A digital frequency sweeping method and system suitable for pan / tilt debugging

Abstract

The present invention provides a digital frequency sweeping method and system suitable for pan-tilt control debugging. The method includes the following steps: a pan-tilt frequency sweeping module deployed in a pan-tilt control system generates an excitation signal based on frequency sweeping parameters transmitted by a PC host computer; a response signal is generated based on the excitation signal; the frequency sweeping parameters and response signal are transmitted to the PC host computer; and after the PC host computer analyzes the frequency sweeping parameters and response signal, it outputs a Bode diagram or delay information for image acquisition and processing. The system includes an input unit, a PC host computer, and a pan-tilt frequency sweeping module. The PC host computer includes a communication module and an analysis module. The pan-tilt frequency sweeping module is deployed in the pan-tilt control system and includes a communication unit and an excitation generator. The present invention integrates the pan-tilt frequency sweeping module into the servo system of a drone pan-tilt. The pan-tilt frequency sweeping module can not only analyze the control system performance of the drone pan-tilt, including inertial stabilization, automatic tracking, and axis angular position locking, but also test the image acquisition and processing delay.

Description

Technical Field

[0001] The present invention relates to the field of unmanned aerial vehicle (UAV) gimbals, and in particular to a digital frequency sweeping method and system suitable for gimbal debugging. Background Art

[0002] The gimbal is a critical component of drones, primarily used for capturing images. A drone gimbal includes three basic functions: inertial stabilization, automatic tracking, and axis-angle position locking. Inertial stabilization refers to the gimbal's use of two- or three-axis servo stabilization technology for clear photography, utilizing gyroscopic feedback for closed-loop control to isolate jitter during flight. Automatic tracking involves the gimbal's image processing unit using an algorithm to track the target within the image and using the target pixel position as the position loop input for the gimbal control system, enabling the gimbal to track the target. Axis-angle position locking refers to the gimbal's use of axis-angle feedback for closed-loop control, locking the gimbal's visual axis to a specified axis angle.

[0003] During the debugging process of a drone gimbal, a frequency response analyzer is often used to analyze the control system stability of the three basic functions mentioned above. The frequency response analyzer generates excitation signals of different frequencies, and the gimbal control system responds differently to these excitation signals. The frequency response analyzer then plots a Bode plot based on the input and output of the drone gimbal. The Bode plot visually reflects the system stability during debugging, helping engineers find the optimal control parameters.

[0004] Common frequency response analyzers have drawbacks such as large size, complex functions, high price, inconvenience in portability, and analog input and output. As PTZs move towards digitalization, miniaturization, low power consumption, and low cost, the low cost, miniaturization, and portability of frequency response analyzers have become increasingly important.

[0005] Furthermore, the process of transmitting images from the camera to the image processing unit involves exposure, transmission, reception, caching, and image processing. These steps all take time, a key parameter affecting the gimbal's automatic tracking performance. Common methods for calculating the time taken to output images from the gimbal often include the time taken for subsequent image encoding, decoding, and display, and cannot directly measure the time taken from image acquisition to image processing. Summary of the Invention

[0006] In order to solve the problems of frequency characteristic response analyzers such as large size, complex functions, high price, and inconvenient portability, the purpose of the present invention is to provide a digital frequency sweeping method and system suitable for gimbal debugging. Through the gimbal frequency sweeping module integrated into the servo system of the drone gimbal, the gimbal frequency sweeping module can not only analyze the control system performance of the drone gimbal inertial stability, automatic tracking, and axis angle position locking, but also test the image acquisition and processing delay.

[0007] The technical solutions for achieving the purpose of the present invention are as follows:

[0008] In one aspect, the present invention provides a digital frequency sweeping method adapted for pan / tilt platform debugging, comprising:

[0009] Step 1: Based on the sweep frequency parameters transmitted by the PC host computer, the PTZ sweep frequency module deployed in the PTZ control system generates an excitation signal;

[0010] Step 2: generating a response signal based on the excitation signal;

[0011] Step 3: The frequency sweep parameters and the response signal are transmitted to the PC host computer;

[0012] Step 4: After analyzing the frequency sweep parameters and the response signal, the PC host computer outputs the Bode diagram or delay information of the image acquisition process.

