Holder stability augmentation device based on magnetic spring, control method and holder

Abstract

The invention provides a cradle head stability augmentation device based on a magnetic spring, a control method and a cradle head, and relates to the technical field of intelligent cradle heads, the device comprises a rotor platform, a base, a magnetic spring module, an electromagnetic active damping module, a sensing module and a control module, the magnetic spring module is used for supporting the rotor platform through repulsive force between the permanent magnets; the electromagnetic active damping module comprises a magnetizer and an electromagnetic coil and is used for applying target electromagnetic force to inhibit vertical shaking below the base; the sensing module is arranged on the base and is used for acquiring acceleration information of the base and displacement information of the rotor platform; the control module is connected with the sensing module and used for generating a control signal according to the acceleration information and the displacement information so as to drive the electromagnetic coil to generate target electromagnetic force. According to the invention, low-frequency large-amplitude jitter and high-frequency micro-vibration in the vertical direction can be suppressed, and the stability precision and the dynamic response speed are improved.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of intelligent gimbals, in particular to a gimbal stabilization device based on magnetic springs, a control method and a gimbal. BACKGROUND

[0002] With the wide application of handheld gimbals and action cameras, users have increasingly high requirements for video stability. The existing mainstream gimbal system mainly relies on three-axis mechanical brushless motors of pitch, roll and yaw to realize compensation for rotational jitter. However, the compensation effect is poor when dealing with the translation jitter generated in the vertical direction.

[0003] The existing solutions mainly use mechanical fourth-axis structures and electronic image stabilization technology. The mechanical fourth-axis structure is difficult to meet the lightweight requirements of portable devices. The electronic image stabilization technology has limited compensation effect in severe jitter scenes, and may also cause image distortion problems such as jelly effect. Therefore, how to effectively suppress the low-frequency large translation jitter of the gimbal in the vertical direction is a problem to be solved. SUMMARY

[0004] In view of the above shortcomings of the prior art, the present application provides a gimbal stabilization device based on magnetic springs, a control method and a gimbal, which effectively solves the problem of low-frequency large translation jitter of the gimbal in the vertical direction.

[0005] In a first aspect, the present application provides a gimbal stabilization device based on magnetic springs, which comprises a mover platform, a base, a magnetic spring module, an electromagnetic active damping module, a sensing module and a control module, wherein: The mover platform is used to install a load device, and the mover platform is coupled to the base by magnetic force; The magnetic spring module is arranged between the mover platform and the base, and the magnetic spring module is used to provide support to the mover platform through repulsive force between permanent magnets; The electromagnetic active damping module comprises a magnetic conductor and an electromagnetic coil, the magnetic conductor is arranged inside the mover platform, and the electromagnetic coil is arranged inside the base. The electromagnetic active damping module is used to apply a target electromagnetic force to suppress the vertical jitter below the base; The sensing module is arranged on the base, and the sensing module is used to obtain acceleration information of the base and displacement information of the mover platform; The control module is connected to the sensing module, and the control module is used to generate a control signal according to the acceleration information and the displacement information, so as to drive the electromagnetic coil to generate the target electromagnetic force.

[0006] In an optional embodiment, the magnetic spring module comprises at least one mover permanent magnet and one base permanent magnet, the mover permanent magnet is arranged at the lower part of the mover platform, the base permanent magnet is arranged at the top of the base, and the mover permanent magnet and the base permanent magnet are repulsive to each other.

[0007] In an optional embodiment, the sensing module comprises an inertial measurement unit, a laser ranging unit and a current sensor, wherein: The inertial measurement unit is used to measure the acceleration of the base in the vertical direction to obtain the acceleration information. The laser ranging unit is used to measure the real-time relative displacement between the mover platform and the base to obtain the displacement information. The current sensor is used to measure the current of the electromagnetic coil to obtain the current information.

[0008] In a second aspect, the application provides a gimbal stabilization control method based on a magnetic spring, which is applied to the gimbal stabilization device based on a magnetic spring in any of the preceding embodiments, and the method comprises: obtaining the acceleration information of the base and the displacement information of the mover platform; performing feedforward compensation according to the acceleration information to generate a first control force; calculating a displacement error according to the displacement information, and performing PID feedback control based on the displacement error to generate a second control force; synthesizing the first control force and the second control force to obtain a total control force; calculating the control current required by the electromagnetic coil according to the total control force, and outputting a corresponding control signal to the electromagnetic coil to generate a target electromagnetic force.

[0009] In an optional embodiment, the calculation formula of the first control force is as follows:

[0010] In the above formula, F 1 represents the first control force, M m represents the load mass of the mover platform, a a represents the acceleration of the base in the vertical direction.

