Holder control method and device, electronic equipment and storage medium
By acquiring the actual load and joint angle of the gimbal, quantifying the joint disturbance angular velocity and compensating for it, the tracking accuracy and stability issues of the gimbal in complex motion environments are solved, and accurate target tracking in high dynamic scenarios is achieved.
Patent Information
- Authority / Receiving Office
- CN · China
- Patent Type
- Applications(China)
- Current Assignee / Owner
- REMO TECH CO LTD
- Filing Date
- 2026-03-02
- Publication Date
- 2026-04-17
AI Technical Summary
Existing gimbal control strategies suffer from low tracking accuracy and stability in complex motion environments, especially in highly dynamic application scenarios where tracking lag, slow response, or even target loss are common.
By acquiring the actual load angular velocity and joint angle of the gimbal load, the ideal joint angular velocity and the actual joint angular velocity are determined, the joint disturbance angular velocity is quantified, and the control angular velocity is compensated using a preset compensation mechanism to achieve feedforward control of the gimbal.
It improves the tracking accuracy and stability of the gimbal in complex motion environments, reduces tracking lag, and enhances response speed, making it suitable for tracking high-speed or high-acceleration targets.
Smart Images
Figure CN121879431A_ABST
Abstract
Description
Technical Field
[0001] This application relates to the field of gimbal control technology, and in particular to a gimbal control method, device, electronic device and storage medium. Background Technology
[0002] With the rapid development of industrial automation, the demand for efficient and accurate target tracking is increasing. Among them, the three-axis gimbal is the core component for realizing moving target tracking and image stabilization.
[0003] Current gimbal control strategies are based on linear or quasi-linear models. In these linear models, control commands are generated based on the position or velocity deviation between the target and the gimbal, and the gimbal is then controlled to track the target in real time based on these control commands.
[0004] However, in real-world high-dynamic application scenarios, when the gimbal mounting platform (such as a robotic arm or vehicle) undergoes violent movement, the movement of the platform injects energy into the gimbal joints, causing them to produce undesirable complex nonlinear dynamic responses, such as joint rotational friction and coaxial torsional resistance. This disrupts the linear model premise of the aforementioned control strategy. Furthermore, the control strategy requires the tracking error to be detected before compensation can begin. In scenarios involving tracking high-speed or high-acceleration targets, there are significant issues of tracking lag, slow response, and even target loss, severely limiting the tracking accuracy and stability of the gimbal in complex motion environments. Summary of the Invention
[0005] This application provides a gimbal control method, device, electronic device, and storage medium, which realizes the gimbal control function to solve the problem of low tracking accuracy and stability of gimbals in complex motion environments in the prior art.
[0006] In a first aspect, embodiments of this application provide a gimbal control method, the method comprising: acquiring the actual load angular velocity of the gimbal load at the current moment and the actual joint angle of the gimbal at the current moment; determining the ideal joint angular velocity of the gimbal at the current moment based on the actual load angular velocity and the actual joint angle; determining the actual joint angular velocity of the gimbal based on the actual joint angle; determining the joint disturbance angular velocity caused by the movement of the gimbal mounting carrier based on the ideal joint angular velocity and the actual joint angular velocity; compensating the current control angular velocity using the joint disturbance angular velocity according to a preset compensation mechanism to determine the target control angular velocity; and controlling the gimbal according to the target control angular velocity.
[0007] In this embodiment, the actual load angular velocity of the gimbal load and the actual joint angle of the gimbal at the current moment can be obtained. Then, the ideal joint angular velocity of the gimbal at the current moment is determined based on the actual load angular velocity and the actual joint angle. The ideal joint angular velocity is the joint angular velocity assuming the gimbal mounting carrier is stationary. The actual joint angular velocity of the gimbal is then determined based on the actual joint angle. Next, the joint disturbance angular velocity caused by the movement of the gimbal mounting carrier is determined based on the ideal and actual joint angular velocities. This quantifies the external interference intensity of the gimbal mounting carrier, providing accurate data for subsequent compensation. Then, the current control angular velocity is compensated using a preset compensation mechanism based on the joint disturbance angular velocity to determine the target control angular velocity. This allows for the compensation of the gimbal's movement caused by the gimbal's movement. The system effectively compensates for nonlinear disturbances such as friction and coaxial torque caused by the external motion of the loading body, thereby improving the accuracy of the target control angular velocity determination. Subsequently, the gimbal is controlled based on the target control angular velocity, which can make the target control angular velocity cancel out the external motion disturbance of the gimbal mounting carrier. Moreover, it does not require a linear model as a premise, and further realizes feedforward compensation of the gimbal based on external motion disturbance. It is especially suitable for tracking high-speed or high-acceleration targets, thus significantly reducing the tracking lag of the gimbal in high dynamic scenarios and improving the gimbal response speed. It effectively solves the problems of tracking lag, slow response, and even target loss in gimbal control strategies based on tracking error, thereby improving the tracking accuracy and stability of the gimbal in complex motion environments.