[0013] Based on one aspect, in one embodiment of the present invention, in step 1, the frequency sweep parameters include: frequency sweep amplitude, frequency sweep type, and a number of discrete frequency points, wherein:

[0014] The sweep amplitude and the sweep type are obtained by the PC host computer based on user-set parameters, and the user-set parameters include the sweep amplitude, the sweep type, the step size, and the sweep range;

[0015] The plurality of discrete frequency points are obtained by decomposing the frequencies within the frequency sweep range by the PC host computer according to the step size.

[0016] Based on one aspect, in one embodiment of the present invention, in step 1, the excitation signal includes: a velocity excitation signal, a tracking excitation signal, and a position excitation signal, wherein:

[0017] (1) The velocity excitation signal performs frequency response analysis on the inertial stabilization function of the gimbal, and the response signal is collected by the gyro sensor of the gimbal control system;

[0018] (2) the tracking excitation signal performs frequency response analysis on the target tracking function of the pan-tilt control system, and the response signal is output by the image processing unit of the pan-tilt control system;

[0019] (3) The position excitation signal performs frequency response analysis on the axis angular position locking function of the pan-tilt control system, and the response signal is collected by the angular position sensor of the pan-tilt control system;

[0020] (4) The position excitation signal estimates the image acquisition and processing time of the pan-tilt head debugging, and the response signal is collected by the angular position sensor to collect the angular position sinusoidal signal, and the image processing unit outputs the target position sinusoidal signal.

[0021] Based on one aspect, in one embodiment of the present invention, in step 1, the excitation generator in the pan-tilt sweep module generates an excitation signal using formula (1):

[0022]

[0023] Where r(n) represents the excitation signal, A represents the excitation amplitude, f represents the current excitation frequency, n represents the excitation index number, and t s represents the sampling period, Indicates the phase of the excitation signal; the PC host provides f and A, and the operating cycle of the excitation generator is t s consistent; among which:

[0024] When the stimulus generator runs periodically, the stimulus index number starts to accumulate from 0, and each running cycle of the stimulus generator generates an stimulus signal.

[0025] Based on one aspect, in one embodiment of the present invention, step 2 includes:

[0026] In step 1 (1), the gimbal operates in an inertial stable state, generates the velocity excitation signal according to formula (1), and superimposes the velocity excitation signal on the addition node of the gyro closed-loop control loop of the gimbal to generate a response signal;

[0027] In step 1 (2), the pan / tilt platform is closed-looped by the image processing unit, and the tracking excitation signal generated according to formula (1) is superimposed on the closed-loop addition node of the image processing unit to generate a response signal;

[0028] In step 1 (3), the position loop of the pan / tilt is closed by the angle sensor feedback loop, and the position excitation signal is generated according to formula (1), which is superimposed on the closed loop addition node of the angular position sensor to generate a response signal;

[0029] In step 1 (4), the image processing unit of the gimbal tracks the target in the picture, and the position loop of the gimbal is closed by the angular position loop at the current position. The position excitation signal is generated according to formula (1) and superimposed on the closed loop addition node of the angular position sensor to generate a response signal.

[0030] Based on one aspect, in one embodiment of the present invention, step three includes:

[0031] The communication unit in the pan-tilt sweep module synchronously transmits the excitation index number, current excitation frequency, excitation amplitude and sampling period corresponding to the excitation signal, as well as the response signal to the PC host computer.

[0032] Based on one aspect, in one embodiment of the present invention, in step 4, the PC host computer analyzes the frequency sweep parameters and the response signal, including:

[0033] The PC host computer receives the response signal, as well as the excitation index number, current excitation frequency, excitation amplitude and sampling period corresponding to the response signal;

[0034] The PC host computer calculates the amplitude and phase of the response signal using the excitation index number, the current excitation frequency, and the excitation amplitude.