[0011] In an optional embodiment, the calculation formula of the displacement error is as follows:

[0012] In the above formula, Z e e represents the displacement error, Z d d represents the distance between the preset equilibrium position and the base. represents real-time relative displacement between the mover platform and the base; The calculation formula of the second control force is as follows:

[0013] In the above formula, F 2 represents the second control force, K p represents proportional gain, K i represents integral gain, K d represents derivative gain, t represents time.

[0014] In an optional embodiment, the calculation formula of the control current is as follows:

[0015] In the above formula, I C represents the control current, F T represents the total control force, which is the sum of the first control force and the second control force, B represents the air gap flux density of the electromagnetic coil, L represents the effective wire length of the electromagnetic coil, N represents the number of turns of the electromagnetic coil.

[0016] In an optional embodiment, the method further comprises: When the load mass of the mover platform changes, a new load mass is adaptively calculated, and control parameters are updated according to the new load mass.

[0017] In an optional embodiment, the adaptive calculation of the load mass and the updating of the control parameters according to the load mass comprises: When the mover platform moves to a preset equilibrium position, an excitation signal is applied to the electromagnetic coil to control the mover platform to perform a small sinusoidal motion; Obtaining displacement response of the mover platform and resonance current information of the electromagnetic coil; Calculating the new load mass according to the displacement response and the resonance current information; Adjusting the load mass of the feedforward control and the proportional gain, integral gain and derivative gain of the PID control according to the new load mass.

[0018] In a third aspect, the application provides a gimbal, which comprises the gimbal stabilization device based on magnetic spring according to the first aspect of the application, wherein the control module comprises a memory, a processor, and a computer program stored in the memory and executable on the processor, and the processor executes the computer program to implement the gimbal stabilization control method based on magnetic spring according to the second aspect of the application.

[0019] The gimbal stabilization device based on magnetic spring, the control method and the gimbal provided by the application can greatly reduce the working burden of the active control system by using the passive magnetic spring composed of permanent magnets to bear the load weight of the gimbal, so as to realize lightweight and low-power operation. The non-contact design completely eliminates mechanical wear and friction noise, improves the reliability and service life of the device. Combined with the electromagnetic active damping module and the feedforward-feedback compound control algorithm, the device can efficiently suppress large amplitude shaking and high-frequency micro-vibration in the vertical direction, significantly improve the stability precision and dynamic response speed. The load adaptive algorithm can automatically identify the mass of the installed camera and dynamically adjust the control parameters, realize intelligent matching without manual intervention, effectively balance the image quality and stability, and is particularly suitable for high-performance handheld gimbals and motion camera applications. BRIEF DESCRIPTION OF DRAWINGS

[0020] In order to more clearly illustrate the technical solutions of the embodiments of the application, the following will briefly introduce the drawings needed to be used in the embodiments. It should be understood that the following drawings only show some embodiments of the application, and therefore should not be regarded as a limitation on the scope. For those skilled in the art, other related drawings can also be obtained without creative labor on the basis of these drawings.

[0021] Figure 1 is a structural schematic diagram of the gimbal stabilization device based on magnetic spring provided by the embodiments of the application; Figure 2 is a first schematic diagram of the gimbal stabilization control method based on magnetic spring provided by the embodiments of the application; Figure 3 is a second schematic diagram of the gimbal stabilization control method based on magnetic spring provided by the embodiments of the application; Figure 4 is a structural schematic diagram of the gimbal provided by the embodiments of the application; Figure 5 is a structural schematic diagram of a control module provided by the embodiments of the application.

[0022] Main element symbol explanation: 100, gimbal stabilizing device based on magnetic spring; 110, mover platform; 120, base; 130, magnetic spring module; 131, mover permanent magnet; 132, base permanent magnet; 140, electromagnetic active damping module; 141, magnetic conductor; 142, electromagnetic coil; 150, sensing module; 151, laser ranging unit; 152, inertial measurement unit; 160, control module; 161, processor; 162, communication interface; 163, memory; 164, communication bus; 300, gimbal. DETAILED DESCRIPTION

[0023] For the purposes of the present application, the technical solutions and advantages thereof will be more clearly described below with reference to the drawings of the embodiments of the present application. It should be noted that the described embodiments are only some of the embodiments of the present application, rather than all the embodiments. Based on the embodiments in the present application, all other embodiments obtained by those of ordinary skill in the art without creative labor fall within the scope of protection of the present application.

[0024] In addition, the terms "first", "second" are only for the purpose of description, and cannot be understood as indicating or implying relative importance or implicitly indicating the number of the indicated technical features. Therefore, the features defined with "first", "second" can explicitly or implicitly include one or more of the features. In the description of the present application, the meaning of "multiple" is two or more, unless otherwise explicitly specified.

