A control method and system for a motor stabilizer

Abstract

The present invention proposes a control method and system for a motor stabilizer, which obtains multiple levels of a target camera in a preset level, calculates a motor speed target according to the levels, and then adjusts the motor speed and corrects the position of the target camera; in the correction process, calculates a deviation cumulative coefficient, compares the deviation cumulative coefficient with a preset coefficient threshold, and determines whether to adjust the response speed according to the comparison result; when the response speed adjustment is turned on, calculates a response speed adjustment value, generates a response speed adjustment signal according to the response speed adjustment value, and corrects the position of the target camera again; calculates the difference between the deviation cumulative coefficients before and after the response speed adjustment, compares the difference with a preset difference threshold, determines the control state of the stabilizer according to the comparison result, and performs corresponding processing measures. The present application improves the response speed and stability of the system and solves the problem of deviation accumulation caused by slow response speed.

Description

Technical Field

[0001] The invention proposes a control method and system for a motor stabilizer, and relates to the field of automatic control technology, and in particular to the field of automatic control technology for a motor stabilizer. Background Art

[0002] In the current social life, the use of stabilizers is very common, and the use of stabilizers has brought a lot of convenience to human life. However, there are still some problems in the existing technology. In the existing technology, the position of objects such as cameras is usually corrected by calculating the deviation. However, in the correction process, the response speed of the stabilizer may decrease or be not fast enough, resulting in continuous accumulation of deviations during the correction process of the stabilizer, making the correction efficiency and accuracy of the stabilizer low, and continuous correction is required, which consumes resources. Summary of the invention

[0003] The present invention provides a control method and system for a motor stabilizer, which is used to solve the problem that in the prior art, due to the decrease or insufficient response speed of the stabilizer, there is continuous accumulation of deviations during the correction process of the stabilizer, resulting in low correction efficiency and accuracy of the stabilizer, and the need for continuous correction, which consumes resources:

[0004] The present invention provides a control method and system for a motor stabilizer, the method comprising:

[0005] S1, obtaining the weight level and position deviation level of the target camera in the preset level, calculating the motor speed target according to the weight level and the deviation level, and then adjusting the motor speed and correcting the position of the target camera;

[0006] S2. During the deviation correction process, the response speed and deviation change of the stabilizer are obtained, and the deviation cumulative coefficient is calculated based on the obtained response speed and deviation change. The deviation cumulative coefficient is compared with a preset coefficient threshold, and it is determined whether to adjust the response speed based on the comparison result.

[0007] S3, when the response speed adjustment is turned on, the deviation correction frequency information and response speed information of the stabilizer are obtained, the response speed adjustment value is calculated, a response speed adjustment signal is generated according to the response speed adjustment value, and the target camera position is corrected again;

[0008] S4. Calculate the difference between the cumulative coefficients of the deviations before and after the response speed adjustment, compare the difference with a preset difference threshold, determine the control state of the stabilizer according to the comparison result, and take corresponding processing measures.

[0009] Further, the S1 includes:

[0010] S101, classifying different types of cameras into weight grades to obtain a plurality of different weight grades of the cameras;

[0011] Different degrees of position deviations of historical cameras are classified into deviation levels to obtain multiple deviation levels;

[0012] Among the plurality of weight levels and deviation levels, obtaining a weight level and a deviation level of a target camera controlled by the stabilizer, calculating a motor speed target for controlling the target camera according to the weight level and the deviation level of the target camera, and adjusting the motor speed of the stabilizer according to the motor speed target;

[0013] S102. After adjusting the motor speed, the stabilizer controls the motor to adjust the target camera posture according to preset control parameters, and calculates the position deviation of the target camera in real time during the adjustment process. When the target camera has a position deviation, the stabilizer corrects the position of the target camera.

[0014] Further, the S2 includes:

[0015] S201, setting a plurality of unit times during the deviation correction process, obtaining the response speed and deviation change of the stabilizer in each unit time, and calculating the deviation accumulation coefficient of each unit time according to the response speed and deviation change of each unit time;

[0016] The calculation formula of the deviation cumulative coefficient is:

[0017]

[0018] Among them, K pl is the cumulative coefficient of deviation, ΔF x ΔX is the time change from sending the correction signal to the stabilizer starting to respond. s1 is the change in the time from when the stabilizer starts responding to when it ends responding, j is ΔF x +ΔX s1 The number of deviation changes within the total time change, ΔP bi is the growth change of the deviation amount for the i-th time, X s2 is the response speed of the stabilizer per unit time, X s3 It is the historical average response speed of the stabilizer during the correction process;

[0019] S202. Compare the cumulative coefficient of deviation per unit time with a preset coefficient threshold. When the cumulative coefficient of deviation is greater than the preset coefficient threshold, start adjusting the response speed. When the cumulative coefficient of deviation is less than or equal to the preset coefficient threshold, do not adjust the response speed.

[0020] Further, the S3 includes:

[0021] S301, when the response speed adjustment is turned on, the deviation correction frequency of the stabilizer in the most recent unit time is obtained, and the response speed adjustment value of the stabilizer is calculated according to the deviation correction frequency in the most recent unit time, the deviation accumulation coefficient and the response speed of the stabilizer;

[0022] The calculation formula of the response speed adjustment value is:

[0023]

[0024] Among them, T xs is the response speed adjustment value, K pl is the cumulative coefficient of deviation, P u1 is the deviation correction frequency per unit time, P u2 is the historical average deviation correction frequency of the stabilizer during the correction process, X y is the response speed of the stabilizer in the most recent unit time;

[0025] S302, perform cascade PID control processing on the response speed adjustment value to obtain a PID value corresponding to the response speed adjustment value, generate a response speed adjustment signal according to the PID value corresponding to the response speed adjustment value, adjust the response speed of the stabilizer according to the response speed adjustment information, and correct the camera position again after the adjustment is completed.

[0026] Further, the S4 includes:

[0027] S401, obtaining the deviation accumulation data of the last unit time before the response speed adjustment and the deviation accumulation coefficient of the first unit time after the response speed adjustment, and calculating the difference between the two;

[0028] S402, comparing the difference with a preset difference threshold; when the difference is greater than the difference threshold, the stabilizer control is in a qualified state; when the difference is less than or equal to the difference threshold, the stabilizer control is in an unqualified state, the response speed adjustment value of the stabilizer is recalculated, and the response speed is re-adjusted.

[0029] Furthermore, the system comprises:

[0030] A grade division adjustment module, used to obtain the weight grade and position deviation grade of the target camera in the preset grade, calculate the motor speed target according to the weight grade and the deviation grade, and then adjust the motor speed and correct the position of the target camera;

[0031] The calculation and judgment module is used to obtain the response speed and deviation change of the stabilizer during the correction process, calculate the deviation cumulative coefficient based on the obtained information, compare the deviation cumulative coefficient with a preset coefficient threshold, and determine whether to adjust the response speed based on the comparison result;

[0032] The calculation and adjustment module is used to obtain the deviation correction frequency information and response speed information of the stabilizer after the response speed adjustment is turned on, calculate the response speed adjustment value, generate a response speed adjustment signal according to the response speed adjustment value, and correct the target camera position again;

[0033] The difference comparison module is used to calculate the difference of the deviation cumulative coefficient before and after the response speed adjustment, compare the difference with a preset difference threshold, determine the stabilizer control state according to the comparison result, and take corresponding processing measures.