[0035] Based on one aspect, in one embodiment of the present invention, in step 4, calculating the amplitude and phase of the response signal includes:

[0036] The intermediate variable Θ is calculated based on the vector Y of the response signal and the known quantity X by formula (2):

[0037] Y=XΘ formula (2)

[0038] Where,

[0039] Based on the intermediate variable Θ solved by formula (2), the amplitude A of the response signal is calculated by formula (3): r and phase

[0040]

[0041] Based on formula (4) through the amplitude A r and phase Calculate the phase-frequency vector Φ and amplitude-frequency vector T of the closed-loop transfer function:

[0042]

[0043] Based on formula (5), the amplitude-frequency vector T of the open-loop transfer function is calculated o :

[0044]

[0045] The phase-frequency vector Φ of the open-loop transfer function is equal to the phase-frequency vector Φ of the closed-loop transfer function.

[0046] Based on one aspect, in one embodiment of the present invention, in step 4, outputting the Bode diagram or delay information of the image acquisition processing includes:

[0047] The PC host computer draws and outputs the open-loop Bode diagram and closed-loop Bode diagram of the pan-tilt control system based on the calculated phase-frequency vector Φ and amplitude-frequency vector T; or, the PC host computer outputs delay information of image acquisition processing based on the phase difference between the excitation signal and the response signal.

[0048] On the other hand, the present invention provides a digital frequency sweeping system suitable for pan-tilt debugging. Based on the above-mentioned digital frequency sweeping method suitable for pan-tilt debugging, the digital frequency sweeping system includes an input unit, a PC host computer and a pan-tilt frequency sweeping module. The PC host computer includes a communication module and an analysis module. The pan-tilt frequency sweeping module is deployed in the pan-tilt control system and includes a communication unit and an excitation generator.

[0049] The input unit inputs frequency sweep parameters;

[0050] The communication module transmits frequency sweep parameters;

[0051] After analyzing the frequency sweep parameters and the response signal, the analysis module outputs a Bode diagram or delay information of image acquisition processing;

[0052] The communication unit receives the frequency sweep parameters transmitted by the communication module, and sends the frequency sweep parameters and the response signal to the communication module;

[0053] The excitation generator generates an excitation signal based on the frequency sweep parameter.

[0054] Compared with the prior art, the present invention has the following beneficial effects:

[0055] The present invention uses a pan-tilt frequency sweep module integrated in the servo system of the drone pan-tilt. The pan-tilt frequency sweep module can not only analyze the control system performance of the drone pan-tilt, including inertial stability, automatic tracking, and axis angle position locking, but also test the image acquisition and processing delay. BRIEF DESCRIPTION OF THE DRAWINGS

[0056] Figure 1 A flow chart of a digital frequency sweeping method suitable for pan / tilt head debugging provided by the present invention;

[0057] Figure 2 This is a block diagram of the digital frequency sweep principle of the pan / tilt control system provided by the present invention during inertial stabilization;

[0058] Figure 3 This is a block diagram of the digital frequency sweeping principle of the pan / tilt control system during target tracking provided by the present invention;

[0059] Figure 4 This is a block diagram of the digital frequency sweeping principle of the pan / tilt control system provided by the present invention when the position is locked;

[0060] Figure 5 This is a block diagram of the digital frequency sweeping principle of the pan / tilt control system when testing image acquisition and processing delay provided by the present invention;

[0061] Figure 6 A graphical representation of a closed-loop Bode diagram provided for the present invention;

[0062] Figure 7A graphical representation of an open-loop Bode diagram provided by the present invention;

[0063] Figure 8 A principle block diagram of a digital frequency sweeping system suitable for pan / tilt head debugging provided by the present invention;

[0064] Figure 9 This is a workflow diagram of the analysis module of the PC host computer provided by the present invention. DETAILED DESCRIPTION

[0065] The present invention is described in detail below with reference to the various embodiments shown in the accompanying drawings, but it should be noted that these embodiments are not limitations of the present invention, and any equivalent transformations or substitutions in functions, methods, or structures made by ordinary technicians in this field based on these embodiments are all within the scope of protection of the present invention.

