Platform balance control method and device, electronic equipment and storage medium

Abstract

The invention relates to a platform balance control method and device, electronic equipment and a storage medium, and belongs to the technical field of automatic control, the platform balance control method is used for controlling balanced lifting of a three-point platform, and the method comprises the steps that the attitude angle and the target angle of the three-point platform in the lifting process are obtained in real time, performing real-time prediction on the attitude angle by adopting Kalman filtering to obtain an optimal estimation value of the attitude angle, and calculating a pitch angle error and a roll angle error of the three-point platform based on the optimal estimation value of the attitude angle and the target angle; based on the pitch angle error and the roll angle error, a control signal is calculated through a control algorithm, the control signal is responded, and the three-point platform is controlled to be adjusted to the balance state through three coding motors corresponding to three control point positions in the three-point platform one to one, so that the stability of the three-point platform is ensured, and shaking or inclination of the platform is avoided.

Description

Technical Field

[0001] The present invention relates to the field of automatic control technology, and in particular to a platform balance control method, device, electronic equipment and storage medium. Background Art

[0002] The traditional three-point platform lifting maintains the level of movement through three fulcrums, two of which are located on one side of the platform and the other on the diagonal of the platform. When the platform is raised or lowered, the same speed of these three fulcrums works together to keep the manhole cover level during movement.

[0003] However, since the platform has only three fulcrums during the lifting process, it is easily affected by external factors and becomes unstable, causing the platform to shake or tilt during movement. Summary of the invention

[0004] In view of this, it is necessary to provide a platform balance control method, device, electronic device and storage medium to solve the technical problem that the three-point platform is affected by external factors during the lifting process, causing the three-point platform to shake or tilt.

[0005] In order to solve the above problems, the present invention provides a platform balance control method for controlling the balance lifting of a three-point platform, comprising: Acquire the attitude angle and target angle of the three-point platform in real time during the lifting process, use Kalman filtering to predict the attitude angle in real time, and obtain the optimal estimated value of the attitude angle; Calculating a pitch angle error and a roll angle error of the three-point platform based on the optimal estimated value of the attitude angle and the target angle; Based on the pitch angle error and the roll angle error, a control signal is calculated by a control algorithm. In response to the control signal, the three-point platform is controlled to be adjusted to a balanced state by three encoding motors corresponding to the three control points in the three-point platform.

[0006] In a possible implementation, the real-time acquisition of the attitude angle of the three-point platform during the lifting process includes: The attitude angle of the three-point platform is acquired in real time through a gyroscope sensor, wherein the attitude angle includes a pitch angle and a roll angle.

[0007] In a possible implementation, the using of Kalman filtering to perform real-time prediction of the attitude angle to obtain an optimal estimate of the attitude angle includes: Construct the state equation considering the equilibrium state of the three-point platform and the measurement equation with the attitude angle as the measurement vector; The Kalman filter is used to predict the state equation and the measurement equation to obtain the optimal estimated value of the attitude angle at the current moment; The state equation is updated based on the optimal estimate of the attitude angle at the current moment, and the optimal estimate of the attitude angle at the next moment is obtained based on the optimal estimate of the attitude angle at the current moment, the updated state equation and the measurement equation, until the three-point platform is in a balanced state. In a possible implementation, the calculating the pitch angle error and the roll angle error of the three-point platform based on the optimal estimated value of the attitude angle and the target angle includes: Obtaining the pitch angle and roll angle of the three-point platform based on the optimal estimated value of the attitude angle, and determining the pitch angle and roll angle of the target angle; Calculating a pitch angle error based on the pitch angle of the three-point platform and the pitch angle of the target angle; A roll angle error is calculated based on the roll angle of the three-point platform and the roll angle of the target angle.

[0008] In a possible implementation, the control signal includes a first PWM pulse width, a second PWM pulse width, and a third PWM pulse width; and the control signal is calculated by a control algorithm based on the pitch angle error and the roll angle error, including: Based on the pitch angle error, a first PWM pulse width is calculated by a PID control algorithm; Based on the roll angle error, a third PWM pulse width is calculated by a PID control algorithm, wherein the second PWM pulse width is a fixed value.

