Stabilized gimbal and control method, storage medium

Abstract

The application discloses a stabilizing holder, a control method thereof, and a storage medium, wherein the stabilizing holder comprises a controller, an acceleration sensor, a three-axis stabilizing unit, and an active damping unit; the acceleration sensor is connected with the three-axis stabilizing unit and the controller respectively; the three-axis stabilizing unit is used for loading a shooting device and performing three-axis stabilizing adjustment on the shooting device; the acceleration sensor is used for acquiring acceleration information of the three-axis stabilizing unit and sending the acceleration information to the controller; the controller is connected with the active damping unit; and the controller is used for controlling the active damping unit according to the acceleration information, so as to reduce the vibration of the three-axis stabilizing unit in the vertical direction through the active damping unit. The stability and applicability of the holder can be effectively improved, and the final image quality of the shooting device carried thereon is improved.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of image acquisition device control, in particular to a stable holder, a control method thereof, and a storage medium. BACKGROUND

[0002] The stable holder is a supporting device for mounting and fixing a device such as a mobile phone, a camera, or a video camera. By adjusting the mobile phone, the camera, or the video camera through the stable holder, the image quality obtained by the photographing device can be effectively improved.

[0003] In the related art, the stable holder is a three-axis holder. The three-axis holder can realize real-time sensing and adjustment of the pitch angle, the roll angle, and the yaw angle of the photographing device by using a sensor and a motor, so that the relative position between the photographing device fixed thereon and a detection target remains stable. However, since the three-axis holder cannot actively isolate disturbances in the vertical direction, the stable holder is not applicable in some scenarios (for example, when a photographing device is carried by a flying device for aerial photography, some flying devices vibrate in the vertical direction), that is, the holder has poor use effect in these scenarios. SUMMARY

[0004] The present application aims to at least solve one of the above technical problems in the art. To this end, one object of the present application is to provide a stable holder that can effectively improve the stability and applicability of the holder, and further improve the final image quality of a photographing device carried thereon.

[0005] A second object of the present application is to provide a control method of a stable holder.

[0006] A third object of the present application is to provide a computer-readable storage medium.

[0007] To achieve the above objects, the first aspect of the present application provides a stable holder, comprising a controller, an acceleration sensor, a three-axis stabilization unit, and an active damping unit. The acceleration sensor is connected to the three-axis stabilization unit and the controller, respectively. The three-axis stabilization unit is used to load a photographing device and perform three-axis stabilization adjustment on the photographing device. The acceleration sensor is used to obtain acceleration information of the three-axis stabilization unit and send the acceleration information to the controller. The controller is connected to the active damping unit. The controller is used to control the active damping unit according to the acceleration information, so as to reduce the vibration of the three-axis stabilization unit in the vertical direction through the active damping unit.

[0008] According to the stabilizing holder, the acceleration sensor is connected with the three-axis stabilizing unit and the controller respectively, the three-axis stabilizing unit is used for loading a shooting device and performing three-axis stabilizing adjustment on the shooting device, the acceleration sensor is used for acquiring acceleration information of the three-axis stabilizing unit and sending the acceleration information to the controller, and the controller is connected with the active damping unit and used for controlling the active damping unit according to the acceleration information, so as to reduce the vibration of the three-axis stabilizing unit in the vertical direction through the active damping unit, thereby effectively improving the stability and applicability of the holder and the final image quality of the shooting device loaded thereon.

[0009] In addition, the stabilizing holder according to the above-mentioned embodiments of the present application can further have the following additional technical features:

[0010] In some embodiments, the active damping unit comprises a voice coil motor, a PWM circuit and a motor driving circuit, one end of the motor driving circuit is connected with the voice coil motor, and the other end of the motor driving circuit is connected with the controller through the PWM.

[0011] In some embodiments, the stabilizing holder further comprises a current sampling module, which is used for collecting current information of the motor driving circuit and sending the current information to the controller.