[0008] Secondly, embodiments of this application provide a gimbal control device, comprising: a first determining module, configured to acquire the actual load angular velocity of the gimbal load at the current moment and the actual joint angle of the gimbal at the current moment, determine the ideal joint angular velocity of the gimbal at the current moment based on the actual load angular velocity and the actual joint angle, and determine the actual joint angular velocity of the gimbal based on the actual joint angle; a second determining module, configured to determine the joint disturbance angular velocity caused by the movement of the gimbal mounting carrier based on the ideal joint angular velocity and the actual joint angular velocity; a compensation module, configured to compensate the current control angular velocity using the joint disturbance angular velocity according to a preset compensation mechanism to determine the target control angular velocity; and a control module, configured to control the gimbal according to the target control angular velocity.
[0009] Thirdly, embodiments of this application provide an electronic device, which includes: at least one processor; and a memory communicatively connected to the at least one processor; wherein the memory stores a computer program executable by the at least one processor, and the computer program is executed by the at least one processor to enable the at least one processor to execute the gimbal control method of any embodiment of this application.
[0010] Fourthly, embodiments of this application provide a computer-readable storage medium having a computer program stored thereon, which, when executed by a processor, implements the gimbal control method as described in any embodiment of this application.
[0011] The descriptions of the second, third, and fourth aspects in this application can be referenced to the detailed description of the first aspect; and the beneficial effects described in the second, third, and fourth aspects can be referenced to the analysis of the beneficial effects in the first aspect, which will not be repeated here.
[0012] In this application, the name of the aforementioned gimbal control device does not limit the device or functional module itself. In actual implementation, these devices or functional modules may appear under other names. As long as the function of each device or functional module is similar to that of this application, it falls within the scope of the claims of this application and its equivalents.
[0013] These or other aspects of this application will become more readily apparent in the following description. Attached Figure Description
[0014] To more clearly illustrate the technical solutions in the embodiments of this application, the accompanying drawings used in the description of the embodiments will be briefly introduced below. Obviously, the accompanying drawings described below are only some embodiments of this application. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.
[0015] Figure 1 This is a flowchart illustrating a gimbal control method provided in an embodiment of this application; Figure 2 This is another schematic flowchart of the gimbal control method provided in the embodiments of this application; Figure 3 This is a schematic diagram of the gimbal control device provided in an embodiment of this application; Figure 4 This is a schematic diagram of the structure of an electronic device provided in an embodiment of this application. Detailed Implementation
[0016] To make the objectives, technical solutions, and advantages of the embodiments of this application clearer, the technical solutions of the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of this application, and not all embodiments. Based on the embodiments of this application, all other embodiments obtained by those skilled in the art without creative effort should fall within the scope of protection of this application.
[0017] It should be noted that the terms "first," "second," "target," and "original," etc., used in the specification, claims, and accompanying drawings of this application are used to distinguish similar objects and are not necessarily used to describe a specific order or sequence. It should be understood that such data can be interchanged where appropriate so that the embodiments of this application described herein can be implemented in sequences other than those illustrated or described herein. Furthermore, the terms "comprising," "having," and any variations thereof are intended to cover a non-exclusive inclusion; for example, a process, method, system, product, or apparatus that comprises a series of steps or units is not necessarily limited to those steps or units explicitly listed, but may include other steps or units not explicitly listed or inherent to such processes, methods, products, or apparatus.
[0018] Figure 1 This is a flowchart illustrating a gimbal control method provided in this application. This embodiment can be applied to scenarios where the gimbal's joint angular velocity needs to be controlled when tracking a target in a complex motion environment. The gimbal control method provided in this embodiment can be executed by the gimbal control device provided in this application, which can be implemented through software and / or hardware. In a specific embodiment, the gimbal control device can be integrated into an electronic device, which is the gimbal's control device; for example, the electronic device can be a computer or similar device. The executing entity of this method can be an electronic device. See also... Figure 1 The gimbal control method in this embodiment includes, but is not limited to, the following steps: S110. Obtain the actual load angular velocity of the gimbal load at the current moment and the actual joint angle of the gimbal at the current moment. Determine the ideal joint angular velocity of the gimbal at the current moment based on the actual load angular velocity and the actual joint angle, and determine the actual joint angular velocity of the gimbal based on the actual joint angle.
[0019] Among them, the gimbal load is the object and its auxiliary components that are installed and fixed on the gimbal load end and driven by the gimbal to achieve attitude stabilization and target tracking. It is the service object of the gimbal. For example, the gimbal load includes a support arm and a camera lens.