[0009] In a possible implementation, the calculation formula of the first PWM pulse width is: , in, is the first PWM pulse width, is the roll angle error at the current moment, is the rolling angle error at the previous moment, is the scale parameter, is the differential parameter; The calculation formula of the third PWM pulse width is: , in, is the third PWM pulse width, is the pitch angle error at the current moment, is the pitch angle error at the previous moment, is the scale parameter, is the differential parameter.

[0010] In a possible implementation, the three encoding motors include a first encoding motor, a second encoding motor and a third encoding motor, the first encoding motor corresponds to a first point position of the three-point platform, the second encoding motor corresponds to a second point position of the three-point platform, and the third encoding motor corresponds to a third point position of the three-point platform; in response to the control signal, the three-point platform is controlled to be adjusted to a balanced state through three encoding motors corresponding to three control points in the three-point platform, including: Determine whether the three-point platform is in a horizontal state based on the optimal estimated value of the attitude angle of the three-point platform, and when the three-point platform is not in a horizontal state, respond to the control signal to obtain a first PWM pulse width of the first encoder motor, a second PWM pulse width of the second encoder motor, and a third PWM pulse width of the third encoder motor during the lifting process; Determine a voltage signal of the second encoder motor based on the second PWM pulse width, determine an actual speed of the second encoder motor based on the voltage signal of the second encoder motor, and adjust a lifting speed of a second point of the three-point platform based on the actual speed of the second encoder motor; Determine the speed of the first encoder motor based on the actual speed of the second encoder motor, determine the voltage signal of the first encoder motor based on the first PWM pulse width, and determine the actual speed of the first encoder motor and the angle of the first point of the platform based on the voltage signal of the first encoder motor, the pitch angle of the three-point platform and the speed of the first encoder motor; Determine the speed of the third encoder motor based on the actual speed of the second encoder motor, determine the voltage signal of the third encoder motor based on the third PWM pulse width, and determine the actual speed of the third encoder motor and the angle of the third point of the platform based on the voltage signal of the third encoder motor, the roll angle of the three-point platform and the speed of the third encoder motor; The three-point platform is controlled to be adjusted to a horizontal state based on the actual speed of the second encoder motor, the angle of the first point of the platform, and the angle of the third point of the platform.

[0011] On the other hand, the present invention also provides a platform balance control device for controlling the balance lifting of a three-point platform, comprising: The attitude angle prediction module is used to obtain the attitude angle and target angle of the three-point platform in real time during the lifting process, and use Kalman filtering to predict the attitude angle in real time to obtain the optimal estimated value of the attitude angle; An angle error determination module, used to calculate the pitch angle error and the roll angle error of the three-point platform based on the optimal estimated value of the attitude angle and the target angle; The balance state adjustment module is used to calculate a control signal through a control algorithm based on the pitch angle error and the roll angle error, and in response to the control signal, control the three-point platform to a balance state through three encoding motors corresponding to the three control points in the three-point platform.

[0012] In another aspect, the present invention further provides an electronic device, comprising: a processor and a memory; The memory stores a computer-readable program executable by the processor; When the processor executes the computer-readable program, the steps in the platform balance control method described above are implemented.

[0013] On the other hand, the present invention also provides a computer-readable storage medium, which stores one or more programs. The one or more programs can be executed by one or more processors to implement the steps in the platform balance control method as described above.

[0014] The beneficial effects of the present invention are: using Kalman filtering to predict the attitude angle in real time, obtaining the optimal estimated value of the attitude angle, reducing the interference of the external environment on the data, and calculating the control signal through the control algorithm based on the pitch angle error and the roll angle error. In response to the control signal, the three-point platform is controlled to be adjusted to a balanced state through three encoding motors corresponding to the three control points in the three-point platform, thereby ensuring the stability of the three-point platform and avoiding shaking or tilting of the platform. BRIEF DESCRIPTION OF THE DRAWINGS

[0015] Figure 1 A flow chart of an embodiment of a platform balance control method provided by the present invention; Figure 2 A schematic structural diagram of an embodiment of a platform balance control device provided by the present invention; Figure 3 A schematic structural diagram of an embodiment of an electronic device provided by the present invention. DETAILED DESCRIPTION

[0016] The preferred embodiments of the present invention will be described in detail below in conjunction with the accompanying drawings, wherein the accompanying drawings constitute a part of this application and are used together with the embodiments of the present invention to illustrate the principles of the present invention, but are not used to limit the scope of the present invention.