[0066] See also Figure 1 The embodiment of the present invention provides a digital frequency sweeping method suitable for pan-tilt platform debugging, comprising:

[0067] Step 1: Based on the sweep frequency parameters transmitted by the PC host computer, the pan-tilt sweep frequency module deployed in the pan-tilt control system generates an excitation signal.

[0068] Specifically, in step 1 above, the frequency sweep parameters include: sweep amplitude, sweep type, and several discrete frequency points. The sweep amplitude and sweep type are acquired by the PC based on user-set parameters, which include sweep amplitude, sweep type, step size, and sweep range. The discrete frequency points are acquired by the PC by decomposing the frequencies within the sweep range according to the step size. Frequency sweep types include inertial stabilization sweep, target tracking sweep, axis lock sweep, and target tracking delay test. The pan-tilt sweep module generates different excitation signals under different sweep types and superimposes them on different control loops of the pan-tilt control system. The discrete frequency points set by the PC include all frequency points used by the excitation generator during the sweep process. In practical applications, the communication interface between the PC and the pan-tilt can be a serial port, network port, CAN port, or other similar port. The PC can be software with communication data reception and data analysis capabilities, or it can be a combination of general-purpose software such as Matlab, serial port, network port, or CAN port assistant.

[0069] Specifically, in the above step 1, the excitation signal includes: a velocity excitation signal, a tracking excitation signal and a position excitation signal, wherein: (1) the velocity excitation signal performs a frequency response analysis on the inertial stabilization function of the gimbal debugging, and the response signal is collected by the gyro sensor of the gimbal control system; (2) the tracking excitation signal performs a frequency response analysis on the target tracking function of the gimbal debugging, and the response signal is output by the image processing unit of the gimbal control system; (3) the position excitation signal performs a frequency response analysis on the axis angle position locking function of the gimbal debugging, and the response signal is collected by the angular position sensor of the gimbal control system; (4) the position excitation signal estimates the image acquisition and processing time of the gimbal debugging, the response signal is collected by the angular position sinusoidal signal of the angular position sensor, and the target position sinusoidal signal is output by the image processing unit.

[0070] Specifically, in step 1 above, the pan-tilt sweep module generates different excitation signals according to the received frequency type, frequency point, and excitation amplitude. Since the communication interface of the pan-tilt is often slow and has a large delay, it directly affects the phase accuracy of the frequency sweep. In the embodiment of the present invention, the excitation signal is generated inside the pan-tilt, effectively avoiding the delay caused by transmission when the external excitation is input. Furthermore, the excitation generator in the pan-tilt sweep module of the embodiment of the present invention generates the excitation signal through formula (1):

[0071]

[0072] Where r(n) represents the excitation signal, A represents the excitation amplitude, f represents the current excitation frequency, n represents the excitation index number, and t s represents the sampling period, Indicates the phase of the excitation signal; the PC host provides f and A, and the operating cycle of the excitation generator is t s Consistent; wherein: the excitation index number starts to accumulate from 0 when the excitation generator runs periodically, and each running cycle of the excitation generator generates an excitation signal.

[0073] Step 2: Generate a response signal based on the excitation signal. Specifically including:

[0074] See also Figure 2 The velocity excitation signal performs frequency response analysis on the inertial stabilization function of the gimbal debugging. The gimbal works in the inertial stable state. The excitation generator generates a velocity excitation signal according to formula (1), which is superimposed on the addition node of the gyro closed-loop control loop of the gimbal to generate a response signal. The response signal is collected by the gyro sensor of the gimbal control system.