[0034] Furthermore, the level division adjustment module includes:

[0035] A grade acquisition module is used to classify different types of cameras into weight grades and obtain multiple different weight grades of the cameras;

[0036] Different degrees of position deviations of historical cameras are classified into deviation levels to obtain multiple deviation levels;

[0037] Among the plurality of weight levels and deviation levels, obtaining a weight level and a deviation level of a target camera controlled by the stabilizer, calculating a motor speed target for controlling the target camera according to the weight level and the deviation level of the target camera, and adjusting the motor speed of the stabilizer according to the motor speed target;

[0038] The correction module is used to control the motor to adjust the target camera posture according to preset control parameters after the motor speed is adjusted. During the adjustment process, the position deviation of the target camera is calculated in real time. When the target camera has a position deviation, the stabilizer corrects the position of the target camera.

[0039] Furthermore, the calculation and judgment module includes:

[0040] The cumulative coefficient calculation module is used to set multiple unit times during the deviation correction process, obtain the response speed and deviation change of the stabilizer in each unit time, and calculate the deviation cumulative coefficient of each unit time according to the response speed and deviation change of each unit time;

[0041] The calculation formula of the deviation cumulative coefficient is:

[0042]

[0043] Among them, K plis the cumulative coefficient of deviation, ΔF x ΔX is the time change from sending the correction signal to the stabilizer starting to respond. s1 is the change in the time from when the stabilizer starts responding to when it ends responding, j is ΔF x +ΔX s1 The number of deviation changes within the total time change, ΔP bi is the growth change of the deviation amount for the i-th time, X s2 is the response speed of the stabilizer per unit time, X s3 It is the historical average response speed of the stabilizer during the correction process;

[0044] The judgment and adjustment module is used to compare the deviation cumulative coefficient of each unit time with a preset coefficient threshold. When the deviation cumulative coefficient is greater than the preset coefficient threshold, the response speed is adjusted. When the deviation cumulative coefficient is less than or equal to the preset coefficient threshold, the response speed is not adjusted.

[0045] Furthermore, the calculation and adjustment module includes:

[0046] The adjustment value calculation module is used to obtain the deviation correction frequency of the stabilizer in the most recent unit time after the response speed adjustment is turned on, and calculate the response speed adjustment value of the stabilizer according to the deviation correction frequency in the most recent unit time, the deviation accumulation coefficient and the response speed of the stabilizer;

[0047] The calculation formula of the response speed adjustment value is:

[0048]

[0049] Among them, T xs is the response speed adjustment value, K pl is the cumulative coefficient of deviation, P u1 is the deviation correction frequency per unit time, P u2 is the historical average deviation correction frequency of the stabilizer during the correction process, X y is the response speed of the stabilizer in the most recent unit time;

[0050] The adjustment and correction module is used to perform cascade PID control processing on the response speed adjustment value, obtain the PID value corresponding to the response speed adjustment value, generate a response speed adjustment signal according to the PID value corresponding to the response speed adjustment value, adjust the response speed of the stabilizer according to the response speed adjustment information, and correct the camera position again after the adjustment is completed.

[0051] Furthermore, the difference comparison module includes:

[0052] The difference calculation module is used to obtain the deviation accumulation data of the last unit time before the response speed adjustment and the deviation accumulation coefficient of the first unit time after the response speed adjustment, and calculate the difference between the two;

[0053] The adjustment judgment module is used to compare the difference with a preset difference threshold. When the difference is greater than the difference threshold, the stabilizer control is in a qualified state; when the difference is less than or equal to the difference threshold, the stabilizer control is in an unqualified state, the response speed adjustment value of the stabilizer is recalculated, and the response speed is re-adjusted.

[0054] Beneficial effects of the present invention:

[0055] The present invention proposes a control method and system for a motor stabilizer, which obtains the weight level and position deviation level of the target camera in the preset level, calculates the motor speed target according to the weight level and the deviation level, thereby realizing accurate adjustment of the motor speed, and then realizing accurate correction of the target camera position. By obtaining the weight level and the position deviation level, the motor speed can be adjusted for cameras of different weights and different degrees of deviation, realizing targeted adjustment of the motor speed for controlling different cameras, so that different types of cameras can be flexibly and appropriately controlled; in the correction process, by obtaining the response speed and deviation change of the stabilizer, the deviation accumulation coefficient is calculated, the deviation accumulation coefficient is compared with the preset coefficient threshold, and it is judged whether to adjust the response speed according to the comparison result, so as to realize the calculation of the size of the deviation accumulation and the possible impact degree, and judge whether to adjust the response speed. While avoiding unnecessary calculation and adjustment, the monitoring of the deviation accumulation is realized. When the response speed adjustment is turned on, the deviation correction frequency information and response speed information of the stabilizer are obtained, the response speed adjustment value is calculated, and the response speed adjustment signal is generated according to the response speed adjustment value, and the target camera position is corrected again, thereby improving the response speed and stability of the system. Solve the problem of deviation accumulation caused by slow response speed. Calculate the difference of the deviation accumulation coefficient before and after the response speed adjustment, compare the difference with the preset difference threshold, determine the stabilizer control state according to the comparison result, and take corresponding treatment measures, thereby ensuring the reliability and stability of the system. This stabilizer control method has the advantages of accuracy, speed, reliability, etc., and can improve shooting effects and shooting efficiency. BRIEF DESCRIPTION OF THE DRAWINGS

[0056] Figure 1 A schematic diagram of a control method for a motor stabilizer. DETAILED DESCRIPTION

[0057] The preferred embodiments of the present invention are described below in conjunction with the accompanying drawings. It should be understood that the preferred embodiments described herein are only used to illustrate and explain the present invention, and are not used to limit the present invention.

[0058] In one embodiment of the present invention, a control method and system of a motor stabilizer are provided, and the method comprises:

[0059] S1, obtaining the weight level and position deviation level of the target camera in the preset level, calculating the motor speed target according to the weight level and the deviation level, and then adjusting the motor speed and correcting the position of the target camera;

[0060] S2. During the deviation correction process, the response speed and deviation change of the stabilizer are obtained, and the deviation cumulative coefficient is calculated based on the obtained response speed and deviation change. The deviation cumulative coefficient is compared with a preset coefficient threshold, and it is determined whether to adjust the response speed based on the comparison result.

[0061] S3, when the response speed adjustment is turned on, the deviation correction frequency information and response speed information of the stabilizer are obtained, the response speed adjustment value is calculated, a response speed adjustment signal is generated according to the response speed adjustment value, and the target camera position is corrected again;

[0062] S4. Calculate the difference between the cumulative coefficients of the deviations before and after the response speed adjustment, compare the difference with a preset difference threshold, determine the control state of the stabilizer according to the comparison result, and take corresponding processing measures.