[0017] The present invention discloses a platform balance control method, device, electronic device and storage medium, which can be used in a computer. The method, device or computer-readable storage medium involved in the present invention can be integrated with the above-mentioned device or can be relatively independent.

[0018] A specific embodiment of the present invention discloses a platform balance control method, which can be executed by a computer, specifically by one or more processors of the computer. Figure 1 is a flow chart of the platform balance control method provided by an embodiment of the present invention, please refer to Figure 1 , a platform balance control method is used to control the balance lifting of a three-point platform, including: S101, acquiring the attitude angle and target angle of the three-point platform in real time during the lifting process, and using Kalman filtering to perform real-time prediction of the attitude angle to obtain the optimal estimated value of the attitude angle at the current moment; S102, calculating the pitch angle error and the roll angle error of the three-point platform based on the optimal estimated value of the attitude angle and the target angle; S103, based on the pitch angle error and the roll angle error, a control signal is calculated by a control algorithm, and in response to the control signal, the three-point platform is controlled to be adjusted to a balanced state by three encoding motors corresponding to the three control points in the three-point platform.

[0019] Among them, the three encoding motors include a first encoding motor, a second encoding motor and a third encoding motor. The three encoding motors correspond to the three control points of the platform one by one, and adjust the angle of the platform in real time according to the changes of the pitch angle error and the roll angle error.

[0020] Compared with the prior art, the platform balance control method provided in the present embodiment obtains the attitude angle and the target angle of the three-point platform in real time during the lifting process, uses Kalman filtering to predict the attitude angle in real time, obtains the optimal estimate of the attitude angle, reduces the interference of the external environment on the data, and calculates the pitch angle error and the roll angle error of the three-point platform based on the optimal estimate of the attitude angle and the target angle; based on the pitch angle error and the roll angle error, a control signal is calculated through a control algorithm, and in response to the control signal, the three-point platform is controlled to be adjusted to a balanced state through three encoding motors corresponding to three control points in the three-point platform; according to the pitch angle error and the roll angle error, the angle of the platform is adjusted in real time through the control algorithm, thereby ensuring the stability of the three-point platform and avoiding shaking or tilting of the platform.

[0021] In some embodiments, in step S101, the attitude angle of the three-point platform during the lifting process is obtained in real time. During the lifting process of the three-point platform, the attitude angle of the three-point platform is obtained in real time by a gyroscope sensor installed on the three-point platform. The attitude angle includes a pitch angle and a roll angle. The target angle is obtained. The pitch angle of the target angle is 0 degrees, and the roll angle is 0 degrees, that is, the target angle is a horizontal angle. The attitude angle of the three-point platform is predicted in real time by using Kalman filtering to obtain the optimal estimated value of the attitude angle. First, a state equation considering the equilibrium state of the three-point platform and a measurement equation with the attitude angle as the measurement vector are constructed. The state equation is: , in, is the state vector, is the state vector at the previous moment, is the state transfer matrix, is the input matrix, is the input vector at the current moment, is the noise vector, for the current moment; The measurement equation is: , in, is the measurement vector, is the measurement matrix, To measure noise; Secondly, Kalman filtering is used to predict the state equation and the measurement equation to obtain the optimal estimate of the attitude angle at the current moment. Finally, the state equation is updated based on the optimal estimate of the attitude angle at the current moment. The optimal estimate of the attitude angle at the next moment is obtained based on the optimal estimate of the attitude angle at the current moment, the updated state equation and the measurement equation. The above process is repeated until the three-point platform is in a balanced state. The Kalman filtering is used to optimally estimate the attitude angle during the lifting and lowering process of the three-point platform, and the optimal estimate of the attitude angle of the three-point platform is obtained in real time, reducing the impact of the environment on the data.