[0025] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which the present application belongs. The terms used in the specification of the present application are only for the purpose of describing the specific embodiments, and are not intended to limit the present application.

[0026] For the translation movement of the gimbal in the vertical direction, the existing solutions mainly realize the telescopic movement through mechanical fourth-axis structures (such as lead screws or synchronous belt transmission devices). Although they have physical compensation capability, they have problems such as complex structure, large volume and weight increase, which are difficult to meet the lightweight demand of portable devices. On the other hand, although electronic image stabilization technology does not require additional hardware, it can achieve compensation by cropping the image through algorithms, but it will lead to reduced image resolution and reduced field of view, and the compensation effect is limited in the case of severe shaking. At the same time, it may also cause image distortion problems such as jelly effect. Therefore, how to effectively suppress the low-frequency large-scale translation jitter of the gimbal in the vertical direction is a problem that needs to be solved.

[0027] Embodiment 1 The embodiments of the present application provide a gimbal stabilizing device based on magnetic spring, which effectively solves the problem of low-frequency large-scale translation jitter of the gimbal in the vertical direction.Figure 1 is a structural schematic diagram of a gimbal stabilizing device based on magnetic spring provided by the embodiment of the application, as shown in the figure, the gimbal stabilizing device 100 based on magnetic spring comprises a mover platform 110, a base 120, a magnetic spring module 130, an electromagnetic active damping module 140, a sensing module 150 and a control module 160, wherein: Figure 1 The mover platform 110 is used for installing a load device, which can be an electronic device such as a mobile phone, a camera and a video camera, the base 120 is located below the mover platform 110, the base 120 is installed on a mechanical shaft in the vertical direction of the gimbal, and the mover platform 110 is coupled with the base 120 through magnetic force.

[0028] The magnetic spring module 130 is arranged between the mover platform 110 and the base 120, and is used for providing support to the mover platform 110 through repulsion between permanent magnets.

[0029] Optionally, the magnetic spring module 130 comprises at least one mover permanent magnet 131 and one base permanent magnet 132, the mover permanent magnet 131 is arranged at the lower part of the mover platform 110, the base permanent magnet 132 is arranged at the top of the base 120, and the mover permanent magnet 131 and the base permanent magnet 132 are opposite in polarity to generate repulsion, the direction of the repulsion is upward, and the repulsion is used for offsetting the gravity of the load device on the mover platform 110.

[0030] In the embodiment of the application, the mover permanent magnet 131 and the base permanent magnet 132 can adopt a round sheet magnet, and the repulsion between the same pair of mover permanent magnet 131 and base permanent magnet 132 can be approximately expressed as follows:

[0031] In the above formula, F S represents the repulsion generated by the mover permanent magnet 131 and the base permanent magnet 132, k represents a comprehensive coefficient, m 1 represents the strength of the mover permanent magnet 131, m 2 represents the strength of the base permanent magnet 132, d represents the distance between the surfaces of the mover permanent magnet 131 and the base permanent magnet 132, n represents a magnetic charge index.

[0032] wherein the comprehensive coefficient k is a proportional coefficient or a coupling constant, which is related to the material, shape, relative angle of the permanent magnet and the surrounding medium, and is used for scaling a certain relationship between the strength of the permanent magnet and the distance into an actual and measurable repulsion. For ideal point magnetic charge, the magnetic charge index n is 2, and for actual surface magnet, the magnetic charge index n ​The value of the magnetic charge index n is usually between 2 and 4, and determines the speed of the repulsive force decaying with distance. n The value of the magnetic charge index n can be determined by measuring the relationship between the repulsive force and the distance within a predetermined distance range.

[0033] The electromagnetic active damping module 140 includes a magnetic conductor 141 arranged inside the mover platform 110 and an electromagnetic coil 142 arranged inside the base 120, and is configured to apply a target electromagnetic force to suppress vertical jitter of the base 120.

[0034] In the embodiment, the magnetic conductor 141 and the electromagnetic coil 142 form a closed or semi-closed magnetic loop, and accurately dynamically modulate the static magnetic field of the permanent magnet, thereby generating a target electromagnetic force on the mover platform 110, which is proportional to the current of the electromagnetic coil 142 and controllable in direction. The target electromagnetic force is used as active damping to work with the magnetic spring module 130, thereby suppressing the jitter of the vertical mechanical shaft of the base 120.