[0075] See also Figure 3The tracking excitation signal is used to perform frequency response analysis on the target tracking function of the pan-tilt control system. The pan-tilt control system is closed-loop fed back by the image processing unit. The tracking excitation signal generated by the excitation generator according to formula (1) is superimposed on the closed-loop addition node of the image processing unit to generate a response signal. The response signal is output by the image processing unit of the pan-tilt control system.

[0076] See also Figure 4 The position excitation signal performs frequency response analysis on the axis angle position locking function of the gimbal debugging. The position loop of the gimbal is closed by the angle sensor feedback loop. The excitation generator generates the position excitation signal according to formula (1) and superimposes it on the closed loop addition node of the angular position sensor to generate a response signal; the response signal is collected by the angular position sensor of the gimbal control system.

[0077] See also Figure 5 The image acquisition and processing time of the gimbal debugging is estimated by the position excitation signal. The gimbal's image processing unit tracks the target in the picture. The gimbal's position loop is closed at the current position by the angular position loop, rather than by the image processing unit. The excitation generator generates a position excitation signal according to formula (1), which is superimposed on the angular position sensor closed loop addition node to generate a response signal. At this time, the gimbal performs a sinusoidal swing under the excitation. The response signal is collected by the angular position sinusoidal signal of the angular position sensor, and the target position sinusoidal signal is output by the image processing unit. The PC host estimates the total delay between the image from the camera to the image processing unit by comparing the phases of the two sinusoidal signals.

[0078] Step 3: Transmit the sweep parameters and response signal to the PC host computer. Specifically, the communication unit in the pan / tilt sweep module transmits the excitation index number, current excitation frequency, excitation amplitude, sampling period, and response signal corresponding to the excitation signal to the PC host computer.

[0079] It should be noted that during the digital frequency sweep process, the PTZ communication unit transmits the current excitation index number n, the current excitation frequency f, the excitation amplitude A, and the sampling period t s , the response signal is sent to the PC host computer. The data of the response signal sent is floating point type, excitation index number n, current excitation frequency f, excitation amplitude A, sampling period t s It is preferably converted into integer data and sent to the PC host computer.

[0080] Step 4: After analyzing the frequency sweep parameters and the response signal, the PC host computer outputs the Bode diagram or the delay information of the image acquisition processing.

[0081] Specifically, in step 4, the PC host computer in the embodiment of the present invention analyzes the frequency sweep parameters and the response signal, including: the PC host computer receives the response signal, as well as the excitation index number, current excitation frequency, excitation amplitude and sampling period corresponding to the response signal; the PC host computer calculates the amplitude and phase of the response signal using the excitation index number, current excitation frequency and excitation amplitude.

[0082] After receiving the response signal, the excitation index number, the current excitation frequency, the excitation amplitude, and the sampling period, the PC host computer of the embodiment of the present invention knows that the response signal and the excitation signal have equal frequencies, and calculates the amplitude and phase of the response signal using the known excitation index number n, the current excitation frequency f, and the excitation amplitude A. Specifically, in step 4, the embodiment of the present invention calculates the amplitude and phase of the response signal, including:

[0083] The intermediate variable Θ is calculated based on the response signal vector Y and the known quantity X using formula (2):

[0084] Y=XΘ formula (2)

[0085] Where, The solution of Θ in formula (2) is: Θ=(X T X) -1 X T Y.

[0086] Based on the intermediate variable Θ solved by formula (2), the amplitude A of the response signal is calculated by formula (3): r and phase

[0087]

[0088] Based on formula (4) through the amplitude A r and phase Calculate the phase-frequency vector Φ and amplitude-frequency vector T of the closed-loop transfer function:

[0089]

[0090] Among them, A is obtained by analyzing the data returned by the PTZ. The closed-loop Bode diagram of the PTZ control system is drawn based on the obtained phase-frequency vector Φ and amplitude-frequency vector T. The closed-loop Bode diagram is as follows: Figure 6 shown.