[0020] The actual load angular velocity is the actual rotational speed of the gimbal load at the current moment, used to reflect the actual motion state of the gimbal load at the current moment. The actual load angular velocity here is only the load angular velocity under the action of the gimbal joint driving the gimbal load to rotate, and does not involve the external motion interference of the gimbal mounting carrier. That is, the external motion of the gimbal mounting carrier will only affect the motion of the gimbal joint, and then the gimbal joint will drive the gimbal load to move together. In other words, the gimbal and the gimbal load move together.
[0021] The gimbal mounting carrier is the mounting carrier of the gimbal, i.e., the gimbal base. In the embodiments of this application, the gimbal mounting carrier can be a static object or a dynamic object, such as a robotic arm and a vehicle.
[0022] The actual joint angle is the actual rotation angle of the gimbal joint relative to the gimbal mounting carrier at the current moment. The actual joint angle at this time is the joint angle under the combined action of the gimbal motor driving the gimbal joint rotation and the external motion of the gimbal mounting carrier driving the gimbal joint rotation.
[0023] The ideal joint angular velocity is the joint angular velocity assuming that the gimbal mounting carrier is stationary at the current moment.
[0024] The actual joint angular velocity is the actual rotational speed of the gimbal joint relative to the gimbal mounting carrier at the current moment. The actual joint angular velocity at this time is the joint angular velocity under the combined action of the gimbal motor driving the gimbal joint rotation and the external motion of the gimbal mounting carrier driving the gimbal joint rotation.
[0025] It should be noted that the angular velocity involved in the embodiments of this application is a vector, including the velocity magnitude and the direction of rotation.
[0026] Specifically, the actual load angular velocity of the gimbal load at the current moment can be obtained, that is, the actual load angular velocity can be obtained by measuring the angular velocity of the gimbal load at the current moment using a gyroscope installed on the gimbal load; at the same time, the actual joint angle of the gimbal at the current moment can be obtained, that is, the actual joint angle can be obtained by measuring the joint angle of the gimbal at the current moment using a magnetic encoder installed on the gimbal joint.
[0027] Then, the ideal joint angular velocity of the gimbal at the current moment can be determined based on the actual load angular velocity and the actual joint angle. For example, the corresponding ideal joint angular velocity can be obtained by querying the first preset mapping relationship based on the actual load angular velocity and the actual joint angle. The first preset mapping relationship is a correspondence obtained in advance through experimental calibration, including the correspondence between the actual load angular velocity, the actual joint angle and the ideal joint angular velocity.
[0028] Then, the actual joint angular velocity of the gimbal can be determined based on the actual joint angle. For example, the corresponding actual joint angular velocity can be obtained by querying the second preset mapping relationship based on the actual joint angle. The second preset mapping relationship is a correspondence obtained in advance through experimental calibration, including the correspondence between the actual joint angle and the actual joint angular velocity.
[0029] S120. Determine the joint disturbance angular velocity caused by the motion of the gimbal mounting carrier based on the ideal joint angular velocity and the actual joint angular velocity.
[0030] Among them, the joint disturbance angular velocity is the disturbance angular velocity of the gimbal joint caused by the external movement of the gimbal mounting carrier. It quantifies the amount of joint movement lag or advance caused by nonlinear interference factors such as friction and coaxial torque, and is used to sense the intensity of external disturbance. The larger the value of the joint disturbance angular velocity, the stronger the external disturbance.
[0031] Specifically, in an ideal, interference-free state, i.e., when the gimbal mounting carrier is stationary, the actual joint angular velocity equals the ideal joint angular velocity. However, when the gimbal mounting carrier experiences external motion, this external motion generates additional dynamic coupling effects on the gimbal joints. In this case, the actual joint angular velocity is the joint angular velocity resulting from the interference caused by the gimbal mounting carrier, leading to a deviation between the actual and ideal joint angular angular velocities. This deviation is the joint disturbance angular velocity caused by the external motion of the gimbal mounting carrier. Therefore, after obtaining the ideal and actual joint angular velocities, the difference between them can be calculated to obtain the joint disturbance angular velocity caused by the motion of the gimbal mounting carrier.
[0032] S130. The current control angular velocity is compensated by the joint disturbance angular velocity according to the preset compensation mechanism in order to determine the target control angular velocity.
[0033] The preset compensation mechanism is a pre-defined compensation rule associated with the joint disturbance angular velocity.
[0034] The current control angular velocity is the user-preset expected angular velocity of the gimbal joint at the current moment, i.e., the desired joint angular velocity at the current moment. This current control angular velocity does not consider the joint disturbance angular velocity caused by the external movement of the gimbal mounting carrier. The target control angular velocity is the corrected joint angular velocity obtained after compensating for the current control angular velocity. This target control angular velocity incorporates the joint disturbance angular velocity caused by the external movement of the gimbal mounting carrier, and its purpose is to counteract the interference caused by the external movement of the gimbal mounting carrier.