[0022] In some embodiments, in step S102, a pitch angle error and a roll angle error are calculated based on an optimal estimate of the attitude angle and a target angle, the pitch angle and the roll angle of the three-point platform are obtained based on the optimal estimate of the attitude angle, the pitch angle and the roll angle of the target angle are determined, the pitch angle error is calculated based on the pitch angle of the three-point platform and the pitch angle of the target angle, and the roll angle error is calculated based on the roll angle of the three-point platform and the roll angle of the target angle, that is, according to the set target attitude angle, the pitch angle error and the roll angle error between the current attitude angle and the target angle are calculated.

[0023] In some embodiments, in step S103, a control signal is calculated by a control algorithm based on the pitch angle error and the roll angle error, wherein the control signal includes a first PWM pulse width, a second PWM pulse width, and a third PWM pulse width. The first PWM pulse width is calculated by a PID control algorithm based on the pitch angle error, the calculated pitch angle error is input into the PID control algorithm, the pitch angle error is adjusted by the proportional, integral, and differential parameters of the PID control algorithm, and the first PWM pulse width is calculated. The calculation formula of the first PWM pulse width is: , in, is the first PWM pulse width, is the roll angle error at the current moment, is the rolling angle error at the previous moment, is the scale parameter, is the differential parameter, and its proportional parameter The value of is 0.1, and its differential parameter The value of is 0.05; The second PWM pulse width is a fixed value, and the calculation formula of the second PWM pulse width is: ; Based on the roll angle error, the third PWM pulse width is calculated by the PID control algorithm, and the calculated roll angle error is input into the PID control algorithm. The roll angle error is adjusted by the proportional, integral and differential parameters of the PID control algorithm to calculate the third PWM pulse width. The calculation formula of the third PWM pulse width is: , in, is the third PWM pulse width, is the pitch angle error at the current moment, is the pitch angle error at the previous moment, is the scale parameter, is the differential parameter, the proportional parameter The value of is 0.1, and its differential parameter The value of is 0.05; In response to the control signal, the three-point platform is controlled to be adjusted to a balanced state through three encoding motors corresponding to the three control points in the three-point platform. The controller receives the wireless control command, parses the wireless control command, and outputs three identical PWM pulse widths when the control command is valid to start the three encoding motors. During the lifting process of the platform controlled by the three encoding motors, it is determined whether the three-point platform is in a horizontal state based on the optimal estimated value of the attitude angle of the three-point platform. When the real-time horizontal state of the three-point platform is not in a horizontal state, a control signal is calculated through a control algorithm. In response to the control signal, the three-point platform is controlled to be adjusted to a balanced state through the first encoding motor, the second encoding motor and the third encoding motor, that is, the voltage signals of the three encoding motors are adjusted respectively by using the PID control algorithm to determine the speeds of the three encoding motors in real time. When using a PID controller to control the lifting of a platform, the P, I, and D parameters represent the proportional, integral, and differential parts respectively. Their specific relationship with the bottom hanging bin of the controlled object platform is as follows: Proportional link P (Proportional): P represents the proportional part, which is adjusted according to the current angle error. The P part controls the controlled object by adjusting the size of the error. In the lifting control, the P parameter is used to control the acceleration and deceleration of the motor according to the current angle error; Integral link I (Integral): I represents the integral part, which is used to correct the static error of the system. The I part controls the controlled object by accumulating the accumulated amount of error. In the lifting control, the I parameter It is used to eliminate the long-term accumulated static error of the system and make the system more stable; Derivative link D (Derivative): D stands for the derivative part, which is used to adjust the response speed of the system. The D part controls the controlled object by detecting the rate of error change. In the three-point platform control, the D parameter is used to control the speed of the encoder motor according to the trend of angle change to avoid instability caused by too fast response; P parameter controls the static response of the system, I parameter controls the static stability of the system, and D parameter controls the dynamic response of the system. By reasonably adjusting the size of P, I, and D parameters, the horizontal lifting of the three-point platform can be accurately controlled to keep it in a balanced state for lifting; Acquire in real time the first PWM pulse width of the first encoder motor, the second PWM pulse width of the second encoder motor, and the third PWM pulse width of the third encoder motor during the lifting process, determine the voltage signal of the second encoder motor based on the second PWM pulse width, determine the actual speed of the second encoder motor based on the voltage signal of the second encoder motor, and adjust the lifting speed of the second point of the three-point platform based on the actual speed of the second encoder motor; determine the speed of the first encoder motor based on the actual speed of the second encoder motor, determine the voltage signal of the first encoder motor based on the first PWM pulse width, determine the actual speed of the first encoder motor and the angle of the first point of the platform based on the voltage signal of the first encoder motor, the pitch angle of the three-point platform, and the speed of the first encoder motor; determine the speed of the third encoder motor based on the actual speed of the second encoder motor, and adjust the lifting speed of the second point of the three-point platform based on the actual speed of the third encoder motor. The PWM pulse width determines the voltage signal of the third encoder motor, and the actual speed of the third encoder motor and the angle of the third point of the platform are determined based on the voltage signal of the third encoder motor, the roll angle of the three-point platform and the speed of the third encoder motor; the three-point platform is controlled to be adjusted to a horizontal state based on the actual speed of the second encoder motor, the angle of the first point of the platform and the angle of the third point of the platform, wherein the actual speed of the second encoder motor is consistent with the actual speed of the first encoder motor and the actual speed of the third encoder motor. Since the second pulse width is a fixed value, the speed of the second encoder motor is a fixed speed, so that the three-point platform is raised and lowered at a uniform speed, and the pitch angle of the three-point platform is adjusted by the first encoder motor and the roll angle of the three-point platform is adjusted by the third encoder motor, so that the three-point platform is in a balanced state in real time, thereby ensuring the stability of the three-point platform.