[0091] Given the amplitude-phase characteristics of the closed-loop transfer function, the amplitude-frequency vector T of the open-loop transfer function is calculated based on formula (5): o :

[0092]

[0093] The phase-frequency vector Φ of the open-loop transfer function is equal to the phase-frequency vector Φ of the closed-loop transfer function. Since the phase-frequency vector of the open-loop transfer function is equal to the phase-frequency vector of the closed-loop transfer function, the open-loop Bode diagram of the pan-tilt control system is drawn based on the obtained amplitude-frequency vector. The open-loop Bode diagram is as follows: Figure 7 shown.

[0094] Specifically, in step 4, the output of the Bode diagram or the delay information of the image acquisition processing in the embodiment of the present invention includes:

[0095] The PC host computer draws and outputs the open-loop Bode diagram and closed-loop Bode diagram of the pan-tilt control system based on the calculated phase-frequency vector Φ and amplitude-frequency vector T; alternatively, the PC host computer outputs the delay information of the image acquisition processing based on the phase difference between the excitation signal and the response signal.

[0096] In practical applications, when the PC host computer calculates the delay information for image acquisition and processing, the phase difference between the excitation signal and the response signal is the delay. According to formula (3), formula (6) is obtained:

[0097]

[0098] In formula (6), represents the phase of the response signal, and t represents the time delay from image acquisition to image processing.

[0099] See also Figure 8 An embodiment of the present invention discloses a digital frequency sweeping system suitable for pan-tilt debugging. Based on the above-mentioned digital frequency sweeping method suitable for pan-tilt debugging, the digital frequency sweeping system includes an input unit, a PC host computer and a pan-tilt frequency sweeping module. The PC host computer includes a communication module and an analysis module. The pan-tilt frequency sweeping module is deployed in the pan-tilt control system. The pan-tilt frequency sweeping module includes a communication unit and an excitation generator; wherein: the input unit inputs frequency sweeping parameters; the communication module transmits the frequency sweeping parameters; the analysis module analyzes the frequency sweeping parameters and the response signal, and outputs a Bode diagram or delay information of image acquisition processing; the communication unit receives the frequency sweeping parameters transmitted by the communication module, and sends the frequency sweeping parameters and the response signal to the communication module together; the excitation generator generates an excitation signal based on the frequency sweeping parameters.

[0100] It should be noted that the digital frequency sweeping system of the present invention requires a pan-tilt frequency sweeping module to be deployed in the pan-tilt control system. The excitation generator in the pan-tilt frequency sweeping module generates different types of excitations. These excitations are sinusoidal digital signals generated by software, including angular velocity excitation signals for stimulating the stabilization ring, target position excitation signals for stimulating the image processing unit, and position excitation signals for stimulating the angular position locking controller. Furthermore, the digital frequency sweeping system of the present invention operates as follows:

[0101] Before starting a digital frequency sweep, the user sets the sweep range, step size, and sweep amplitude on the PC. The PC's analysis module decomposes the frequencies within the sweep range into discrete frequency points based on the step size. The communication module packages these discrete frequency points, sweep amplitude, and sweep type and sends them to the PTZ sweep module. The communication unit in the PTZ sweep module parses the data packet to determine the frequency points, sweep type, and sweep amplitude.

[0102] When the digital frequency sweep begins, the excitation generator generates an excitation signal, and the pan-tilt control system produces different response signals under different excitations. The communication unit packages the response signal, current excitation frequency, sweep amplitude, index number, and other data and sends them to the PC host computer. The analysis module of the PC host computer analyzes the data after receiving it, calculates the amplitude-frequency and phase-frequency characteristic curves, and draws the Bode diagram.