[0035] Specifically, after obtaining the joint disturbance angular velocity, the user-preset current control angular velocity can be acquired, and the current control angular velocity can be compensated using the joint disturbance angular velocity according to a preset compensation mechanism to determine the target control angular velocity. For example, the compensation coefficient corresponding to the joint disturbance angular velocity can be obtained by querying a third preset mapping relationship based on the joint disturbance angular velocity. The third preset mapping relationship is a correspondence obtained in advance through experimental calibration, including the correspondence between the joint disturbance angular velocity and the compensation coefficient. The compensation coefficient is used to correct the dynamic gain of the current control angular velocity, reflecting the actual amplification factor of the joint disturbance angular velocity under the current disturbance intensity. Then, the current control angular velocity is compensated using the compensation coefficient and the joint disturbance angular velocity to obtain the target control angular velocity.
[0036] S140. Control the gimbal according to the target control angular velocity.
[0037] Specifically, after obtaining the target control angular velocity, it can be converted into torque to obtain the target torque. This target torque is the torque required to drive the gimbal joints to achieve the target control angular velocity via the gimbal motors. That is, a pre-established rotational dynamics model for the gimbal joints can be obtained, and the target control angular velocity can be converted into target torque based on this model. Then, a target control command is generated based on the target torque and applied to the gimbal motors. The gimbal motors are controlled based on the target torque in the target control command, which in turn drives the gimbal joints to rotate. This eliminates interference torque caused by the external movement of the gimbal mounting platform, thereby reducing tracking lag in high-dynamic scenarios and improving tracking accuracy and stability in complex motion environments. The target control command is the control instruction applied to the gimbal motors, used to control the gimbal motors and drive the gimbal joints to perform specific movements for continuous target tracking.
[0038] The technical solution of this application embodiment can obtain the actual load angular velocity of the gimbal load and the actual joint angle of the gimbal at the current moment. Then, based on the actual load angular velocity and the actual joint angle, the ideal joint angular velocity of the gimbal at the current moment is determined. The ideal joint angular velocity is the joint angular velocity assuming the gimbal mounting carrier is stationary. The actual joint angular velocity of the gimbal is then determined based on the actual joint angle. Next, based on the ideal and actual joint angular angular velocities, the joint disturbance angular velocity caused by the movement of the gimbal mounting carrier is determined. This quantifies the external interference intensity of the gimbal mounting carrier, providing accurate data for subsequent compensation. Then, the joint disturbance angular velocity is used to compensate the current control angular velocity according to a preset compensation mechanism to determine the target control angular velocity. This allows for the assessment of the gimbal's movement caused by the gimbal's movement. The system effectively compensates for nonlinear disturbances such as friction and coaxial torque caused by the external movement of the mounting carrier, thereby improving the accuracy of target control angular velocity determination. Subsequently, the gimbal is controlled based on the target control angular velocity, which allows the target control angular velocity to cancel out the external motion disturbances of the gimbal mounting carrier without requiring a linear model. This further realizes feedforward compensation of the gimbal based on external motion disturbances, which is particularly suitable for tracking high-speed or high-acceleration targets. This significantly reduces the tracking lag of the gimbal in high-dynamic scenarios and improves the gimbal's response speed. It effectively solves the problems of tracking lag, slow response, and even target loss in gimbal control strategies based on tracking errors, thereby improving the tracking accuracy and stability of the gimbal in complex motion environments.
[0039] The following further describes a gimbal control method provided by an embodiment of this application. Figure 2 This is another schematic flowchart of the gimbal control method provided in this application. This application's embodiment is an optimization based on the above embodiments. See also... Figure 2 The method in this embodiment includes, but is not limited to, the following steps: S210. Obtain the actual load angular velocity of the gimbal load at the current moment and the actual joint angle of the gimbal at the current moment.
[0040] Specifically, the actual load angular velocity can be obtained by measuring the angular velocity of the gimbal load at the current moment using a gyroscope installed on the gimbal load, and the actual joint angle can be obtained by measuring the joint angle of the gimbal at the current moment using a magnetic encoder installed on the gimbal joint.
[0041] S220. Determine the rotation matrix from the load coordinate system to the gimbal coordinate system based on the actual joint angle, and determine the ideal joint angular velocity of the gimbal at the current moment based on the rotation matrix and the actual load angular velocity.