[0035] The sensing module 150 is arranged on the base 120, and is configured to obtain acceleration information of the base 120 and displacement information of the mover platform 110. The sensing module 150 includes an inertial measurement unit 152 and a laser ranging unit 151. The inertial measurement unit 152 is configured to measure the acceleration of the base 120 in the vertical direction and obtain the acceleration information. The laser ranging unit 151 is configured to measure the real-time relative displacement between the mover platform 110 and the base 120 by using a high-precision laser ranging sensor, and obtain the displacement information.

[0036] Optionally, the sensing module 150 further includes a current sensor configured to measure the current of the electromagnetic coil 142 and obtain current information.

[0037] The control module 160 is connected with the sensing module 150, and is configured to generate a control signal corresponding to the control current of the electromagnetic coil 142 according to the acceleration information and the displacement information, so as to drive the electromagnetic coil 142 to generate the target electromagnetic force.

[0038] The gimbal stabilization device based on the magnetic spring provided in the embodiment greatly reduces the burden of the active control module by using the passive repulsive force provided by the permanent magnet in the magnetic spring module to bear most of the static load of the load equipment of the mover platform. Then, the residual and high-frequency jitter is actively fine-tuned and damped by using a relatively small-power electromagnetic coil array based on high-frequency sensor feedback, so that high-performance and low-power compensation for the vertical mechanical shaft jitter of the gimbal is achieved. The non-contact design completely eliminates mechanical wear and friction noise, and improves the reliability and service life of the device.

[0039] Embodiment 2 Based on the same technical concept as the above embodiments, this application provides a gimbal stabilization control method based on a magnetic spring, which is applied to the gimbal stabilization device 100 based on a magnetic spring in the above embodiment 1. Figure 2 This is a first schematic diagram of the gimbal stabilization control method based on magnetic springs provided in the embodiments of this application, as shown below. Figure 2 As shown, the method includes the following steps: S100: Obtain the acceleration information of the base and the displacement information of the moving platform.

[0040] In this embodiment of the application, acceleration information, namely the acceleration of the base 120 in the vertical direction, can be obtained from the inertial measurement unit 152, and displacement information, namely the real-time relative displacement between the moving platform 110 and the base 120, can be obtained from the laser ranging unit 151.

[0041] S200: Perform feedforward compensation based on acceleration information to generate the first control force.

[0042] In this embodiment, when the base 120 moves with a certain acceleration, the load device on the moving platform 110 will inevitably generate a reverse inertial force due to inertia. If a control force equal in magnitude and opposite in direction to this inertial force is applied in advance, the inertial force can be canceled before the load device shakes, thereby achieving feedforward control and predictive compensation.

[0043] According to Newton's second law, the formula for calculating the first control force is as follows:

[0044] In the above formula, F 1 indicates that the first control force required is generated by the feedforward controller. M This indicates the load quality of the moving sub-platform 110, which can be calculated using an adaptive algorithm when the device is powered on. a This indicates the acceleration of base 120 in the vertical direction.

[0045] The negative sign indicates that the direction of the first control force is opposite to the direction of acceleration. Assuming that the acceleration is vertically upward as the positive direction, if the user manually drives the device to accelerate upward, the direction of acceleration is positive. In this case, the feedforward controller will immediately generate a downward first control force to pull the load device and prevent the load device from lagging behind due to inertia.

[0046] The feedforward control in this application embodiment detects the acceleration of the base in real time, predicts the inertial force of the load equipment, and applies a reverse control force in advance to achieve active pre-compensation for jitter, thereby improving the device response speed, effectively suppressing low-frequency large-amplitude vibrations, reducing the burden of feedback control, and improving overall stability and energy efficiency.

[0047] S300: Calculate the displacement error based on the displacement information, perform PID feedback control based on the displacement error, and generate a second control force.

[0048] In this embodiment, a desired preset equilibrium position is pre-set, at which the repulsive force of the magnetic spring module 130 has essentially counteracted the gravity of the load device. The displacement error is calculated based on the displacement information and the preset equilibrium position information, using the following formula:

[0049] In the above formula, Z e Indicates displacement error. Z d This indicates the distance between the preset balance position and the base 120. This indicates the real-time relative displacement between the moving platform 110 and the base 120 as measured by the laser ranging unit 151.

[0050] Based on this displacement error, PID feedback control generates a second control force for reactive compensation, eliminating residual errors that feedforward control cannot completely offset, and handling all unforeseen jitter. The formula for calculating the second control force is as follows:

[0051] In the above formula, F 2 indicates the second control force generated by PID feedback control. K p Indicates proportional gain. K i Indicates integral gain. K d Represents differential gain. t Indicates time.