[0103] Based on the above digital sweep system, please refer to Figure 9 The analysis module of the embodiment of the present invention has the following working procedures: (1) setting the frequency sweep type and frequency sweep point; (2) receiving the frequency sweep data of the pan / tilt; (3) storing the analyzed data, obtaining the excitation index number n, the current excitation frequency f, the excitation amplitude A, and the sampling period t s , response signal; (4) by sin(tπfn0), ..., sin(tπfn k ),cos(tπfn0),…,cos(tπfn k ) to obtain X; (5) use formula (3) to calculate the amplitude A of the response signal r and phase (6) Use formula (4) to solve the frequency characteristics of the closed-loop transfer function; (7) Use formula (5) to solve the frequency characteristics of the open-loop transfer function; (8) Draw the closed-loop Bode diagram and the open-loop Bode diagram; (9) In the process of calculating the time consumption of image acquisition and processing, use formula (6) to solve the time consumption of image acquisition and processing.

[0104] The present invention addresses the functions and characteristics of a pan-tilt system (PTZ) and discloses a lightweight digital frequency sweeping method and system for PTZ debugging. Compared to commonly used frequency response analyzers, this method offers the advantages of enhanced targeting, low cost, convenient debugging, and ease of use. This allows users to conveniently adjust the parameters of the PTZ control system in a variety of situations.

[0105] The series of detailed descriptions listed above are only specific descriptions of feasible implementation methods of the present invention. They are not intended to limit the scope of protection of the present invention. Any equivalent implementation methods or changes that do not deviate from the technical spirit of the present invention should be included in the scope of protection of the present invention.

[0106] It will be apparent to those skilled in the art that the present invention is not limited to the details of the exemplary embodiments described above and that the invention can be embodied in other specific forms without departing from the spirit or essential characteristics of the invention. Therefore, the embodiments should be considered in all respects as illustrative and non-restrictive, and the scope of the invention is defined by the appended claims, not the foregoing description, and all variations within the meaning and range of equivalents of the claims are intended to be included therein. Any reference sign in a claim should not be construed as limiting the claim to which it relates.

[0107] In addition, it should be understood that although this specification is described in terms of implementation methods, not every implementation method contains only one independent technical solution. This narrative method of the specification is only for the sake of clarity. Those skilled in the art should regard the specification as a whole. The technical solutions in each embodiment can also be appropriately combined to form other implementation methods that can be understood by those skilled in the art.

Claims

1. A digital frequency sweeping method suitable for PTZ debugging, characterized in that: include: Step 1: Based on the sweep frequency parameters transmitted by the PC host computer, the PTZ sweep frequency module deployed in the PTZ control system generates an excitation signal; Specifically, the frequency sweep parameters include: frequency sweep amplitude, frequency sweep type and several discrete frequency points, wherein: the frequency sweep amplitude and the frequency sweep type are obtained by the PC host computer based on user-set parameters, and the user-set parameters include frequency sweep amplitude, frequency sweep type, step length and frequency sweep range, wherein: the frequency sweep type includes inertial stabilization function frequency sweep, target tracking function frequency sweep, axis angle locking function frequency sweep and target tracking function delay test; several discrete frequency points are obtained by the PC host computer decomposing the frequency within the frequency sweep range according to the step length; specifically, the excitation signal includes: speed excitation signal, tracking excitation signal and position excitation signal, wherein: (1) the speed The excitation signal performs a frequency response analysis on the inertial stabilization function of the gimbal debugging, and the response signal is collected by the gyro sensor of the gimbal control system; (2) the tracking excitation signal performs a frequency response analysis on the target tracking function of the gimbal debugging, and the response signal is output by the image processing unit of the gimbal control system; (3) the position excitation signal performs a frequency response analysis on the axis angle position locking function of the gimbal debugging, and the response signal is collected by the angular position sensor of the gimbal control system; (4) the position excitation signal estimates the image acquisition and processing time of the gimbal debugging, the response signal collects the angular position sinusoidal signal by the angular position sensor, and the image processing unit outputs the target position sinusoidal signal; Step 2: generating a response signal based on the excitation signal; specifically comprising: in step 1 (1), the gimbal operates in an inertial stable state, generates the velocity excitation signal, and superimposes the velocity excitation signal on the addition node of the gyro closed-loop control loop of the gimbal to generate a response signal; in step 1 (2), the gimbal is closed-loop by the feedback of the image processing unit, and the tracking excitation signal generated is superimposed on the closed-loop addition node of the image processing unit to generate a response signal; in step 1 (3), the position loop of the gimbal is closed-loop by the feedback of the angle sensor, and generates the position excitation signal, which is superimposed on the closed-loop addition node of the angular position sensor to generate a response signal; in step 1 (4), the image processing unit of the gimbal tracks the target in the picture, and the position loop of the gimbal is closed at the current position by the angular position loop, generates the position excitation signal, and superimposes the closed-loop addition node of the angular position sensor to generate a response signal; Step 3: transmitting the sweep frequency parameters and the response signal to the PC host computer; specifically, the communication unit in the pan / tilt sweep frequency module synchronously transmits the excitation index number, current excitation frequency, excitation amplitude and sampling period corresponding to the excitation signal, and the response signal to the PC host computer; Step 4: After analyzing the frequency sweep parameters and the response signal, the PC host computer outputs a Bode diagram or delay information of image acquisition processing; specifically, the PC host computer analyzes the frequency sweep parameters and the response signal, including: the PC host computer receives the response signal, as well as the excitation index number, current excitation frequency, excitation amplitude and sampling period corresponding to the response signal; the PC host computer calculates the amplitude and phase of the response signal using the excitation index number, current excitation frequency and excitation amplitude; specifically, outputting the Bode diagram or delay information of image acquisition processing includes: the PC host computer draws and outputs an open-loop Bode diagram and a closed-loop Bode diagram of the pan-tilt control system according to the calculated phase-frequency vector Φ and amplitude-frequency vector T; or, the PC host computer outputs the delay information of image acquisition processing according to the phase difference between the excitation signal and the response signal.