[0042] The load coordinate system is a coordinate system fixed to the gimbal load. In this embodiment, the load coordinate system is the coordinate system of the gyroscope installed on the gimbal load. The origin is the center point of the gimbal load (such as the center point of the camera lens), the horizontal forward direction (i.e. the working direction) of the gimbal load is the positive direction of the horizontal axis, the horizontal leftward direction of the gimbal load is the positive direction of the vertical axis, and the vertical upward direction of the gimbal load is the positive direction of the vertical axis.
[0043] Optionally, the actual load angular velocity includes the angular velocities of the gimbal load on the three axes of the load coordinate system, namely the actual horizontal axis load angular velocity, the actual vertical axis load angular velocity, and the actual vertical axis load angular velocity.
[0044] The gimbal coordinate system is a coordinate system fixed to the gimbal joint, with the center point of the gimbal as the origin, and the directions of the three coordinate axes of the gimbal coordinate system are the same as the directions of the three coordinate axes of the load coordinate system.
[0045] Optionally, the actual joint angles include the actual angles of the gimbal joints along the three axes of the gimbal coordinate system, namely the actual horizontal joint angle, the actual vertical joint angle, and the actual vertical joint angle. The ideal joint angular velocity includes the ideal angular velocities of the gimbal joints along the three axes of the gimbal coordinate system, namely the ideal horizontal joint angular velocity, the ideal vertical joint angular velocity, and the ideal vertical joint angular velocity.
[0046] The rotation matrix is used to describe the attitude mapping relationship between the load coordinate system and the gimbal coordinate system, and is used to achieve linear transformation of the same vector in different coordinate systems.
[0047] Specifically, after obtaining the actual load angular velocity and actual joint angles, the rotation matrix from the load coordinate system to the gimbal coordinate system can be determined based on the actual joint angles. That is, by substituting the pitch angle (i.e., the actual longitudinal axis joint angle) and roll angle (i.e., the actual lateral axis joint angle) from the actual joint angles into the rotation matrix formula, the rotation matrix from the load coordinate system to the gimbal coordinate system can be obtained. Specifically, if the roll angle (i.e., the actual lateral axis joint angle) is known to be α and the pitch angle (i.e., the actual longitudinal axis joint angle) is known to be β, then the rotation matrix... for: Where b represents the load coordinate system and j represents the gimbal coordinate system.
[0048] Then, based on the rotation matrix and the actual load angular velocity, the ideal joint angular velocity of the gimbal at the current moment is determined. That is, the product of the rotation matrix and the actual horizontal axis load angular velocity is calculated to obtain the ideal horizontal axis joint angular velocity of the gimbal at the current moment; the product of the rotation matrix and the actual vertical axis load angular velocity is calculated to obtain the ideal vertical axis joint angular velocity of the gimbal at the current moment; and the product of the rotation matrix and the actual vertical axis load angular velocity is calculated to obtain the ideal vertical axis joint angular velocity of the gimbal at the current moment. Thus, the ideal joint angular velocity of the gimbal at the current moment is obtained.
[0049] S230. Differentiate the actual joint angle to obtain the actual joint angular velocity of the gimbal at the current moment.
[0050] The actual joint angular velocity includes the actual angular velocities of the gimbal joints on the three coordinate axes of the gimbal coordinate system, namely the actual horizontal axis joint angular velocity, the actual vertical axis joint angular velocity, and the actual vertical axis joint angular velocity.
[0051] Specifically, the actual joint angles can be differentiated to obtain the actual joint angular velocity of the gimbal at the current moment. That is, the joint angles of the gimbal joints on each coordinate axis can be differentiated to obtain the joint angular velocities of the gimbal joints on the corresponding coordinate axes, namely the actual horizontal axis joint angular velocity, the actual vertical axis joint angular velocity, and the actual vertical axis joint angular velocity. This allows for the automatic determination of the actual joint angular velocity based on the actual joint angles, improving computational efficiency and reducing implementation complexity. Consequently, it improves the efficiency and accuracy of determining the actual joint angular velocity, providing an accurate data foundation for subsequent determination of joint disturbance angular velocities.
[0052] S240. Determine the joint disturbance angular velocity caused by the motion of the gimbal mounting carrier based on the ideal joint angular velocity and the actual joint angular velocity.
[0053] Specifically, the difference between the ideal joint angular velocity and the actual joint angular velocity is calculated to obtain the joint disturbance angular velocity caused by the movement of the gimbal mounting carrier.
[0054] S250, Determine the compensation coefficient based on the joint disturbance angular velocity.
[0055] Specifically, to avoid introducing noise when the mounting carrier of the gimbal is stationary or undergoing slight movements, the magnitude of the joint disturbance angular velocity can be calculated, and based on this magnitude, it can be determined whether compensation for the current control angular velocity is needed. A preset compensation threshold is a pre-defined critical value at which compensation for the current control angular velocity is required; if the magnitude of the joint disturbance angular velocity exceeds the preset compensation threshold, compensation is performed on the current control angular velocity; otherwise, no compensation is performed.