[0063] The working principle of the above technical solution is as follows: first, the weight level and the deviation level of the position of the target camera in the preset level are obtained, and the motor speed target is calculated according to the weight level and the deviation level, and then the motor speed is adjusted, and the position of the target camera is corrected; then, in the correction process, the response speed and deviation change of the stabilizer are obtained, and the deviation cumulative coefficient is calculated based on them, and the deviation cumulative coefficient is compared with the preset coefficient threshold, and according to the comparison result, it is determined whether to adjust the response speed; when the response speed adjustment is turned on, the deviation correction frequency information and response speed information of the stabilizer are obtained, the response speed adjustment value is calculated, and a response speed adjustment signal is generated according to the response speed adjustment value, and the target camera position is corrected again; finally, the difference of the deviation cumulative coefficient before and after the response speed adjustment is calculated, and the difference is compared with the preset difference threshold, and the control state of the stabilizer is determined according to the comparison result, and corresponding processing measures are taken.

[0064] The technical effect of the above technical scheme is: by obtaining the weight level and position deviation level of the target camera in the preset level, the motor speed target is calculated according to the weight level and the deviation level, so as to achieve accurate adjustment of the motor speed, and then achieve accurate correction of the target camera position. By obtaining the weight level and the position deviation level, the motor speed of cameras with different weights and different degrees of deviation can be adjusted in a targeted manner, and the motor speed for controlling different cameras can be adjusted in a targeted manner, so that different types of cameras can be flexibly and appropriately controlled; in the correction process, by obtaining the response speed and deviation change of the stabilizer, the deviation accumulation coefficient is calculated, and the deviation accumulation coefficient is compared with the preset coefficient threshold, and it is judged whether to adjust the response speed according to the comparison result, so as to achieve the calculation of the size of the deviation accumulation and the degree of possible impact, and to judge whether to adjust the response speed. While avoiding unnecessary calculations and adjustments, the monitoring of the deviation accumulation is achieved. When the response speed adjustment is turned on, the deviation correction frequency information and response speed information of the stabilizer are obtained, the response speed adjustment value is calculated, and the response speed adjustment signal is generated according to the response speed adjustment value, and the target camera position is corrected again, thereby improving the response speed and stability of the system. Solve the problem of deviation accumulation caused by slow response speed. Calculate the difference of the deviation accumulation coefficient before and after the response speed adjustment, compare the difference with the preset difference threshold, determine the stabilizer control state according to the comparison result, and take corresponding treatment measures, thereby ensuring the reliability and stability of the system. This stabilizer control method has the advantages of accuracy, speed, reliability, etc., and can improve shooting effects and shooting efficiency.

[0065] In one embodiment of the present invention, the S1 includes:

[0066] S101, classifying different types of cameras into weight grades to obtain a plurality of different weight grades of the cameras;

[0067] Different degrees of position deviations of historical cameras are classified into deviation levels to obtain multiple deviation levels;

[0068] Among the plurality of weight levels and deviation levels, obtaining a weight level and a deviation level of a target camera controlled by the stabilizer, calculating a motor speed target for controlling the target camera according to the weight level and the deviation level of the target camera, and adjusting the motor speed of the stabilizer according to the motor speed target;

[0069] S102. After adjusting the motor speed, the stabilizer controls the motor to adjust the target camera posture according to preset control parameters, and calculates the position deviation of the target camera in real time during the adjustment process. When the target camera has a position deviation, the stabilizer corrects the position of the target camera.

[0070] The working principle of the above technical solution is: weight grades are divided into different types of cameras to obtain multiple different weight grades of cameras; position deviations of different degrees of historical cameras are divided into deviation grades to obtain multiple deviation grades; among the multiple weight grades and deviation grades, the weight grade and deviation grade of the target camera controlled by the stabilizer are obtained, the motor speed target amount for controlling the target camera is calculated according to the weight grade and deviation grade of the target camera, and the motor speed of the stabilizer is adjusted according to the motor speed target amount;

[0071] The calculation formula for controlling the motor speed target of the target camera is:

[0072]

[0073] Among them, M B is the motor speed target of the target camera, Z d is the weight class of the target camera, P d is the deviation level of the target camera, Y d The preset speed of the motor.

[0074] After adjusting the motor speed, the stabilizer controls the motor to adjust the target camera posture according to the preset control parameters, calculates the position deviation of the target camera in real time during the adjustment process, and corrects the position of the target camera when the target camera has a position deviation. The motor includes a heading motor, a roll motor and a pitch motor; one end of the heading motor is connected to the handle, and the other end is connected to one end of the roll motor, the other end of the roll motor is connected to one end of the pitch motor, and the other end of the pitch motor is connected to the carrier, which is used to connect to the target carrier (such as a target camera, a mobile phone, etc.). The stabilizer has the function of automatically compensating for the motion deviation of the heading motor, the roll motor and the pitch motor, so that the carrier can move stably with the target carrier, so that the target carrier can shoot stable and anti-shake video images, and can also realize time-lapse photography, horizontal and vertical shooting switching, automatic focus, automatic zoom, and gesture / audio recognition photography, gesture / audio control switch, etc. A database is established to record the initial position, corrected position and correction displacement of each correction in the database, and set a unique number for the correction information to be independently saved.

[0075] The technical effect of the above technical solution is: by dividing different types of cameras into multiple weight levels and deviation levels, this division method takes into account the characteristics and historical deviations of different cameras, so that the stabilizer can be accurately adjusted according to the actual situation. By calculating the weight level and deviation level of the target camera, the motor speed target can be calculated quickly and accurately. This method takes into account the influence of the weight and deviation of the camera on the motor speed, so that the stabilizer can be accurately adjusted according to these factors. By calculating the position deviation of the target camera in real time, the stabilizer can timely discover the position deviation and take correction measures. This real-time calculation method can ensure the position accuracy and stability of the camera, thereby improving the shooting effect and shooting efficiency. The technical solution can also adjust the motor speed according to the preset control parameters, so that the stabilizer can be flexibly adjusted according to different shooting requirements and environmental conditions. This preset control parameter can be an empirical value, historical data or a user-defined parameter to meet the needs of different scenes. The stabilizer control method has the advantages of accuracy, speed, reliability, etc., which can improve the shooting effect and shooting efficiency. At the same time, the characteristics and historical deviations of different cameras are also taken into account, so that the stabilizer can be accurately adjusted according to the actual situation.

[0076] In one embodiment of the present invention, S2 includes:

[0077] S201, setting a plurality of unit times during the deviation correction process, obtaining the response speed and deviation change of the stabilizer in each unit time, and calculating the deviation accumulation coefficient of each unit time according to the response speed and deviation change of each unit time;

[0078] The calculation formula of the deviation cumulative coefficient is:

[0079]

[0080] Among them, K pl is the cumulative coefficient of deviation, ΔF x ΔX is the time change from sending the correction signal to the stabilizer starting to respond. s1 is the change in the time from when the stabilizer starts responding to when it ends responding, j is ΔF x +ΔX s1 The number of deviation changes within the total time change, ΔP bi is the growth change of the deviation amount for the i-th time, X s2 is the response speed of the stabilizer per unit time, X s3 It is the historical average response speed of the stabilizer during the correction process;

[0081] S202. Compare the cumulative coefficient of deviation per unit time with a preset coefficient threshold. When the cumulative coefficient of deviation is greater than the preset coefficient threshold, start adjusting the response speed. When the cumulative coefficient of deviation is less than or equal to the preset coefficient threshold, do not adjust the response speed.