[0012] In some embodiments, the controlling the active damping unit according to the acceleration information comprises: calculating corresponding target current information based on preset target acceleration information and the acceleration information; performing PI adjustment on the target current information and the current information to update a duty cycle, and controlling the voice coil motor according to the duty cycle.

[0013] In order to achieve the above-mentioned purpose, the second aspect embodiment of the present application proposes a control method of a stabilizing holder, the stabilizing holder comprising a controller, an acceleration sensor, a three-axis stabilizing unit and an active damping unit, wherein the control method comprises the following steps: acquiring acceleration information of the three-axis stabilizing unit through the acceleration sensor and sending the acceleration information to the controller; and controlling the active damping unit according to the acceleration information, so as to reduce the vibration of the three-axis stabilizing unit in the vertical direction through the active damping unit.

[0014] According to the control method of the stable holder according to the embodiments of the present application, firstly, the acceleration information of the three-axis stabilizing unit is acquired by the acceleration sensor and sent to the controller; then, the controller controls the active damping unit according to the acceleration information to reduce the vibration of the three-axis stabilizing unit in the vertical direction by the active damping unit, thereby effectively improving the stability and applicability of the holder, and further improving the final image quality of the photographing device carried thereon.

[0015] In addition, the control method of the stable holder according to the embodiments of the present application can have the following additional technical features.

[0016] In some embodiments, the controller controls the active damping unit according to the acceleration information, including: calculating corresponding target current information based on preset target acceleration information and the acceleration information; acquiring current information corresponding to the active damping unit, and performing PI adjustment on the target current information and the current information to update a duty cycle, and controlling the active damping unit according to the duty cycle.

[0017] In some embodiments, the active damping unit is controlled by the following formula:

[0018] u A (k)=u0(k)+u G (k)

[0019] Wherein, u A (k) represents a compound adaptive controller, u0(k) represents a maintenance and tracking control rate, and u G (k) represents a golden section adaptive control rate.

[0020] In some embodiments, the maintenance and tracking control rate is expressed by the following formula:

[0021]

[0022] Wherein, and represent parameters to be identified, y(k) represents an actual output value of the compound adaptive controller, y(k-1) represents an actual output value at the last moment, y r (k) represents an expected output value, and λ represents a normal number.

[0023] In some embodiments, the golden section adaptive control rate is expressed by the following formula:

[0024]

[0025] wherein, l1=0.382, l2=0.618, represent the golden section coefficient, represents a tracking error, represents a tracking error of a previous time.

[0026] To achieve the above object, the third aspect of the present application provides a computer readable storage medium, which stores a control program of a stabilizing holder, and the control program of the stabilizing holder is executed by a processor to realize the control method of the stabilizing holder. BRIEF DESCRIPTION OF DRAWINGS

[0027] Figure 1 a block schematic diagram of the stabilizing holder according to an embodiment of the present application;

[0028] Figure 2 a structural schematic diagram of the stabilizing holder according to a specific embodiment of the present application;

[0029] Figure 3 a block schematic diagram of the stabilizing holder according to another embodiment of the present application;

[0030] Figure 4 a structural block diagram of the acceleration servo control system according to an embodiment of the present application;

[0031] Figure 5 a step response diagram of the acceleration closed loop of the composite adaptive controller according to an embodiment of the present application;

[0032] Figure 6 a flowchart of the control method of the stabilizing holder according to an embodiment of the present application;

[0033] Figure 7 a flowchart of the control method of the stabilizing holder according to a specific embodiment of the present application. DETAILED DESCRIPTION

[0034] Embodiments of the present application are described in detail below, examples of which are shown in the accompanying drawings, wherein the same or similar notations represent the same or similar elements or elements having the same or similar functions throughout. The embodiments described below by referring to the drawings are exemplary and are intended to explain the present application, and cannot be understood as a limitation of the present application.