[0052] Among them, proportional gain K p Directly amplify the current displacement error. K p The larger the value, the faster the device responds to errors, but excessively large values... K p This will cause the device to oscillate near the target location. Integral gain K i It accumulates the displacement error over all past times to eliminate steady-state error. For example, if the load is always slightly lower than the preset equilibrium position, the integral term will continuously increase the correction force over time until the displacement error is zero. Differential gain K dBy focusing on the rate of change of displacement error, i.e. how fast the displacement error increases, it has a damping effect, can predict future displacement error trends and control them in advance, thereby suppressing device oscillations and increasing stability.

[0053] In this embodiment, the feedback control is based on the displacement error measured in real time by the laser rangefinder, and the PID algorithm is used to accurately correct the residual jitter, effectively eliminating the deviation of the feedforward control and external disturbances.

[0054] S400: Combine the first control force and the second control force to obtain the total control force.

[0055] In this embodiment, the first control force and the second control force are added together to obtain the total control force, which represents the core of the feedforward-feedback composite control strategy, combining the advantages of predictive feedforward control and reactive feedback control. The calculation formula is as follows:

[0056] In the above formula, F T This represents the total control force, which is the target electromagnetic force that needs to be generated by the electromagnetic coil 142; F 1 indicates that the first control force required is generated by the feedforward controller, which is responsible for handling large, predictable disturbances, such as walking cadence, and providing a fast response; F 2 indicates the second control force generated by PID feedback control, which is responsible for handling small, random disturbances and errors in feedforward control, providing precise control.

[0057] S500: Calculates the control current required by the electromagnetic coil based on the total control force, and outputs the corresponding control signal to the electromagnetic coil to generate the target electromagnetic force.

[0058] According to the principles of electromagnetism, the Lorentz force generated by a current-carrying coil in a magnetic field... F m The force is proportional to the current I and the magnetic field strength B. In this embodiment, the magnetic field strength B is mainly provided by the permanent magnet and is stable in a short time; therefore, the Lorentz force... F m This can be simplified to be proportional to the current I, i.e. F m =K'×I. Since the goal is to make the Lorentz force... F m With overall control F T They are equal, therefore I = (1 / K') × F TThe reciprocal of 1 / K' here yields the conversion factor K. This conversion factor K, determined by the electromagnetic coil 142, represents the current required to generate each unit of Newton of force. The theoretical calculation formula is as follows:

[0059] In the above formula, B The air gap magnetic flux density of the electromagnetic coil 142 is the magnetic field strength generated by the permanent magnet and passing through the electromagnetic coil 142. L This represents the effective wire length of the electromagnetic coil 142, that is, the total wire length of all turns in the electromagnetic coil 142. N This indicates the number of turns of electromagnetic coil 142.

[0060] Therefore, the formula for calculating the control current is as follows:

[0061] In the above formula, I C Indicates control current. F T This represents the total control force, which is the target electromagnetic force that needs to be generated by the electromagnetic coil 142.

[0062] The virtual total control force calculated by the control algorithm can be converted into the control current required to drive the electromagnetic coil 142 using the above formula. The control module 160 outputs a control signal corresponding to the control circuit, which can be a PWM signal, to drive the electromagnetic coil 142 to generate a precise target electromagnetic force, thereby realizing the control of the moving platform 110.

[0063] The embodiments of this application generate the target electromagnetic force through the coordinated use of feedforward and feedback control. The feedforward control responds quickly to known disturbances, while the feedback control accurately eliminates residual errors. The combined effect of the two enables the device to efficiently suppress vertical jitter over a wide frequency range, significantly improving response speed, stability, and robustness, and achieving high-precision and low-latency active damping control.

[0064] As a further implementation of the embodiments of this application, when the device is started, or when a self-calibration process instruction is sent to the control module through an electronic device, or when a significant change in load is detected, such as when the load device is reinstalled, the control method further includes: when the load quality of the moving sub-platform changes, adaptively calculating the new load quality, and updating the PID control parameters according to the new load quality.

[0065] In this embodiment, the moving platform of the gimbal and the load device are considered together as a second-order mass-spring-damped system. Its dynamic equations can be simplified as follows:

[0066] In the above formula,M Indicates load quality. a Indicates acceleration. c The damping coefficient is represented by factors such as electromagnetic damping and air damping. v Indicates speed, k This indicates the equivalent stiffness of the magnetic spring. x Indicates displacement. F A This indicates the target electromagnetic force applied from the outside.

[0067] Based on the simplified equations described above, adaptive control of load quality can be performed. Figure 3 This is a second schematic diagram of the gimbal stabilization control method based on magnetic springs provided in the embodiments of this application, as shown below. Figure 3 As shown, adaptive control of load quality includes the following steps: S610. When the moving platform moves to the preset equilibrium position, an excitation signal is applied to the electromagnetic coil to control the moving platform to perform a small sinusoidal motion.