[0082] The working principle of the above technical solution is: set multiple unit times during the correction process, obtain the response speed and deviation change of the stabilizer in each unit time, and calculate the deviation accumulation coefficient of each unit time according to the response speed and deviation change of each unit time; the length of the unit time is set by the user according to the actual application scenario. By calculating the change in the time from the issuance of the correction signal to the start of the stabilizer's response, the change in the time from the start of the stabilizer's response to the end of the response, and ΔF x +ΔX s1 The deviation cumulative coefficient is calculated by the number of deviation changes within the total time variation, the i-th deviation growth variation, the response speed of the stabilizer per unit time, and the historical average response speed of the stabilizer during the correction process; the variation in this formula is a pure numerical calculation without units. The deviation cumulative coefficient of each unit time is compared with the preset coefficient threshold. When the deviation cumulative coefficient is greater than the preset coefficient threshold, the response speed is adjusted. When the deviation cumulative coefficient is less than or equal to the preset coefficient threshold, the response speed is not adjusted. When the deviation cumulative coefficient is greater than the preset coefficient threshold, it means that there may be a continuous accumulation of target camera position deviations during the correction process of the stabilizer due to the slow response speed of the stabilizer, resulting in a reduction in the normal correction effect and continuous resource consumption for correction. This problem can be improved by adjusting the response speed of the stabilizer.

[0083] The technical effect of the above technical solution is: by setting multiple unit times and obtaining the response speed and deviation change of the stabilizer in each unit time, the deviation accumulation coefficient of each unit time can be calculated more accurately. x +ΔX s1 The response time from the issuance of the correction signal can be calculated more accurately by ∑ j i＝1 ΔP biThe total cumulative change of the deviation in a unit time can be calculated. The deviation cumulative coefficient that takes into account the response time, response speed and cumulative deviation can be calculated through the overall calculation formula. This method takes into account the response speed and deviation change of the stabilizer in each unit time, making the calculation result more accurate. By comparing the deviation cumulative coefficient of each unit time with the preset coefficient threshold, the abnormal situation of the deviation cumulative coefficient can be discovered in time, and the response speed can be adjusted. This comparison method can determine whether the response speed of the stabilizer meets the requirements, thereby avoiding the continuous accumulation of the target camera position deviation due to the slow response speed of the stabilizer. When the deviation cumulative coefficient is greater than the preset coefficient threshold, it means that the response speed of the stabilizer may be slow and the response speed needs to be adjusted. By adjusting the response speed of the stabilizer, the correction effect can be improved and the continuity of resource consumption can be avoided. This adjustment method can be set according to the actual application scenario and user needs to meet the needs of different scenarios. This technology can also calculate the deviation cumulative coefficient based on the historical average response speed, thereby taking into account the changes in the response speed of the stabilizer in different time periods. This method can more accurately reflect the performance of the stabilizer and make corresponding adjustments. This method can calculate the deviation accumulation coefficient more accurately by setting multiple unit times and considering the response speed and deviation change of the stabilizer in each unit time. By comparing the deviation accumulation coefficient of each unit time with the preset coefficient threshold, the abnormal situation of the deviation accumulation coefficient can be discovered in time and the response speed can be adjusted.

[0084] In one embodiment of the present invention, S3 includes:

[0085] S301, when the response speed adjustment is turned on, the deviation correction frequency of the stabilizer in the most recent unit time is obtained, and the response speed adjustment value of the stabilizer is calculated according to the deviation correction frequency in the most recent unit time, the deviation accumulation coefficient and the response speed of the stabilizer;

[0086] The calculation formula of the response speed adjustment value is:

[0087]

[0088] Among them, T xs is the response speed adjustment value, K pl is the cumulative coefficient of deviation, P u1 is the deviation correction frequency per unit time, P u2 is the historical average deviation correction frequency of the stabilizer during the correction process, X y is the response speed of the stabilizer in the most recent unit time;

[0089] S302, perform cascade PID control processing on the response speed adjustment value to obtain a PID value corresponding to the response speed adjustment value, generate a response speed adjustment signal according to the PID value corresponding to the response speed adjustment value, adjust the response speed of the stabilizer according to the response speed adjustment information, and correct the camera position again after the adjustment is completed.

[0090] The working principle of the above technical solution is: after the response speed adjustment is turned on, the deviation correction frequency of the stabilizer in the most recent unit time is obtained, and the response speed adjustment value of the stabilizer is calculated according to the deviation correction frequency in the most recent unit time, the deviation accumulation coefficient and the response speed of the stabilizer; the most recent unit time is the first unit time after the response speed adjustment is turned on. The response speed adjustment value is calculated by the deviation accumulation coefficient, the deviation correction frequency per unit time, the historical average deviation correction frequency of the stabilizer during the correction process, and the response speed of the stabilizer in the most recent unit time; the response speed adjustment value is processed by cascade PID control to obtain the PID value corresponding to the response speed adjustment value, and a response speed adjustment signal is generated according to the PID value corresponding to the response speed adjustment value, and the response speed of the stabilizer is adjusted by the response speed adjustment information. After the adjustment is completed, the camera position is corrected again. It is ensured that the position deviation after adjusting the response speed is accurate and is not affected by the original slow response speed.

[0091] The technical effect of the above technical solution is: by obtaining the deviation correction frequency of the stabilizer in the most recent unit time, the performance of the stabilizer in the deviation correction process can be more accurately reflected, and the frequency of deviation correction per unit time is taken into account, so that the calculation result is more accurate. By combining the deviation accumulation coefficient, the deviation correction frequency per unit time, the historical average deviation correction frequency of the stabilizer and the response speed of the stabilizer in the most recent unit time, the performance of the stabilizer can be more comprehensively evaluated, making the calculation result more accurate. The influence coefficient of the deviation accumulation coefficient, the deviation correction frequency per unit time, and the historical average deviation correction frequency of the stabilizer on the response speed adjustment value can be calculated. A more accurate and reasonable response speed adjustment value can be calculated through the overall calculation formula. Through the cascade PID control process, the response speed adjustment value can be finely controlled. PID control is a classic control algorithm with the advantages of fast response, high precision and strong anti-interference ability, which can effectively control the adjustment speed and precision. By generating a response speed adjustment signal, the response speed of the stabilizer can be accurately controlled. This method converts the response speed adjustment value into a PID value, making the control signal more intuitive and easy to operate. Through the second correction process, it can be ensured that the position deviation after adjusting the response speed is accurate. This method avoids the accumulation of deviations that may be caused by the original slow response speed, thereby improving the shooting effect and shooting efficiency. This method obtains the deviation correction frequency of the stabilizer in the most recent unit time, comprehensively considers multiple factors to evaluate the performance of the stabilizer, and uses the cascade PID control process to finely control the response speed adjustment value. Through the second correction process, it is ensured that the position deviation after adjusting the response speed is accurate.

[0092] In one embodiment of the present invention, the S4 includes:

[0093] S401, obtaining the deviation accumulation data of the last unit time before the response speed adjustment and the deviation accumulation coefficient of the first unit time after the response speed adjustment, and calculating the difference between the two;

[0094] S402, comparing the difference with a preset difference threshold; when the difference is greater than the difference threshold, the stabilizer control is in a qualified state; when the difference is less than or equal to the difference threshold, the stabilizer control is in an unqualified state, the response speed adjustment value of the stabilizer is recalculated, and the response speed is re-adjusted.