[0024] Combined with the attitude data of the gyroscope, the operating status of the motor is adjusted in real time, that is, the speed of the second encoder motor and the angles of the first encoder motor and the third encoder motor are adjusted through the pitch angle error and the roll angle error to keep the platform lifted and lowered in a balanced manner, ensuring the stability of the three-point platform and avoiding shaking or tilting of the platform.

[0025] In order to better implement the platform balance control method in the embodiment of the present invention, based on the platform balance control method, correspondingly, Figure 2 As shown, the embodiment of the present invention further provides a platform balance control device for controlling the balance lifting of a three-point platform. The platform balance control device 200 includes: The attitude angle prediction module 201 is used to obtain the attitude angle and target angle of the three-point platform in real time during the lifting process, and use Kalman filtering to perform real-time prediction of the attitude angle to obtain the optimal estimated value of the attitude angle; Angle error determination module 202, used to calculate the pitch angle error and roll angle error of the three-point platform based on the optimal estimated value of the attitude angle and the target angle; The balance state adjustment module 203 is used to calculate a control signal through a control algorithm based on the pitch angle error and the roll angle error, and respond to the control signal to control the three-point platform to a balance state through three encoding motors corresponding to the three control points in the three-point platform.

[0026] like Figure 3 As shown, based on the platform balance control method, the present invention also provides an electronic device 300, which can be a computing device such as a mobile terminal, a desktop computer, a notebook, a palmtop computer, and a server. The electronic device 300 includes a processor 301, a memory 302, and a display 303. Figure 3 Only some components of the electronic device 300 are shown, but it should be understood that it is not required to implement all of the components shown, and more or fewer components may be implemented instead.

[0027] In some embodiments, the memory 302 may be an internal storage unit of the electronic device 300, such as a hard disk or memory of the electronic device 300. In other embodiments, the memory 302 may also be an external storage device of the electronic device 300, such as a plug-in hard disk, a smart media card (SMC), a secure digital (SD) card, a flash card, etc. equipped on the electronic device 300. Further, the memory 302 may also include both an internal storage unit of the electronic device 300 and an external storage device. The memory 302 is used to store application software and various data installed in the electronic device 300, such as program codes installed in the electronic device 300. The memory 302 may also be used to temporarily store data that has been output or is to be output. In one embodiment, a platform balance control program is stored on the memory 302, and the platform balance control program can be executed by the processor 301, thereby realizing the platform balance control method of each embodiment of the present invention.