[0068] In this embodiment, when the moving platform 110 moves to a preset equilibrium position, the repulsive force of the magnetic spring module 130 has essentially counteracted the gravity of the load device. At this time, the control module 160 applies an excitation signal to the electromagnetic coil 142, thereby applying a small-amplitude excitation electromagnetic force of a specific form to the moving platform 110. F A ( t =Asin( 2πft ), where A represents a very small constant amplitude, f Indicates time t As the frequency gradually increases, the moving platform 110 will undergo a tiny sinusoidal motion.

[0069] S620: Obtain the displacement response of the moving platform and the resonant current information of the electromagnetic coil.

[0070] In this embodiment, while applying the excitation electromagnetic force, data is simultaneously collected by two sensors: a laser rangefinder sensor measures the displacement response of the moving platform 110. x ( t The current sensor of electromagnetic coil 142 measures the resonant current used to generate the excitation electromagnetic force. I(t) .

[0071] S630. Calculate the new load mass based on the displacement response resonant current information.

[0072] Because the effects of spring force and damping force are minimal in the low-frequency range, far below the resonant frequency, the dynamic equations are mainly affected by the mass term. F A = M ×a The displacement response of the low-frequency excitation segment was selected. x ( t and resonant current I(t) According to the displacement response x ( t The acceleration can be obtained by performing a second derivative and then directly calculated. a ( t Based on the known conversion factors K It can accurately calculate the actual applied excitation electromagnetic force. F A ( t )= K × I(t) Using formulas M ( t )= F A ( t ) / a ( t By performing multiple calculations and taking the average, the new load quality can be obtained. M e .

[0073] S640, adjust the load quality of the feedforward control, as well as the proportional gain, integral gain, and derivative gain of the PID control, according to the new load quality.

[0074] In this embodiment of the application, the new load quality M e Replace the load mass in the feedforward control calculation formula M The proportional gain, integral gain, and derivative gain of PID control are based on control theory. For example, if the mass increases, a larger control force is needed to produce the same acceleration, so they are usually increased proportionally. K p To maintain the device's responsiveness, fine-tuning may be necessary. K d This maintains the damping effect. After the load mass adaptive calibration is complete, the calibration mode is exited, and the system enters normal stable operating mode.

[0075] The load adaptive algorithm provided in this application identifies the dynamic parameters of the device through the excitation response, automatically estimates the new load quality, and adjusts the control gain in real time, so that the device can maintain optimal performance under different load devices, improving versatility and intelligence. It eliminates the need for manual parameter adjustment and ensures the consistency of device stability and control accuracy.

[0076] The gimbal stabilization control method based on magnetic springs provided in this application combines an electromagnetic active damping module with a feedforward feedback composite control algorithm. This effectively suppresses low-frequency large-amplitude jitter and high-frequency micro-vibrations in the vertical direction, significantly improving stabilization accuracy and dynamic response speed. The load adaptive algorithm automatically identifies the quality of the mounted camera and dynamically adjusts control parameters, achieving intelligent matching without manual intervention. This effectively balances image quality and stability, making it particularly suitable for high-performance handheld gimbals and action camera applications.

[0077] Example 3 Based on the same technical concept, this application provides a gimbal. Figure 4 This is a schematic diagram of the gimbal structure provided in the embodiments of this application, such as... Figure 4 As shown, the gimbal 300 includes at least the gimbal stabilization device 100 based on a magnetic spring as described in Embodiment 1.

[0078] The gimbal provided in this application embodiment can effectively suppress low-frequency large-amplitude jitter and high-frequency micro-vibration of the vertical mechanical axis, significantly improve vertical stability, and combine high precision, low noise and strong adaptability to enhance the smoothness of the captured image and achieve lightweight, high-performance stabilization.

[0079] It is understood that the implementation methods of the gimbal stabilization control method based on magnetic springs in the above embodiments are also applicable to the embodiments of this application and can achieve the same technical effect, so they will not be described again here.

[0080] Figure 5 This is a schematic diagram of the structure of a control module provided in an embodiment of this application, such as... Figure 5 As shown, the control module 160 may include a processor 161, a communication interface 162, a memory 163, and a communication bus 164. The processor 161, communication interface 162, and memory 163 communicate with each other via the communication bus 164. The processor 161 can call logical instructions in the memory 163 to execute the steps of the gimbal stabilization control method based on magnetic springs as described in the above embodiments. For example, this includes: S100: Obtain the acceleration information of the base and the displacement information of the moving platform; S200: Perform feedforward compensation based on acceleration information to generate the first control force; S300: Calculate the displacement error based on the displacement information, perform PID feedback control based on the displacement error, and generate a second control force. S400: Combine the first control force and the second control force to obtain the total control force; S500: Calculates the control current required by the electromagnetic coil based on the total control force, and outputs the corresponding control signal to the electromagnetic coil to generate the target electromagnetic force.