[0095] The working principle of the above technical solution is: obtain the deviation cumulative data of the last unit time before the response speed adjustment and the deviation cumulative coefficient of the first unit time after the response speed adjustment, and calculate the difference between the two; compare the difference with the preset difference threshold, when the difference is greater than the difference threshold, the stabilizer control is in a qualified state; when the difference is less than or equal to the difference threshold, the stabilizer control is in an unqualified state, the response speed adjustment value of the stabilizer is recalculated, and the response speed is re-adjusted. When the difference is less than or equal to the difference threshold, it means that the response speed adjustment may be affected and inaccurate, resulting in an unsatisfactory stabilizer control effect.

[0096] The technical effect of the above technical solution is: by obtaining the deviation cumulative data of the last unit time before the response speed adjustment and the deviation cumulative coefficient of the first unit time after the response speed adjustment, the difference between the two can be calculated. This difference can reflect the effect of the response speed adjustment. If the difference is large, it means that the adjustment effect is good; if the difference is small or negative, it means that the adjustment effect may be affected. By comparing the difference with the preset difference threshold, the control state of the stabilizer can be judged. When the difference is greater than the difference threshold, it means that the stabilizer control is qualified and can continue to be used; when the difference is less than or equal to the difference threshold, it means that the stabilizer control is unqualified and the response speed needs to be re-adjusted. When the difference is less than or equal to the preset difference threshold, it means that the response speed adjustment may be affected and inaccurate. In this case, it is necessary to recalculate the response speed adjustment value and re-adjust the response speed. This can ensure that the control effect of the stabilizer is more accurate and ideal. By recalculating the response speed adjustment value and re-adjusting the response speed, the accumulation of deviations caused by improper response speed adjustment can be avoided. This helps to improve shooting effects and shooting efficiency, and also prolongs the service life of the stabilizer. The stabilizer control method has the advantages of being accurate, fast, and reliable, and can improve the shooting effect and shooting efficiency. At the same time, the control state of the stabilizer is judged by comparing the difference between the accumulated deviation data before and after the response speed adjustment with the preset difference threshold. When the difference is less than or equal to the preset difference threshold, it is necessary to recalculate the response speed adjustment value and readjust the response speed to ensure that the control effect of the stabilizer is more accurate and ideal.

[0097] In one embodiment of the present invention, the system comprises:

[0098] A grade division adjustment module, used to obtain the weight grade and position deviation grade of the target camera in the preset grade, calculate the motor speed target according to the weight grade and the deviation grade, and then adjust the motor speed and correct the position of the target camera;

[0099] The calculation and judgment module is used to obtain the response speed and deviation change of the stabilizer during the correction process, calculate the deviation cumulative coefficient based on the obtained information, compare the deviation cumulative coefficient with a preset coefficient threshold, and determine whether to adjust the response speed based on the comparison result;

[0100] The calculation and adjustment module is used to obtain the deviation correction frequency information and response speed information of the stabilizer after the response speed adjustment is turned on, calculate the response speed adjustment value, generate a response speed adjustment signal according to the response speed adjustment value, and correct the target camera position again;

[0101] The difference comparison module is used to calculate the difference of the deviation cumulative coefficient before and after the response speed adjustment, compare the difference with a preset difference threshold, determine the stabilizer control state according to the comparison result, and take corresponding processing measures.

[0102] The working principle of the above technical solution is as follows: the grade division adjustment module is used to obtain the weight grade and position deviation grade of the target camera in the preset grade, calculate the motor speed target according to the weight grade and the deviation grade, and then adjust the motor speed and correct the position of the target camera; the calculation and judgment module is used to obtain the response speed and deviation change of the stabilizer during the correction process, calculate the deviation cumulative coefficient according to it, compare the deviation cumulative coefficient with the preset coefficient threshold, and judge whether to adjust the response speed according to the comparison result; the calculation and adjustment module is used to obtain the deviation correction frequency information and response speed information of the stabilizer after the response speed adjustment is turned on, calculate the response speed adjustment value, generate a response speed adjustment signal according to the response speed adjustment value, and correct the target camera position again; the difference comparison module is used to calculate the difference of the deviation cumulative coefficient before and after the response speed adjustment, compare the difference with the preset difference threshold, judge the control state of the stabilizer according to the comparison result, and take corresponding processing measures.

[0103] The technical effect of the above technical scheme is: by obtaining the weight level and position deviation level of the target camera in the preset level, the motor speed target is calculated according to the weight level and the deviation level, so as to achieve accurate adjustment of the motor speed, and then achieve accurate correction of the target camera position. By obtaining the weight level and the position deviation level, the motor speed of cameras with different weights and different degrees of deviation can be adjusted in a targeted manner, and the motor speed for controlling different cameras can be adjusted in a targeted manner, so that different types of cameras can be flexibly and appropriately controlled; in the correction process, by obtaining the response speed and deviation change of the stabilizer, the deviation accumulation coefficient is calculated, and the deviation accumulation coefficient is compared with the preset coefficient threshold, and it is judged whether to adjust the response speed according to the comparison result, so as to achieve the calculation of the size of the deviation accumulation and the degree of possible impact, and to judge whether to adjust the response speed. While avoiding unnecessary calculations and adjustments, the monitoring of the deviation accumulation is achieved. When the response speed adjustment is turned on, the deviation correction frequency information and response speed information of the stabilizer are obtained, the response speed adjustment value is calculated, and the response speed adjustment signal is generated according to the response speed adjustment value, and the target camera position is corrected again, thereby improving the response speed and stability of the system. Solve the problem of deviation accumulation caused by slow response speed. Calculate the difference of the deviation accumulation coefficient before and after the response speed adjustment, compare the difference with the preset difference threshold, determine the stabilizer control state according to the comparison result, and take corresponding treatment measures, thereby ensuring the reliability and stability of the system. This stabilizer control method has the advantages of accuracy, speed, reliability, etc., and can improve shooting effects and shooting efficiency.

[0104] In one embodiment of the present invention, the level division adjustment module includes:

[0105] A grade acquisition module is used to classify different types of cameras into weight grades and obtain multiple different weight grades of the cameras;

[0106] Different degrees of position deviations of historical cameras are classified into deviation levels to obtain multiple deviation levels;

[0107] Among the plurality of weight levels and deviation levels, obtaining a weight level and a deviation level of a target camera controlled by the stabilizer, calculating a motor speed target for controlling the target camera according to the weight level and the deviation level of the target camera, and adjusting the motor speed of the stabilizer according to the motor speed target;

[0108] The correction module is used to control the motor to adjust the target camera posture according to preset control parameters after the motor speed is adjusted. During the adjustment process, the position deviation of the target camera is calculated in real time. When the target camera has a position deviation, the stabilizer corrects the position of the target camera.