[0056] When the magnitude of the joint disturbance angular velocity exceeds the preset compensation threshold, it indicates that the motion amplitude of the gimbal mounting carrier is large. At this time, it is necessary to compensate for the current control angular velocity. That is, calculate the sum of the square of the joint disturbance angular velocity and the preset saturation curve parameter, and calculate the ratio of the square of the joint disturbance angular velocity to the sum to obtain the saturation adjustment factor. Then, calculate the product of the preset overall compensation gain and the saturation adjustment factor to obtain the compensation coefficient. The compensation coefficient can be adaptively determined based on the joint disturbance angular velocity using a saturation function-like model. This ensures smooth activation under small disturbances and stable output under large disturbances, avoiding overcompensation. This further achieves the control objective of accurate compensation for small disturbances and safe constraint under large disturbances.
[0057] The preset overall compensation gain is a pre-determined overall compensation gain through sampling and fitting, used to characterize the maximum allowable value of the compensation coefficient, limit the maximum compensation intensity, and avoid overcompensation; for example, the preset overall compensation gain can be 0.15.
[0058] The preset saturation curve parameters are saturation curve parameters determined in advance through sampling and fitting. They are used to control the speed at which the compensation coefficient approaches saturation (i.e., approaches the preset overall compensation gain). When the preset saturation curve parameters are larger, a larger joint disturbance angular velocity is required for the compensation coefficient to approach saturation, and the compensation growth rate is more gradual. This is suitable for scenarios where small disturbances require fine adjustment and large disturbances require slow saturation. When the preset saturation curve parameters are smaller, the compensation coefficient approaches the preset overall compensation gain faster. This is suitable for scenarios with high disturbance response requirements and the need for rapid compensation of large disturbances. For example, the preset saturation curve parameters can be 3000.
[0059] The saturation adjustment factor is a nonlinear coefficient used to map the joint disturbance angular velocity to the interval [0,1]. It is used to quantify the compensation ratio corresponding to the joint disturbance angular velocity and achieve soft saturation. The closer the saturation adjustment factor is to 0, the smaller the compensation ratio is; the closer the saturation adjustment factor is to 1, the larger the compensation ratio is.
[0060] Optionally, the preset saturation curve parameters are within a first set value range, and the preset overall compensation gain is within a second set value range. The preset overall compensation gain is the maximum value of the compensation coefficient, which prevents unconstrained growth of the compensation amount due to excessive disturbance, ensuring stability. The first set value range is the range of values for the pre-sampled and fitted saturation curve parameters, for example, [2000, 3000]. The second set value range is the range of values for the pre-sampled and fitted overall compensation gain, for example, [0.1, 0.2]. By limiting the value ranges of the preset saturation curve parameters and the preset overall compensation gain, insufficient and over-compensation can be prevented, and a soft transition of the saturation characteristics can be guaranteed, thereby ensuring the stability of target tracking.
[0061] When the modulus of the joint disturbance angular velocity is less than or equal to the preset compensation threshold, it indicates that the gimbal mounting carrier is stationary or has a small range of motion. At this time, there is no need to compensate for the current control angular velocity, and the compensation coefficient can be determined as the preset compensation coefficient. The preset compensation coefficient here is a pre-set compensation coefficient, such as 0, which can avoid introducing noise when the gimbal mounting carrier is stationary or slightly moving.
[0062] S260. Based on the compensation coefficient and joint disturbance angular velocity, compensate the current control angular velocity to determine the target control angular velocity.
[0063] Specifically, the product of the compensation coefficient and the joint disturbance angular velocity can be calculated to obtain the joint compensation angular velocity. Then, the difference between the current control angular velocity and the joint compensation angular velocity can be calculated to obtain the target control angular velocity. Through the negative logic (i.e., the subtraction logic when calculating the difference between the current control angular velocity and the joint compensation angular velocity), the disturbance torque can be canceled in advance, which can improve the calculation efficiency, reduce the implementation complexity, and thus improve the accuracy and efficiency of determining the target control angular velocity. This can effectively compensate for nonlinear interferences such as friction and cable torque caused by external motion.
[0064] S270, Control the gimbal according to the target control angular velocity.
[0065] Specifically, after obtaining the target control angular velocity, a pre-established rotational dynamics model for the gimbal joint can be acquired. Based on this model, the target control angular velocity is converted into a target torque. Then, a target control command is generated based on the target torque and applied to the gimbal motor. The gimbal motor is controlled based on the target torque in the control command, thereby driving the gimbal joint to rotate. This eliminates interference torque caused by the external movement of the gimbal mounting platform, reducing tracking lag in high-dynamic scenarios and improving tracking accuracy and stability in complex motion environments. In one embodiment, a target control command can be generated based on the target control angular velocity, and the gimbal can be controlled according to this command.