[0035] In the related art, a three-axis stabilizing holder cannot actively isolate disturbance in the vertical direction, and thus is not applicable to some scenes. According to the stabilizing holder based on a voice coil motor and the damping method thereof, firstly, a current acceleration value of the stabilizing holder is obtained, and an acceleration difference between the current acceleration value and a preset target acceleration value is calculated, and the acceleration difference is sent to an acceleration controller, so that the acceleration controller outputs a corresponding target current value according to the acceleration difference; then, a current current value is obtained, and a current difference between the current current value and the target current value is calculated, and the current difference is sent to a current controller; then, the current controller calculates a corresponding duty cycle according to the current difference, and sends the duty cycle to the voice coil motor, so that the voice coil motor dampens the stabilizing holder according to the duty cycle; the stability and applicability of the stabilizing holder can be effectively improved; and the final image quality of a photographing device carried thereon is improved.

[0036] In order to better understand the above technical solutions, the exemplary embodiments of the present application will be described in more detail below with reference to the accompanying drawings. Although the exemplary embodiments of the present application are shown in the drawings, it should be understood that the present application can be implemented in various forms and should not be limited by the embodiments described herein. On the contrary, these embodiments are provided so that the present application can be more thoroughly understood and the scope of the present application can be fully conveyed to those skilled in the art.

[0037] In order to better understand the above technical solutions, the above technical solutions will be described in detail below in combination with the accompanying drawings and specific embodiments.

[0038] Please refer to Figure 1 , Figure 1 The block diagram of the stabilizing holder according to the embodiments of the present application is shown in Figure 1 The stabilizing holder includes a controller 10, an acceleration sensor 20, a three-axis stabilizing unit 30 and an active damping unit 40.

[0039] The acceleration sensor 20 is connected to the three-axis stabilizing unit 30 and the controller 10, respectively, and the three-axis stabilizing unit 30 is used to load a photographing device and adjust the photographing device in three axes.

[0040] The acceleration sensor 20 is used to obtain acceleration information of the three-axis stabilizing unit 30 and send the acceleration information to the controller 10.

[0041] The controller 10 is connected to the active damping unit 40, and the controller 10 is used to control the active damping unit 40 according to the acceleration information, so as to reduce the vibration of the three-axis stabilizing unit 30 in the vertical direction through the active damping unit 40.

[0042] That is, in order to improve the stability and applicability of the stabilizing gimbal, a three-axis stabilizing unit 30 is provided with an active damping unit 40; further, acceleration information of the three-axis stabilizing unit 30 is obtained through an acceleration sensor 20, so as to control the active damping unit 40 according to the acceleration information, so as to reduce the disturbance of the three-axis stabilizing unit 30 in the vertical direction. Make it applicable to application scenarios with vibration in the vertical direction.

[0043] As an example, Figure 2 The structure diagram of the stabilizing gimbal according to an embodiment of the present application; as Figure 2 shown, the stabilizing gimbal includes the following three-axis gimbal, and a photographing system fixing part is arranged on the three-axis gimbal, which is used for fixing a photographing device; and a corresponding active damping device is arranged above the three-axis gimbal, so as to reduce the vibration in the numerical direction of the three-axis gimbal through the active damping device; the active damping device includes a voice coil motor and a corresponding fixing part, and the fixing part is used for fixing the voice coil motor on the three-axis gimbal.

[0044] In some embodiments, the active damping unit includes a voice coil motor, a PWM circuit and a motor driving circuit, one end of the motor driving circuit is connected with the voice coil motor, and the other end of the motor driving circuit is connected with the controller through PWM.

[0045] In some embodiments, the stabilizing gimbal further includes a current sampling module, which is used for collecting current information of the motor driving circuit and sending the current information to the controller.

[0046] In some embodiments, the control of the active damping unit according to the acceleration information includes: calculating corresponding target current information based on preset target acceleration information and acceleration information; performing PI adjustment according to the target current information and the current information to update the duty cycle, and controlling the voice coil motor according to the duty cycle.