2. A digital frequency sweeping method adapted for PTZ debugging according to claim 1, characterized in that: In step 1, the excitation generator in the pan-tilt sweep module generates an excitation signal using formula (1): Where r(n) represents the excitation signal, A represents the excitation amplitude, f represents the current excitation frequency, n represents the excitation index number, and t s represents the sampling period, Indicates the phase of the excitation signal; the PC host provides f and A, and the operating cycle of the excitation generator is t s consistent; among which: When the stimulus generator runs periodically, the stimulus index number starts to accumulate from 0, and each running cycle of the stimulus generator generates an stimulus signal.

3. The digital frequency sweeping method adapted for PTZ debugging according to claim 1, characterized in that: In step 4, the amplitude and phase of the response signal are calculated, including: The intermediate variable Θ is calculated based on the vector Y of the response signal and the known quantity X by formula (2): Y=XΘ formula (2) Where, Based on the intermediate variable Θ solved by formula (2), the amplitude A of the response signal is calculated by formula (3): r and phase Based on formula (4) through the amplitude A r and phase Calculate the phase-frequency vector Φ and amplitude-frequency vector T of the closed-loop transfer function: Based on formula (5), the amplitude-frequency vector T of the open-loop transfer function is calculated o : The phase-frequency vector Φ of the open-loop transfer function is equal to the phase-frequency vector Φ of the closed-loop transfer function.

4. A digital frequency sweeping system adapted for pan-tilt adjustment, based on a digital frequency sweeping method adapted for pan-tilt adjustment according to any one of claims 1 to 3, characterized in that: The digital frequency sweeping system includes an input unit, a PC host computer and a pan-tilt frequency sweeping module. The PC host computer includes a communication module and an analysis module. The pan-tilt frequency sweeping module is deployed in the pan-tilt control system and includes a communication unit and an excitation generator. The input unit inputs frequency sweep parameters; The communication module transmits frequency sweep parameters; After analyzing the frequency sweep parameters and the response signal, the analysis module outputs a Bode diagram or delay information of image acquisition processing; The communication unit receives the frequency sweep parameters transmitted by the communication module, and sends the frequency sweep parameters and the response signal to the communication module; The excitation generator generates an excitation signal based on the frequency sweep parameter.

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