[0066] The technical solution of this application embodiment can obtain the actual load angular velocity of the gimbal load and the actual joint angle of the gimbal at the current moment. Then, based on the actual joint angle, it determines the rotation matrix from the load coordinate system to the gimbal coordinate system. Based on the rotation matrix and the actual load angular velocity, it determines the ideal joint angular velocity of the gimbal at the current moment, where the ideal joint angular velocity is the joint angular velocity assuming the gimbal mounting carrier is stationary. Next, it performs differential processing on the actual joint angle to obtain the actual joint angular velocity of the gimbal at the current moment. This enables the automatic determination of the actual joint angular velocity based on the actual joint angle, thereby improving the efficiency and accuracy of the determination. Furthermore, based on the ideal and actual joint angular angular velocities, it determines the joint disturbance angular velocity caused by the motion of the gimbal mounting carrier, which can quantify the external interference intensity of the gimbal mounting carrier, providing accurate data for subsequent compensation. Then, it determines the compensation coefficient based on the joint disturbance angular velocity, and compensates the current control angular velocity based on the compensation coefficient and the joint disturbance angular velocity to determine the target control. The control angular velocity can be adaptively adjusted using a saturated function model, which effectively compensates for significant external disturbances and automatically exits when external disturbances are small, avoiding the introduction of low-frequency jitter and overcompensation. Furthermore, it effectively compensates for nonlinear disturbances such as friction and coaxial torque caused by the external motion of the gimbal mounting carrier, improving the accuracy and efficiency of target control angular velocity determination, thereby enhancing target tracking stability. Subsequently, controlling the gimbal based on the target control angular velocity allows the target control angular velocity to cancel out external motion disturbances from the gimbal mounting carrier, without requiring a linear model. This further realizes feedforward compensation of the gimbal based on external motion disturbances, particularly suitable for tracking high-speed or high-acceleration targets. This significantly reduces tracking lag in high-dynamic scenarios, improves gimbal response speed, and effectively solves the problems of tracking lag, slow response, and even target loss inherent in gimbal control strategies based on tracking errors, thus improving the tracking accuracy and stability of the gimbal in complex motion environments.
[0067] Figure 3 This is a schematic diagram of the gimbal control device provided in an embodiment of this application, referring to... Figure 3 The gimbal control device may include: The first determining module 310 is used to obtain the actual load angular velocity of the gimbal load at the current moment and the actual joint angle of the gimbal at the current moment, determine the ideal joint angular velocity of the gimbal at the current moment based on the actual load angular velocity and the actual joint angle, and determine the actual joint angular velocity of the gimbal based on the actual joint angle. The second determining module 320 is used to determine the joint disturbance angular velocity caused by the movement of the gimbal mounting carrier based on the ideal joint angular velocity and the actual joint angular velocity. The compensation module 330 is used to compensate the current control angular velocity using the joint disturbance angular velocity according to a preset compensation mechanism, so as to determine the target control angular velocity; The control module 340 is used to control the gimbal according to the target control angular velocity.
[0068] In one embodiment, the first determining module 310 determines the ideal joint angular velocity of the gimbal at the current moment based on the actual load angular velocity and the actual joint angle, including: determining the rotation matrix from the load coordinate system to the gimbal coordinate system based on the actual joint angle, and determining the ideal joint angular velocity of the gimbal at the current moment based on the rotation matrix and the actual load angular velocity.
[0069] In one embodiment, the compensation module 330 is specifically used to: determine the compensation coefficient based on the joint disturbance angular velocity; and compensate the current control angular velocity based on the compensation coefficient and the joint disturbance angular velocity to determine the target control angular velocity.
[0070] In one embodiment, the compensation module 330 determines the compensation coefficient based on the joint disturbance angular velocity, including: when the magnitude of the joint disturbance angular velocity is greater than a preset compensation threshold, calculating the sum of the square of the joint disturbance angular velocity and the preset saturation curve parameters, and calculating the ratio of the square of the joint disturbance angular velocity to the sum to obtain a saturation adjustment factor; and calculating the product of the preset overall compensation gain and the saturation adjustment factor to obtain the compensation coefficient.
[0071] In one embodiment, the compensation module 330 determines the compensation coefficient based on the joint disturbance angular velocity, including: when the magnitude of the joint disturbance angular velocity is less than or equal to a preset compensation threshold, determining the compensation coefficient as the preset compensation coefficient.
[0072] In one embodiment, the compensation module 330 compensates the current control angular velocity based on the compensation coefficient and the joint disturbance angular velocity to determine the target control angular velocity, including: calculating the product of the compensation coefficient and the joint disturbance angular velocity to obtain the joint compensation angular velocity; and calculating the difference between the current control angular velocity and the joint compensation angular velocity to obtain the target control angular velocity.