[0047] As an example, Figure 3 The block diagram of the stabilizing gimbal according to a specific embodiment of the present application; as Figure 3As shown, the stable holder includes a controller 100, an acceleration sensor 200, a three-axis stabilizing unit 300, an active damping unit 400, and a current sampling module 500; wherein the active damping unit 400 includes a voice coil motor 401, a motor driving circuit 402, and a PWM (Pulse Width Modulation) circuit 403, the motor driving circuit 402 is connected to the voice coil motor 401 and the PWM circuit 403 respectively, and the PWM circuit 403 is connected to the motor driving circuit 402 and the controller 100 respectively; through the above connection, the controller 100 can effectively control the voice coil motor 401; the acceleration sensor 200 is connected to the three-axis stabilizing unit 300 and the controller 100 respectively; the acceleration sensor 200 obtains the acceleration information of the three-axis stabilizing unit 300 through the connection with the three-axis stabilizing unit 300, and sends the acceleration information to the controller 100; after receiving the acceleration information, the controller 100 calculates the difference between the acceleration information and the preset target acceleration to obtain the acceleration feedback; then, the corresponding target current information is calculated according to the acceleration feedback; then, the current information (i.e. the current value) is obtained through the current sampling module 500 connected to the controller 100 and the motor driving circuit 402 respectively, and the difference between the current information and the target current information is calculated to obtain the current feedback; then, the duty cycle is updated according to the current feedback, and the duty cycle is sent to the voice coil motor, so that the voice coil motor moves according to the duty cycle to reduce the vertical vibration of the three-axis stabilizing unit 300.

[0048] As an example, in order to maintain the accurate control of the voice coil motor torque and acceleration, a double closed-loop structure is used for control, Figure 4 The structure block diagram of the acceleration servo control system is as shown in Figure 4 As shown, the double closed-loop structure includes an inner loop (current loop) and an outer loop (acceleration loop); in the acceleration loop, the current acceleration A(s) (acceleration information) is obtained, and the difference between A(s) and the target acceleration value A ref (s) is calculated to obtain the acceleration feedback; then, the acceleration feedback is input to the acceleration controller C a (s) to output the corresponding target current value I a (s) through C ref (s); then, enter the current loop, in which the difference between I ref (s) and the current value I(s) is calculated to obtain the current feedback; then, the current feedback is input to the current controller C i (s) to output the corresponding target current value I i(s) output the corresponding duty cycle and send the duty cycle to the voice coil motor so that the voice coil motor moves according to the duty cycle; then, enter the loop. Preferably, the current loop adopts PI control, and after completing the current loop PI control, the current loop controller adjusted is taken as a link in the acceleration adjustment system.

[0049] As an example, the acceleration loop adopts a compound adaptive controller, which is expressed by the following formula:

[0050] u A (k)=u0(k)+u G (k)

[0051] Wherein, u A (k) represents the compound adaptive controller, u0(k) represents the maintenance and tracking control rate, and u G (k) represents the golden section adaptive control rate.

[0052] The maintenance and tracking control rate is expressed by the following formula:

[0053]

[0054] Wherein, and represent the parameters to be identified, y(k) represents the actual output value of the compound adaptive controller, y(k-1) represents the actual output value at the last time, and y r (k) represents the expected output value, and λ represents a normal number.

[0055] The golden section adaptive control rate is expressed by the following formula:

[0056]

[0057] Wherein, l1=0.382, l2=0.618, representing the golden section coefficient, represents the tracking error, represents the tracking error at the last time, and when the control process enters the steady state, l1=l2=1.

[0058] In some embodiments, the parameter identification adopts the recursive least square method with a forgetting factor:

[0059]

[0060] The value range of the forgetting factor λ is generally [0.9, 1]. Specifically, the step response of the compound adaptive controller acceleration closed loop is as shown in Figure 5 .