[0109] The working principle of the above technical solution is as follows: the grade acquisition module is used to classify different types of cameras by weight, and obtain multiple different weight grades of the cameras; the position deviations of different degrees of historical cameras are classified by deviation grade, and multiple deviation grades are obtained; among the multiple weight grades and deviation grades, the weight grade and deviation grade of the target camera controlled by the stabilizer are obtained, and the motor speed target amount for controlling the target camera is calculated according to the weight grade and deviation grade of the target camera, and the motor speed of the stabilizer is adjusted according to the motor speed target amount;

[0110] The calculation formula for controlling the motor speed target of the target camera is:

[0111]

[0112] Among them, M B is the motor speed target of the target camera, Z d is the weight class of the target camera, P d is the deviation level of the target camera, Y d The preset speed of the motor.

[0113] The correction module is used to control the motor to adjust the target camera posture according to preset control parameters after the motor speed is adjusted. During the adjustment process, the position deviation of the target camera is calculated in real time. When the target camera has a position deviation, the stabilizer corrects the position of the target camera.

[0114] The technical effect of the above technical solution is as follows: the grade acquisition module divides different types of cameras into multiple weight grades and deviation grades. This division method takes into account the characteristics and historical deviations of different cameras, so that the stabilizer can be accurately adjusted according to the actual situation. By calculating the weight grade and deviation grade of the target camera, the motor speed target can be calculated quickly and accurately. This method takes into account the influence of the weight and deviation of the camera on the motor speed, so that the stabilizer can be accurately adjusted according to these factors. By calculating the position deviation of the target camera in real time, the stabilizer can detect the position deviation in time and take correction measures. This real-time calculation method can ensure the position accuracy and stability of the camera, thereby improving the shooting effect and shooting efficiency. The correction module can adjust the motor speed according to the preset control parameters, so that the stabilizer can be flexibly adjusted according to different shooting requirements and environmental conditions. This preset control parameter can be an experience value, historical data or a user-defined parameter to meet the needs of different scenes. The stabilizer control method has the advantages of accuracy, speed, reliability, etc., which can improve the shooting effect and shooting efficiency. At the same time, the characteristics and historical deviations of different cameras are also taken into account, so that the stabilizer can be accurately adjusted according to the actual situation.

[0115] In one embodiment of the present invention, the calculation and judgment module includes:

[0116] The cumulative coefficient calculation module is used to set multiple unit times during the deviation correction process, obtain the response speed and deviation change of the stabilizer in each unit time, and calculate the deviation cumulative coefficient of each unit time according to the response speed and deviation change of each unit time;

[0117] The judgment and adjustment module is used to compare the deviation cumulative coefficient of each unit time with a preset coefficient threshold. When the deviation cumulative coefficient is greater than the preset coefficient threshold, the response speed is adjusted. When the deviation cumulative coefficient is less than or equal to the preset coefficient threshold, the response speed is not adjusted.

[0118] The working principle of the above technical solution is: the cumulative coefficient calculation module is used to set multiple unit times in the correction process, obtain the response speed and deviation change of the stabilizer in each unit time, and calculate the deviation cumulative coefficient of each unit time according to the response speed and deviation change of each unit time; the length of the unit time is set by the user according to the actual application scenario.

[0119] The calculation formula of the deviation cumulative coefficient is:

[0120]

[0121] Among them, K pl is the cumulative coefficient of deviation, ΔF x ΔX is the time change from sending the correction signal to the stabilizer starting to respond. s1 is the change in the time from when the stabilizer starts responding to when it ends responding, j is ΔF x +ΔX s1 The number of deviation changes within the total time change, ΔP bi is the growth change of the deviation amount for the i-th time, X s2 is the response speed of the stabilizer per unit time, X s3 It is the historical average response speed of the stabilizer during the correction process. The change in this formula is a pure numerical calculation without units.

[0122] The judgment and adjustment module is used to compare the deviation accumulation coefficient of each unit time with the preset coefficient threshold. When the deviation accumulation coefficient is greater than the preset coefficient threshold, the response speed is adjusted. When the deviation accumulation coefficient is less than or equal to the preset coefficient threshold, the response speed is not adjusted. When the deviation accumulation coefficient is greater than the preset coefficient threshold, it means that there may be a large amount of continuous accumulation of target camera position deviation during the correction process of the stabilizer due to the slow response speed of the stabilizer, resulting in a reduction in the normal correction effect and continuous resource consumption for correction. This problem can be improved by adjusting the response speed of the stabilizer.

[0123] The technical effect of the above technical solution is that the cumulative coefficient calculation module can more accurately calculate the deviation cumulative coefficient of each unit time by setting multiple unit times and obtaining the response speed and deviation change of the stabilizer in each unit time. x +ΔX s1 The response time from the issuance of the correction signal can be calculated more accurately. The total cumulative change of the deviation in a unit time can be calculated. The deviation cumulative coefficient considering the response time, response speed and cumulative deviation can be calculated through the overall calculation formula. This method takes into account the response speed and deviation change of the stabilizer in each unit time, so that the calculation result is more accurate. The judgment and adjustment module can timely discover the abnormal situation of the deviation cumulative coefficient by comparing the deviation cumulative coefficient of each unit time with the preset coefficient threshold, and adjust the response speed. This comparison method can determine whether the response speed of the stabilizer meets the requirements, thereby avoiding the continuous accumulation of the target camera position deviation due to the slow response speed of the stabilizer. When the deviation cumulative coefficient is greater than the preset coefficient threshold, it means that the response speed of the stabilizer may be slow and the response speed needs to be adjusted. By adjusting the response speed of the stabilizer, the correction effect can be improved and the continuity of resource consumption can be avoided. This adjustment method can be set according to the actual application scenario and user needs to meet the needs of different scenarios. This technology can also calculate the deviation cumulative coefficient based on the historical average response speed, thereby taking into account the changes in the response speed of the stabilizer in different time periods. This method can more accurately reflect the performance of the stabilizer and make corresponding adjustments. This method can calculate the deviation accumulation coefficient more accurately by setting multiple unit times and considering the response speed and deviation change of the stabilizer in each unit time. By comparing the deviation accumulation coefficient of each unit time with the preset coefficient threshold, the abnormal situation of the deviation accumulation coefficient can be discovered in time and the response speed can be adjusted.

[0124] In one embodiment of the present invention, the calculation and adjustment module includes:

[0125] The adjustment value calculation module is used to obtain the deviation correction frequency of the stabilizer in the most recent unit time after the response speed adjustment is turned on, and calculate the response speed adjustment value of the stabilizer according to the deviation correction frequency in the most recent unit time, the deviation accumulation coefficient and the response speed of the stabilizer;

[0126] The adjustment and correction module is used to perform cascade PID control processing on the response speed adjustment value, obtain the PID value corresponding to the response speed adjustment value, generate a response speed adjustment signal according to the PID value corresponding to the response speed adjustment value, adjust the response speed of the stabilizer according to the response speed adjustment information, and correct the camera position again after the adjustment is completed.