[0028] In some embodiments, the processor 301 may be a central processing unit (CPU), a microprocessor or other data processing chip, and is used to run program codes or process data stored in the memory 302, such as a platform balance control method.

[0029] In some embodiments, the display 303 may be an LED display, a liquid crystal display, a touch-sensitive liquid crystal display, an OLED (Organic Light-Emitting Diode) touch device, etc. The display 303 is used to display identification information of the platform balance control program and to display a visual user interface. The components 301-303 of the electronic device 300 communicate with each other through a system bus.

[0030] In some embodiments, when the processor 301 executes the platform balance control program in the memory 302, each step of the platform balance control method described in the above embodiments is implemented. Since the platform balance control method has been described in detail above, it will not be repeated here.

[0031] Accordingly, an embodiment of the present application also provides a computer-readable storage medium, which is used to store computer-readable programs or instructions. When the program or instructions are executed by a processor, the steps or functions in the platform balance control method provided in the above-mentioned method embodiments can be implemented.

[0032] In summary, the platform balance control method, device, electronic device and storage medium provided by the present invention are used to control the balanced lifting and lowering of a three-point platform, obtain the attitude angle and target angle of the three-point platform in real time during the lifting process, use Kalman filtering to perform real-time prediction of the attitude angle, obtain the optimal estimate of the attitude angle, and calculate the pitch angle error and roll angle error of the three-point platform based on the optimal estimate of the attitude angle and the target angle; based on the pitch angle error and the roll angle error, a control signal is calculated through a control algorithm, and in response to the control signal, the three-point platform is controlled to be adjusted to a balanced state through three encoding motors corresponding to three control points in the three-point platform, thereby ensuring the stability of the three-point platform and avoiding shaking or tilting of the platform.

[0033] Those skilled in the art will appreciate that all or part of the processes of the above-mentioned embodiments can be implemented by instructing related hardware through a computer program, and the program can be stored in a computer-readable storage medium, wherein the computer-readable storage medium is a disk, an optical disk, a read-only storage memory, or a random access memory, etc.

[0034] The above description is only a preferred specific implementation manner of the present invention, but the protection scope of the present invention is not limited thereto. Any changes or substitutions that can be easily conceived by any technician familiar with the technical field within the technical scope disclosed by the present invention should be covered within the protection scope of the present invention.

Claims

1. A platform balance control method, characterized in that: Used to control the balanced lifting of three-point platforms, including: Acquire the attitude angle and target angle of the three-point platform in real time during the lifting process, use Kalman filtering to predict the attitude angle in real time, and obtain the optimal estimated value of the attitude angle; Calculating a pitch angle error and a roll angle error of the three-point platform based on the optimal estimated value of the attitude angle and the target angle; Based on the pitch angle error and the roll angle error, a control signal is calculated by a control algorithm. In response to the control signal, the three-point platform is controlled to be adjusted to a balanced state by three encoding motors corresponding to the three control points in the three-point platform.

2. The platform balance control method according to claim 1, characterized in that: The real-time acquisition of the attitude angle of the three-point platform during the lifting process includes: The attitude angle of the three-point platform is acquired in real time through a gyroscope sensor, wherein the attitude angle includes a pitch angle and a roll angle.

3. The platform balance control method according to claim 2, characterized in that: The adopting Kalman filtering to perform real-time prediction on the attitude angle to obtain the optimal estimated value of the attitude angle includes: Construct the state equation considering the equilibrium state of the three-point platform and the measurement equation with the attitude angle as the measurement vector; The Kalman filter is used to predict the state equation and the measurement equation to obtain the optimal estimated value of the attitude angle at the current moment; The state equation is updated based on the optimal estimate of the attitude angle at the current moment, and the optimal estimate of the attitude angle at the next moment is obtained based on the optimal estimate of the attitude angle at the current moment, the updated state equation and the measurement equation, until the three-point platform is in a balanced state.