[0061] In summary, according to the stabilizing holder, the acceleration sensor is connected with the three-axis stabilizing unit and the controller respectively, the three-axis stabilizing unit is used for loading a shooting device and performing three-axis stabilizing adjustment on the shooting device, the acceleration sensor is used for acquiring acceleration information of the three-axis stabilizing unit and sending the acceleration information to the controller, and the controller is connected with the active damping unit and used for controlling the active damping unit according to the acceleration information, so as to reduce vibration of the three-axis stabilizing unit in the vertical direction through the active damping unit, thereby effectively improving stability and applicability of the holder, and further improving final image quality of a shooting device carried on the holder.

[0062] In order to realize the above-mentioned embodiments, the second aspect of the present application provides a control method of a stabilizing holder, the stabilizing holder comprising a controller, an acceleration sensor, a three-axis stabilizing unit and an active damping unit, as shown in Figure 6 The control method comprises:

[0063] S101, acquiring acceleration information of the three-axis stabilizing unit through the acceleration sensor and sending the acceleration information to the controller.

[0064] S102, controlling the active damping unit according to the acceleration information, so as to reduce vibration of the three-axis stabilizing unit in the vertical direction through the active damping unit.

[0065] In some embodiments, the controller controls the active damping unit according to the acceleration information, comprising: calculating corresponding target current information based on preset target acceleration information and the acceleration information; acquiring current information corresponding to the active damping unit, and performing PI adjustment on the target current information and the current information to update a duty cycle, and controlling the active damping unit according to the duty cycle.

[0066] In some embodiments, the active damping unit is controlled through the following formula:

[0067] u A (k)=u0(k)+u G (k)

[0068] Wherein, u A (k) represents a compound adaptive controller, u0(k) represents a maintenance and tracking control rate, and u G (k) represents a golden section adaptive control rate.

[0069] In some embodiments, the maintenance and tracking control rate is expressed by the following formula:

[0070]

[0071] in, and Let y(k) represent the parameter to be identified, y(k) represent the actual output value of the composite adaptive controller, and y(k-1) represent the actual output value at the previous time step. r (k) represents the expected output value, and λ represents a positive constant.

[0072] In some embodiments, the golden ratio adaptive control law is expressed by the following formula:

[0073]

[0074] Where l1 = 0.382 and l2 = 0.618 represent the golden ratio. Indicates tracking error. This represents the tracking error at the previous moment.

[0075] As a specific embodiment of the present invention, such as Figure 7 As shown, the control method for this stabilized gimbal specifically includes: First, entering the interrupt handling routine; then, clearing the interrupt flag; next, determining whether the acceleration loop adjustment cycle has been reached; if the acceleration loop adjustment cycle has not been reached, reading the current and performing current loop PI adjustment based on the read current to update the duty cycle; then, returning from the interrupt. If the acceleration loop adjustment cycle has been reached, acquiring the current acceleration information through the acceleration sensor and calculating the acceleration feedback based on the current acceleration information; then, performing acceleration adjustment through the control algorithm, and finally proceeding with the current loop process. It can be understood that the purpose of acceleration loop adjustment is to, after acquiring the vibration acceleration information of the gimbal and load, calculate and adjust the duty cycle input to the voice coil motor through the control algorithm so that the voice coil motor performs corresponding movements, thereby counteracting the vertical vibration of the gimbal and load, thus achieving vibration suppression.

[0076] It should be noted that the above description of the stabilized gimbal also applies to the control method of this stabilized gimbal, and will not be repeated here.

[0077] In addition, the control method for stabilizing the gimbal can inhibit vibration of the load imaging device of the airship in the vertical direction, so as to improve imaging quality. The acceleration loop is used to control acceleration of the voice coil motor, so as to offset vibration of the gimbal and the load device in the vertical direction. Compared with the traditional PID control algorithm, the control method can avoid artificial parameter setting, and can adaptively adjust parameters according to environmental changes, so as to effectively improve control effect. Meanwhile, compared with using the position loop to perform position compensation, the control method using the acceleration loop can reduce the number of sensors, simplify system structure, and reduce sensor time delay, so as to improve vibration isolation control effect.

[0078] In order to implement the above-mentioned embodiments, the embodiment of the present application provides a computer readable storage medium, which stores a control program for stabilizing a gimbal, and the control program for stabilizing a gimbal is executed by a processor to implement the control method for stabilizing a gimbal.