[0127] The working principle of the above technical solution is as follows: the adjustment value calculation module is used to obtain the deviation correction frequency of the stabilizer in the most recent unit time after the response speed adjustment is turned on, and calculate the response speed adjustment value of the stabilizer according to the deviation correction frequency in the most recent unit time, the deviation accumulation coefficient and the response speed of the stabilizer; the most recent unit time is the first unit time after the response speed adjustment is turned on. The response speed adjustment value is calculated by the deviation accumulation coefficient, the deviation correction frequency per unit time, the historical average deviation correction frequency of the stabilizer during the correction process, and the response speed of the stabilizer in the most recent unit time; the adjustment and correction module is used to perform cascade PID control processing on the response speed adjustment value, obtain the PID value corresponding to the response speed adjustment value, generate a response speed adjustment signal according to the PID value corresponding to the response speed adjustment value, adjust the response speed of the stabilizer according to the response speed adjustment information, and correct the camera position again after the adjustment is completed. It is ensured that the position deviation after adjusting the response speed is accurate and is not affected by the original slow response speed.

[0128] The technical effect of the above technical solution is: by obtaining the deviation correction frequency of the stabilizer in the most recent unit time, the performance of the stabilizer in the deviation correction process can be more accurately reflected, and the frequency of deviation correction per unit time is taken into account, so that the calculation result is more accurate. By combining the deviation accumulation coefficient, the deviation correction frequency per unit time, the historical average deviation correction frequency of the stabilizer and the response speed of the stabilizer in the most recent unit time, the performance of the stabilizer can be more comprehensively evaluated, making the calculation result more accurate. The influence coefficient of the deviation accumulation coefficient, the deviation correction frequency per unit time, and the historical average deviation correction frequency of the stabilizer on the response speed adjustment value can be calculated. A more accurate and reasonable response speed adjustment value can be calculated through the overall calculation formula. Through the cascade PID control process, the response speed adjustment value can be finely controlled. PID control is a classic control algorithm with the advantages of fast response, high precision and strong anti-interference ability, which can effectively control the adjustment speed and precision. By generating a response speed adjustment signal, the response speed of the stabilizer can be accurately controlled. This method converts the response speed adjustment value into a PID value, making the control signal more intuitive and easy to operate. Through the second correction process, it can be ensured that the position deviation after adjusting the response speed is accurate. This method avoids the accumulation of deviations that may be caused by the original slow response speed, thereby improving the shooting effect and shooting efficiency. This method obtains the deviation correction frequency of the stabilizer in the most recent unit time, comprehensively considers multiple factors to evaluate the performance of the stabilizer, and uses the cascade PID control process to finely control the response speed adjustment value. Through the second correction process, it is ensured that the position deviation after adjusting the response speed is accurate.

[0129] In one embodiment of the present invention, the difference comparison module includes:

[0130] The difference calculation module is used to obtain the deviation accumulation data of the last unit time before the response speed adjustment and the deviation accumulation coefficient of the first unit time after the response speed adjustment, and calculate the difference between the two;

[0131] The adjustment judgment module is used to compare the difference with a preset difference threshold. When the difference is greater than the difference threshold, the stabilizer control is in a qualified state; when the difference is less than or equal to the difference threshold, the stabilizer control is in an unqualified state, the response speed adjustment value of the stabilizer is recalculated, and the response speed is re-adjusted.

[0132] The working principle of the above technical solution is as follows: the difference calculation module is used to obtain the deviation accumulation data of the last unit time before the response speed adjustment and the deviation accumulation coefficient of the first unit time after the response speed adjustment, and calculate the difference between the two;

[0133] The adjustment judgment module is used to compare the difference with a preset difference threshold. When the difference is greater than the difference threshold, the stabilizer control is in a qualified state; when the difference is less than or equal to the difference threshold, the stabilizer control is in an unqualified state, and the response speed adjustment value of the stabilizer is recalculated and the response speed is re-adjusted. When the difference is less than or equal to the difference threshold, it means that the response speed adjustment may be affected and inaccurate, resulting in an unsatisfactory stabilizer control effect.

[0134] The technical effect of the above technical solution is: by obtaining the deviation cumulative data of the last unit time before the response speed adjustment and the deviation cumulative coefficient of the first unit time after the response speed adjustment, the difference between the two can be calculated. This difference can reflect the effect of the response speed adjustment. If the difference is large, it means that the adjustment effect is good; if the difference is small or negative, it means that the adjustment effect may be affected. By comparing the difference with the preset difference threshold, the control state of the stabilizer can be judged. When the difference is greater than the difference threshold, it means that the stabilizer control is qualified and can continue to be used; when the difference is less than or equal to the difference threshold, it means that the stabilizer control is unqualified and the response speed needs to be re-adjusted. When the difference is less than or equal to the preset difference threshold, it means that the response speed adjustment may be affected and inaccurate. In this case, it is necessary to recalculate the response speed adjustment value and re-adjust the response speed. This can ensure that the control effect of the stabilizer is more accurate and ideal. By recalculating the response speed adjustment value and re-adjusting the response speed, the accumulation of deviations caused by improper response speed adjustment can be avoided. This helps to improve shooting effects and shooting efficiency, and also prolongs the service life of the stabilizer. The stabilizer control method has the advantages of being accurate, fast, and reliable, and can improve the shooting effect and shooting efficiency. At the same time, the control state of the stabilizer is judged by comparing the difference between the accumulated deviation data before and after the response speed adjustment with the preset difference threshold. When the difference is less than or equal to the preset difference threshold, it is necessary to recalculate the response speed adjustment value and readjust the response speed to ensure that the control effect of the stabilizer is more accurate and ideal.

[0135] Obviously, those skilled in the art can make various changes and modifications to the present invention without departing from the spirit and scope of the present invention. Thus, if these modifications and variations of the present invention fall within the scope of the claims of the present invention and their equivalents, the present invention is also intended to include these modifications and variations.

Claims

1. A control method for a motor stabilizer, It is characterized in that The method comprises: S1, obtaining the weight level and position deviation level of the target camera in the preset level, calculating the motor speed target according to the weight level and the deviation level, and then adjusting the motor speed and correcting the position of the target camera; S2. During the deviation correction process, the response speed and deviation change of the stabilizer are obtained, and the deviation cumulative coefficient is calculated based on the obtained response speed and deviation change. The deviation cumulative coefficient is compared with a preset coefficient threshold, and it is determined whether to adjust the response speed based on the comparison result. S3, when the response speed adjustment is turned on, the deviation correction frequency information and response speed information of the stabilizer are obtained, the response speed adjustment value is calculated, a response speed adjustment signal is generated according to the response speed adjustment value, and the target camera position is corrected again; Wherein, the S3 includes: S301, when the response speed adjustment is turned on, the deviation correction frequency of the stabilizer in the most recent unit time is obtained, and the response speed adjustment value of the stabilizer is calculated according to the deviation correction frequency in the most recent unit time, the deviation accumulation coefficient and the response speed of the stabilizer; The calculation formula of the response speed adjustment value is: Among them, T xs is the response speed adjustment value, K pl is the cumulative coefficient of deviation, P u1 is the deviation correction frequency per unit time, P u2 is the historical average deviation correction frequency of the stabilizer during the correction process, X y is the response speed of the stabilizer in the most recent unit time; S302, performing cascade PID control processing on the response speed adjustment value to obtain a PID value corresponding to the response speed adjustment value, generating a response speed adjustment signal according to the PID value corresponding to the response speed adjustment value, adjusting the response speed of the stabilizer according to the response speed adjustment information, and correcting the camera position again after the adjustment is completed; S4. Calculate the difference between the cumulative coefficients of the deviations before and after the response speed adjustment, compare the difference with a preset difference threshold, determine the control state of the stabilizer according to the comparison result, and take corresponding processing measures.