[0081] The processor 161 can be a central processing unit (CPU). The processor can also be other general-purpose processors, digital signal processors (DSPs), application-specific integrated circuits (ASICs), field-programmable gate arrays (FPGAs), or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, or combinations of the above types of chips.

[0082] Furthermore, the logical instructions in the aforementioned memory 163 can be implemented as software functional units and, when sold or used as independent products, can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of this application, in essence, or the part that contributes to the prior art, or a part of the technical solution, can be embodied in the form of a software product. This computer software product is stored in a storage medium and includes several instructions to cause a computer device (which may be a personal computer, server, or network device, etc.) to execute all or part of the steps of the methods described in the various embodiments of this application. The aforementioned storage medium includes various media capable of storing program code, such as USB flash drives, portable hard drives, read-only memory (ROM), random access memory (RAM), magnetic disks, or optical disks.

[0083] The memory 163 may include a program storage area and a data storage area. The program storage area may store the operating system and applications required for at least one function; the data storage area may store data created by the processor, etc. Furthermore, the memory may include high-speed random access memory and non-transitory memory, such as at least one disk storage device, flash memory device, or other non-transitory solid-state storage device. In some embodiments, the memory may optionally include memory remotely located relative to the processor, which can be connected to the processor via a network. Examples of such networks include, but are not limited to, the Internet, corporate intranets, local area networks, mobile communication networks, and combinations thereof.

[0084] Based on the same concept, embodiments of this application also provide a computer-readable storage medium storing a computer program containing at least one piece of code executable by a master control device to control the master control device to implement the steps of the gimbal stabilization control method based on magnetic springs as described in the above embodiments. For example, it includes: S100: Obtain the acceleration information of the base and the displacement information of the moving platform; S200: Perform feedforward compensation based on acceleration information to generate the first control force; S300: Calculate the displacement error based on the displacement information, perform PID feedback control based on the displacement error, and generate a second control force. S400: Combine the first control force and the second control force to obtain the total control force; S500: Calculates the control current required by the electromagnetic coil based on the total control force, and outputs the corresponding control signal to the electromagnetic coil to generate the target electromagnetic force.

[0085] Based on the same technical concept, this application also provides a computer program, which, when executed by a main control device, is used to implement the above-described method embodiments.

[0086] The computer program may be stored, in whole or in part, on a computer-readable storage medium packaged with the processor, or in part or in whole on a memory not packaged with the processor.

[0087] Based on the same technical concept, embodiments of this application also provide a processor for implementing the above-described method embodiments. The processor may be a chip.

[0088] In summary, the gimbal stabilization device, control method, and gimbal provided in this application significantly reduce the workload of the active control system by using a passive magnetic spring composed of permanent magnets to bear the load weight of the gimbal, thereby achieving lightweight and low-power operation. The non-contact design completely eliminates mechanical wear and friction noise, improving the reliability and service life of the device. Combining an electromagnetic active damping module with a feedforward feedback composite control algorithm, it can effectively suppress low-frequency large-amplitude jitter and high-frequency micro-vibrations in the vertical direction, significantly improving stability accuracy and dynamic response speed. The load adaptive algorithm can automatically identify the quality of the mounted camera and dynamically adjust the control parameters, achieving intelligent matching without manual intervention, effectively balancing image quality and stability, and is particularly suitable for high-performance handheld gimbals and action camera applications.

[0089] In this document, the term "embodiment" means that a particular feature, structure, or characteristic described in connection with an embodiment may be included in at least one embodiment of this application. The appearance of this phrase in various places throughout the specification does not necessarily refer to the same embodiment, nor is it a separate or alternative embodiment mutually exclusive with other embodiments. It will be explicitly and implicitly understood by those skilled in the art that the embodiments described herein can be combined with other embodiments.

[0090] The embodiments described above are merely examples of several implementation methods of this application, and while the descriptions are specific and detailed, they should not be construed as limiting the scope of this patent application. It should be noted that those skilled in the art can make various modifications and improvements without departing from the concept of this application, and these modifications and improvements all fall within the protection scope of this application.

[0091] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of this application, and are not intended to limit them. Although this application has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some of the technical features. Such modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the spirit and scope of the technical solutions of the embodiments of this application.