[0079] Those skilled in the art should understand that the embodiments of the present application can be provided as a method, a system, or a computer program product. Therefore, the present application can adopt a completely hardware embodiment, a completely software embodiment, or an embodiment combining software and hardware aspects. Moreover, the present application can adopt a computer program product implemented on one or more computer usable storage media (including but not limited to disk memory, CD-ROM, optical memory, etc.) containing computer usable program codes.

[0080] The present application is described with reference to flowcharts and / or block diagrams of the method, device (system), and computer program product according to the embodiments of the present application. It should be understood that each flow and / or block in the flowcharts and / or block diagrams, and the combination of the flows and / or blocks in the flowcharts and / or block diagrams can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, a special-purpose computer, an embedded processor, or other programmable data processing device to produce a machine, so that the instructions executed by the processor of the computer or other programmable data processing device produce a device for implementing the functions specified in the flowcharts and / or block diagrams. Figure 1 The functions specified in one or more flows and / or blocks Figure 1 The means for performing the functions specified in one or more flows and / or blocks.

[0081] These computer program instructions can also be stored in a computer readable memory capable of guiding a computer or other programmable data processing device to work in a specific manner, so that the instructions stored in the computer readable memory produce a product including instruction means, which implements the functions specified in the flowcharts and / or block diagrams. Figure 1 The functions specified in one or more flows and / or blocks Figure 1 The means for performing the functions specified in one or more flows and / or blocks.

[0082] These computer program instructions can also be loaded into a computer or other programmable data processing devices, so that a series of operational steps are performed on the computer or other programmable devices to generate computer-implemented processes, thus the instructions executed on the computer or other programmable devices provide the function of implementing the processes specified in the flowcharts Figure 1 one or more flows and / or blocks Figure 1 one or more blocks or multiple blocks.

[0083] It should be noted that the use of any of the terms "first", "second" or the like used in the description and / or in the claims is merely intended to distinguish between similar objects going back to a common technical feature. It is within the scope of the application that a single one of the objects specified with "first" or "second" can be replaced by the other of these terms specifying the same object. The singular forms "a", "an" and "the" include plural referents unless the context clearly dictates otherwise.

[0084] Although the preferred embodiments of the application have been described, those skilled in the art will recognize that many modifications and variations of the described implementation can be made without departing from the spirit or scope of the application. Accordingly, it is intended that all such modifications and variations be included within the scope of the following claims and the scope of the application.

[0085] Obviously, numerous modifications and variations of the present application are possible in light of the above teachings. It is therefore to be understood that within the scope of the appended claims and their equivalents, the application can be practiced otherwise than as specifically described.

[0086] In the description of the present application, it is to be understood that the terms "first", "second", "third" and the like, merely identify features being referred to and do not limit the number of such features. Thus, a feature specified to be "first", "second", or "third" can implicitly or explicitly include one or more of such features. In the description of the present application, the meaning of "a plurality" is two or more, unless explicitly specifically defined otherwise.

[0087] In the present application, unless specifically defined otherwise, the terms "mounting", "connected", "connection", "fixed", and the like should be construed broadly and do not necessarily mean fixedly connected, but can mean removably connected, or integral; can mean mechanical connection, or electrical connection; can mean direct connection, or indirect connection via an intermediate medium; can mean internal communication between two elements, or interaction between two elements. Those skilled in the art can understand the specific meaning of the above terms in the present application according to the specific circumstances.

[0088] In the present application, unless specifically defined otherwise, the first feature is "on" or "under" the second feature can be that the first and second features are in direct contact, or the first and second features are in indirect contact through an intermediate medium. Moreover, the first feature "above", "over" and "on" the second feature can be that the first feature is directly above or obliquely above the second feature, or only means that the horizontal height of the first feature is higher than that of the second feature. The first feature "below", "under" and "under" the second feature can be that the first feature is directly below or obliquely below the second feature, or only means that the horizontal height of the first feature is less than that of the second feature.