2. A control method for a motor stabilizer according to claim 1, It is characterized in that The S1 includes: S101, classifying different types of cameras into weight grades to obtain a plurality of different weight grades of the cameras; Different degrees of position deviations of historical cameras are classified into deviation levels to obtain multiple deviation levels; Among the plurality of weight levels and deviation levels, obtaining a weight level and a deviation level of a target camera controlled by the stabilizer, calculating a motor speed target for controlling the target camera according to the weight level and the deviation level of the target camera, and adjusting the motor speed of the stabilizer according to the motor speed target; S102. After adjusting the motor speed, the stabilizer controls the motor to adjust the target camera posture according to preset control parameters, and calculates the position deviation of the target camera in real time during the adjustment process. When the target camera has a position deviation, the stabilizer corrects the position of the target camera.

3. A control method for a motor stabilizer according to claim 1, It is characterized in that The S2 includes: S201, setting a plurality of unit times during the deviation correction process, obtaining the response speed and deviation change of the stabilizer in each unit time, and calculating the deviation accumulation coefficient of each unit time according to the response speed and deviation change of each unit time; The calculation formula of the deviation cumulative coefficient is: Among them, K pl is the cumulative coefficient of deviation, ΔF x ΔX is the time change from sending the correction signal to the stabilizer starting to respond. s1 is the change in the time from when the stabilizer starts responding to when it ends responding, j is ΔF x +ΔX s1 The number of deviation changes within the total time change, ΔP bi is the growth change of the deviation amount for the i-th time, X s2 is the response speed of the stabilizer per unit time, X s3 It is the historical average response speed of the stabilizer during the correction process; S202. Compare the cumulative coefficient of deviation per unit time with a preset coefficient threshold. When the cumulative coefficient of deviation is greater than the preset coefficient threshold, start adjusting the response speed. When the cumulative coefficient of deviation is less than or equal to the preset coefficient threshold, do not adjust the response speed.

4. A control method for a motor stabilizer according to claim 1, It is characterized in that The S4 comprises: S401, obtaining the deviation accumulation data of the last unit time before the response speed adjustment and the deviation accumulation coefficient of the first unit time after the response speed adjustment, and calculating the difference between the two; S402, comparing the difference with a preset difference threshold, when the difference is greater than the difference threshold, the stabilizer is controlled to be in a qualified state; When the difference is less than or equal to the difference threshold, the stabilizer control is in an unqualified state, the response speed adjustment value of the stabilizer is recalculated, and the response speed is re-adjusted.

5. A control system for a motor stabilizer, It is characterized in that The system comprises: A grade division adjustment module, used to obtain the weight grade and position deviation grade of the target camera in the preset grade, calculate the motor speed target according to the weight grade and the deviation grade, and then adjust the motor speed and correct the position of the target camera; The calculation and judgment module is used to obtain the response speed and deviation change of the stabilizer during the correction process, calculate the deviation cumulative coefficient based on the obtained information, compare the deviation cumulative coefficient with a preset coefficient threshold, and determine whether to adjust the response speed based on the comparison result; The calculation and adjustment module is used to obtain the deviation correction frequency information and response speed information of the stabilizer after the response speed adjustment is turned on, calculate the response speed adjustment value, generate a response speed adjustment signal according to the response speed adjustment value, and correct the target camera position again; Wherein, the calculation and adjustment module includes: The adjustment value calculation module is used to obtain the deviation correction frequency of the stabilizer in the most recent unit time after the response speed adjustment is turned on, and calculate the response speed adjustment value of the stabilizer according to the deviation correction frequency in the most recent unit time, the deviation accumulation coefficient and the response speed of the stabilizer; The calculation formula of the response speed adjustment value is: Among them, T xs is the response speed adjustment value, K pl is the cumulative coefficient of deviation, P u1 is the deviation correction frequency per unit time, P u2 is the historical average deviation correction frequency of the stabilizer during the correction process, X y is the response speed of the stabilizer in the most recent unit time; An adjustment and correction module is used to perform cascade PID control processing on the response speed adjustment value, obtain a PID value corresponding to the response speed adjustment value, generate a response speed adjustment signal according to the PID value corresponding to the response speed adjustment value, adjust the response speed of the stabilizer according to the response speed adjustment information, and correct the camera position again after the adjustment is completed; The difference comparison module is used to calculate the difference of the deviation cumulative coefficient before and after the response speed adjustment, compare the difference with a preset difference threshold, determine the stabilizer control state according to the comparison result, and take corresponding processing measures.

6. A control system for a motor stabilizer according to claim 5, It is characterized in that The level division adjustment module includes: A grade acquisition module is used to classify different types of cameras into weight grades and obtain multiple different weight grades of the cameras; Different degrees of position deviations of historical cameras are classified into deviation levels to obtain multiple deviation levels; Among the plurality of weight levels and deviation levels, obtaining a weight level and a deviation level of a target camera controlled by the stabilizer, calculating a motor speed target for controlling the target camera according to the weight level and the deviation level of the target camera, and adjusting the motor speed of the stabilizer according to the motor speed target; The correction module is used to control the motor to adjust the target camera posture according to preset control parameters after the motor speed is adjusted. During the adjustment process, the position deviation of the target camera is calculated in real time. When the target camera has a position deviation, the stabilizer corrects the position of the target camera.

7. A control system for a motor stabilizer according to claim 5, It is characterized in that The calculation and judgment module includes: The cumulative coefficient calculation module is used to set multiple unit times during the deviation correction process, obtain the response speed and deviation change of the stabilizer in each unit time, and calculate the deviation cumulative coefficient of each unit time according to the response speed and deviation change of each unit time; The calculation formula of the deviation cumulative coefficient is: Among them, K pl is the cumulative coefficient of deviation, ΔF x ΔX is the time change from sending the correction signal to the stabilizer starting to respond. s1 is the change in the time from when the stabilizer starts responding to when it ends responding, j is ΔF x +ΔX s1 The number of deviation changes within the total time change, ΔP bi is the growth change of the deviation amount for the i-th time, X s2 is the response speed of the stabilizer per unit time, X s3 It is the historical average response speed of the stabilizer during the correction process; The judgment and adjustment module is used to compare the deviation cumulative coefficient of each unit time with a preset coefficient threshold. When the deviation cumulative coefficient is greater than the preset coefficient threshold, the response speed is adjusted. When the deviation cumulative coefficient is less than or equal to the preset coefficient threshold, the response speed is not adjusted.

8. A control system for a motor stabilizer according to claim 5, It is characterized in that The difference comparison module comprises: The difference calculation module is used to obtain the deviation accumulation data of the last unit time before the response speed adjustment and the deviation accumulation coefficient of the first unit time after the response speed adjustment, and calculate the difference between the two; The adjustment judgment module is used to compare the difference with a preset difference threshold. When the difference is greater than the difference threshold, the stabilizer control is in a qualified state; when the difference is less than or equal to the difference threshold, the stabilizer control is in an unqualified state, the response speed adjustment value of the stabilizer is recalculated, and the response speed is re-adjusted.

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