate the yaw rate instruction of the UAV according to at least one of the position instruction and the sight line instruction of the UAV.

15. The drone according to any one of claims 11-12, characterized in that: The flight control system is specifically used for: Obtaining at least one of a speed instruction and a sight line change rate instruction of the drone; The yaw angle rate instruction of the UAV is generated according to at least one of the speed instruction and the sight line change rate instruction of the UAV.

16. The drone according to claim 13, characterized in that: The PTZ control system is specifically used for: Generate a pitch-axis motor control amount of the gimbal according to the pitch angle instruction of the gimbal, the actual pitch angle of the gimbal, and the actual pitch angle rate; The pitch-axis motor of the gimbal is controlled according to the control amount of the pitch-axis motor of the gimbal.

17. The drone according to claim 16, characterized in that: The PTZ control system is also used for: Generate a roll axis motor control amount of the gimbal according to the pan-tilt angle instruction of the gimbal, the actual roll angle of the gimbal, and the actual roll angle rate; The roll axis motor of the gimbal is controlled according to the control amount of the roll axis motor of the gimbal.

18. The drone according to any one of claims 16-17, characterized in that: The gimbal control system is specifically used to obtain the overhead shooting angle instruction of the gimbal issued by a remote controller or a smart terminal.

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