[0089] In the description of the present application, the description of the terms "one embodiment", "some embodiments", "example", "specific example", or "some examples" means that the specific features, structures, materials or characteristics described in connection with the embodiment or example are included in at least one embodiment or example of the present application. In the present application, the illustrative description of the above terms should not be understood as necessarily referring to the same embodiment or example. Moreover, the specific features, structures, materials or characteristics described can be combined in any appropriate manner in any one or more embodiments or examples. In addition, different embodiments or examples described in the present application and the features of different embodiments or examples can be combined and combined by those skilled in the art without contradiction.

[0090] Although the embodiments of the present application have been shown and described above, it should be understood that the above embodiments are exemplary and should not be construed as limiting the present application, and those skilled in the art can make changes, modifications, replacements and variations to the above embodiments within the scope of the present application.

Claims

1. A method for controlling a stabilized gimbal, characterized in that, The stabilized gimbal includes a controller, an accelerometer, a three-axis stabilization unit, and an active damping unit. The control method includes the following steps: The acceleration information of the triaxial stabilization unit is obtained through the acceleration sensor, and the acceleration information is sent to the controller; The acceleration control of the active damping unit is achieved using the following formula: ； in, This represents a composite adaptive controller. Indicates the maintenance and tracking control rate. This represents the golden ratio adaptive control law; The maintenance and tracking control rate is expressed by the following formula: ； in, , and This represents the parameter to be identified. This represents the actual output value of the composite adaptive controller. This represents the actual output value at the previous moment. Indicates the expected output value. Represents positive numbers; The golden ratio adaptive control law is expressed by the following formula: ； in, =0.382, =0.618, representing the golden ratio. , Indicates tracking error. This represents the tracking error at the previous moment; The controller controls the active damping unit based on the acceleration information to reduce the vertical vibration of the triaxial stabilizing unit.

2. The control method for a stabilized gimbal as described in claim 1, characterized in that, The controller controls the active damping unit based on the acceleration information, including: Calculate the corresponding target current information based on the preset target acceleration information and the acceleration information; The system acquires the current information corresponding to the active damping unit, performs PI adjustment based on the target current information and the current information to update the duty cycle, and controls the active damping unit based on the duty cycle.

3. A stabilized gimbal, characterized in that, include: The device includes a controller, an acceleration sensor, a three-axis stabilization unit, and an active damping unit, and the stabilized gimbal is used to perform the method of claim 1; The acceleration sensor is connected to the three-axis stabilization unit and the controller respectively. The three-axis stabilization unit is used to mount the shooting equipment and perform three-axis stabilization adjustment on the shooting equipment. The accelerometer is used to acquire the acceleration information of the triaxial stabilization unit and send the acceleration information to the controller; The controller is connected to the active damping unit, and the controller is used to control the active damping unit according to the acceleration information, so as to reduce the vibration of the triaxial stabilizing unit in the vertical direction through the active damping unit; The active damping unit includes a voice coil motor, a PWM circuit, and a motor drive circuit. One end of the motor drive circuit is connected to the voice coil motor, and the other end of the motor drive circuit is connected to the controller through the PWM circuit. Controlling the active damping unit based on the acceleration information includes calculating the corresponding target current information based on the preset target acceleration information and the acceleration information. The PI control is performed based on the target current information and the current information to update the duty cycle, and the voice coil motor is controlled based on the duty cycle. To maintain precise control of the torque and acceleration of the voice coil motor, a dual closed-loop structure is used, consisting of an inner loop (current loop) and an outer loop (acceleration loop).

4. The stabilized gimbal as described in claim 3, characterized in that, Also includes: A current sampling module is used to collect current information of the motor drive circuit and send the current information to the controller.

5. A computer-readable storage medium, characterized in that, It stores a control program for a stabilized gimbal, which, when executed by a processor, implements the control method for a stabilized gimbal as described in any one of claims 1-2.

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