Claims

1. A gimbal stabilization device based on a magnetic spring, characterized in that, The gimbal stabilization device includes a moving platform, a base, a magnetic spring module, an electromagnetic active damping module, a sensing module, and a control module, wherein: The moving platform is used to install load equipment, and the moving platform is magnetically coupled to the base; The magnetic spring module is disposed between the moving platform and the base, and the magnetic spring module is used to provide support for the moving platform through the repulsive force between the permanent magnets; The electromagnetic active damping module includes a magnetic conductor and an electromagnetic coil. The magnetic conductor is disposed inside the moving platform, and the electromagnetic coil is disposed inside the base. The electromagnetic active damping module is used to apply a target electromagnetic force to suppress vertical shaking under the base. The sensing module is mounted on the base and is used to acquire the acceleration information of the base and the displacement information of the moving platform. The control module is connected to the sensing module. The control module is used to generate a control signal based on the acceleration information and the displacement information to drive the electromagnetic coil to generate the target electromagnetic force.

2. The gimbal stabilization device based on a magnetic spring according to claim 1, characterized in that, The magnetic spring module includes at least one moving permanent magnet and one base permanent magnet. The moving permanent magnet is disposed at the lower part of the moving platform, and the base permanent magnet is disposed at the top of the base. The moving permanent magnet and the base permanent magnet, with the same poles, generate a repulsive force when they face each other.

3. The gimbal stabilization device based on a magnetic spring according to claim 1, characterized in that, The sensing module includes an inertial measurement unit, a laser ranging unit, and a current sensor, wherein: The inertial measurement unit is used to measure the acceleration of the base in the vertical direction and obtain the acceleration information; The laser ranging unit is used to measure the real-time relative displacement between the moving platform and the base to obtain displacement information; The current sensor is used to measure the current in the electromagnetic coil and obtain current information.

4. A gimbal stabilization control method based on magnetic springs, characterized in that, The method is applied to the gimbal stabilization device based on a magnetic spring as described in any one of claims 1-3, and the method includes: Obtain the acceleration information of the base and the displacement information of the moving platform; Based on the acceleration information, feedforward compensation is performed to generate a first control force; Calculate the displacement error based on the displacement information, perform PID feedback control based on the displacement error, and generate a second control force. The first control force and the second control force are combined to obtain the total control force; The required control current for the electromagnetic coil is calculated based on the total control force, and a corresponding control signal is output to the electromagnetic coil to generate the target electromagnetic force.

5. The gimbal stabilization control method based on magnetic springs according to claim 4, characterized in that, The formula for calculating the first control force is as follows: In the above formula, F 1 represents the first control force. M This indicates the load quality of the aforementioned sub-platform. a This indicates the acceleration of the base in the vertical direction.

6. The gimbal stabilization control method based on magnetic springs according to claim 4, characterized in that, The formula for calculating the displacement error is as follows: In the above formula, Z e This indicates the displacement error. Z d This indicates the distance between the preset balance position and the base. This indicates the real-time relative displacement between the moving sub-platform and the base; The formula for calculating the second control force is as follows: In the above formula, F 2 represents the second control force. K p Indicates proportional gain. K i Indicates integral gain. K d Represents differential gain. t Indicates time.

7. The gimbal stabilization control method based on magnetic springs according to claim 4, characterized in that, The formula for calculating the control current is as follows: In the above formula, I C This refers to the control current. F T This refers to the total control force, which is the sum of the first control force and the second control force. B This represents the air gap magnetic flux density of the electromagnetic coil. L This indicates the effective conductor length of the electromagnetic coil. N This indicates the number of turns of the electromagnetic coil.

8. The gimbal stabilization control method based on magnetic springs according to claim 5, characterized in that, The method further includes: When the load quality of the moving sub-platform changes, the new load quality is adaptively calculated, and the control parameters are updated according to the new load quality.

9. The gimbal stabilization control method based on magnetic springs according to claim 8, characterized in that, The adaptive calculation of the load quality and the updating of control parameters based on the load quality include: When the moving platform moves to the preset equilibrium position, an excitation signal is applied to the electromagnetic coil to control the moving platform to perform a small sinusoidal motion; Obtain the displacement response of the moving platform and the resonant current information of the electromagnetic coil; The new load mass is calculated based on the displacement response and the resonant current information; The load quality of the feedforward control, as well as the proportional gain, integral gain, and derivative gain of the PID control, are adjusted based on the new load quality.

10. A gimbal, characterized in that, The gimbal includes the gimbal stabilization device based on a magnetic spring as described in any one of claims 1-3, wherein the control module includes a memory, a processor, and a computer program stored in the memory and executable on the processor, and the processor executes the computer program to implement the gimbal stabilization control method based on a magnetic spring as described in any one of claims 4-9.

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