4. The platform balance control method according to claim 3, characterized in that: The step of calculating the pitch angle error and the roll angle error of the three-point platform based on the optimal estimated value of the attitude angle and the target angle includes: Obtaining the pitch angle and roll angle of the three-point platform based on the optimal estimated value of the attitude angle, and determining the pitch angle and roll angle of the target angle; Calculating a pitch angle error based on the pitch angle of the three-point platform and the pitch angle of the target angle; A roll angle error is calculated based on the roll angle of the three-point platform and the roll angle of the target angle.

5. The platform balance control method according to claim 4, characterized in that: The control signal includes a first PWM pulse width, a second PWM pulse width, and a third PWM pulse width; the control signal is calculated by a control algorithm based on the pitch angle error and the roll angle error, including: Based on the pitch angle error, a first PWM pulse width is calculated by a PID control algorithm; Based on the roll angle error, a third PWM pulse width is calculated by a PID control algorithm, wherein the second PWM pulse width is a fixed value.

6. The platform balance control method according to claim 5, characterized in that: The calculation formula of the first PWM pulse width is: ， in, is the first PWM pulse width, is the roll angle error at the current moment, is the rolling angle error at the previous moment, is the scale parameter, is the differential parameter; The calculation formula of the third PWM pulse width is: ， in, is the third PWM pulse width, is the pitch angle error at the current moment, is the pitch angle error at the previous moment, is the scale parameter, is the differential parameter.

7. The platform balance control method according to claim 5, characterized in that: The three encoding motors include a first encoding motor, a second encoding motor and a third encoding motor, wherein the first encoding motor corresponds to a first point position of the three-point platform, the second encoding motor corresponds to a second point position of the three-point platform, and the third encoding motor corresponds to a third point position of the three-point platform; the three-point platform is controlled to be adjusted to a balanced state by three encoding motors corresponding to three control points of the three-point platform in response to the control signal, including: Determine whether the three-point platform is in a horizontal state based on the optimal estimated value of the attitude angle of the three-point platform, and when the three-point platform is not in a horizontal state, respond to the control signal to obtain a first PWM pulse width of the first encoder motor, a second PWM pulse width of the second encoder motor, and a third PWM pulse width of the third encoder motor during the lifting process; Determine a voltage signal of the second encoder motor based on the second PWM pulse width, determine an actual speed of the second encoder motor based on the voltage signal of the second encoder motor, and adjust a lifting speed of a second point of the three-point platform based on the actual speed of the second encoder motor; Determine the speed of the first encoder motor based on the actual speed of the second encoder motor, determine the voltage signal of the first encoder motor based on the first PWM pulse width, and determine the actual speed of the first encoder motor and the angle of the first point of the platform based on the voltage signal of the first encoder motor, the pitch angle of the three-point platform and the speed of the first encoder motor; Determine the speed of the third encoder motor based on the actual speed of the second encoder motor, determine the voltage signal of the third encoder motor based on the third PWM pulse width, and determine the actual speed of the third encoder motor and the angle of the third point of the platform based on the voltage signal of the third encoder motor, the roll angle of the three-point platform and the speed of the third encoder motor; The three-point platform is controlled to be adjusted to a horizontal state based on the actual speed of the second encoder motor, the angle of the first point of the platform, and the angle of the third point of the platform.

8. A platform balance control device, characterized in that: Used to control the platform to rise and fall to the target position, including: The attitude angle prediction module is used to obtain the attitude angle and target angle of the three-point platform in real time during the lifting process, and use Kalman filtering to predict the attitude angle in real time to obtain the optimal estimated value of the attitude angle; An angle error determination module, used to calculate the pitch angle error and the roll angle error of the three-point platform based on the optimal estimated value of the attitude angle and the target angle; The balance state adjustment module is used to calculate a control signal through a control algorithm based on the pitch angle error and the roll angle error, and in response to the control signal, control the three-point platform to a balance state through three encoding motors corresponding to the three control points in the three-point platform.

9. An electronic device, characterized in that: including memory and processor; The memory stores a computer-readable program executable by the processor; When the processor executes the computer-readable program, the steps in the platform balance control method according to any one of claims 1 to 7 are implemented.

10. A computer-readable storage medium, characterized in that: The computer-readable storage medium stores one or more programs, and the one or more programs can be executed by one or more processors to implement the steps in the platform balance control method according to any one of claims 1 to 7.

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