[0073] In one embodiment, the first determining module 310 determines the actual joint angular velocity of the gimbal based on the actual joint angle, including: performing differential processing on the actual joint angle to obtain the actual joint angular velocity of the gimbal at the current moment.
[0074] In one embodiment, the preset saturation curve parameter in the compensation module 330 is within a first set value range, the preset overall compensation gain is within a second set value range, and the preset overall compensation gain is the maximum value of the compensation coefficient.
[0075] Those skilled in the art will clearly understand that, for the sake of convenience and brevity, the above-described division of functional modules is merely an example. In practical applications, the above functions can be assigned to different functional modules as needed, that is, the internal structure of the device can be divided into different functional modules to complete all or part of the functions described above. The specific working process of the functional modules described above can be referred to the corresponding process in the foregoing method embodiments, and will not be repeated here.
[0076] The apparatus of this application embodiment can acquire the actual load angular velocity of the gimbal load and the actual joint angle of the gimbal at the current moment. Then, it determines the ideal joint angular velocity of the gimbal at the current moment based on the actual load angular velocity and the actual joint angle. The ideal joint angular velocity is the joint angular velocity assuming the gimbal mounting carrier is stationary. The actual joint angular velocity of the gimbal is then determined based on the actual joint angle. Next, based on the ideal and actual joint angular angular velocities, the joint disturbance angular velocity caused by the movement of the gimbal mounting carrier is determined. This quantifies the external interference intensity of the gimbal mounting carrier, providing accurate data for subsequent compensation. Then, the current control angular velocity is compensated using a preset compensation mechanism based on the joint disturbance angular velocity to determine the target control angular velocity. This allows for the compensation of the gimbal's angular velocity due to external interference. This effectively compensates for nonlinear disturbances such as friction and coaxial torque caused by the external movement of the mounting carrier, thereby improving the accuracy of target control angular velocity determination. Subsequently, the gimbal is controlled based on the target control angular velocity, which can cancel out the external motion disturbances of the gimbal mounting carrier without requiring a linear model. This further realizes feedforward compensation of the gimbal based on external motion disturbances, which is particularly suitable for tracking high-speed or high-acceleration targets. This significantly reduces the tracking lag of the gimbal in high-dynamic scenarios and improves the gimbal's response speed. It effectively solves the problems of tracking lag, slow response, and even target loss in gimbal control strategies based on tracking errors, thereby improving the tracking accuracy and stability of the gimbal in complex motion environments.
[0077] Figure 4 This is a schematic diagram of the structure of an electronic device provided in an embodiment of this application. Figure 4 A block diagram is shown of an exemplary electronic device 11 suitable for implementing embodiments of the present application. Figure 4 The electronic device 11 shown is merely an example and should not impose any limitations on the functionality and scope of use of this embodiment.
[0078] like Figure 4 As shown, the electronic device 11 is represented in the form of a general-purpose computing electronic device. The components of the electronic device 11 may include, but are not limited to: one or more processors or processing units 16, system memory 28, and bus 18 connecting different system components (including system memory 28 and processing unit 16).
[0079] Bus 18 represents one or more of several bus architectures, including a memory bus or memory controller, a peripheral bus, a graphics acceleration port, a processor, or a local bus using any of the various bus architectures. Examples of these architectures include, but are not limited to, industry-standard architecture buses, microchannel architecture buses, enhanced industry-standard architecture buses, Video Electronics Standards Association (VESA) local buses, and peripheral component interconnect buses.
[0080] Electronic device 11 typically includes a variety of computer system readable media. These media can be any available media that can be accessed by electronic device 11, including volatile and non-volatile media, removable and non-removable media.
[0081] System memory 28 may include computer system readable media in the form of volatile memory, such as random access memory 30 and / or cache memory 32. Electronic device 11 may further include other removable / non-removable, volatile / non-volatile computer system storage media. By way of example only, storage system 34 may be used to read and write non-removable, non-volatile magnetic media ( Figure 4 Not shown; usually referred to as a "hard drive"). Although Figure 4 As not shown, a disk drive for reading and writing to a removable non-volatile disk (e.g., a "floppy disk") and an optical disk drive for reading and writing to a removable non-volatile optical disk may be provided. In these cases, each drive may be connected to bus 18 via one or more data media interfaces. System memory 28 may include at least one program product having a set (e.g., at least one) of program modules configured to perform the functions of the embodiments of this application.
[0082] A program / utility 40 having a set (at least one) of program modules 42 may be stored, for example, in system memory 28. Such program modules 42 include, but are not limited to, an operating system, one or more application programs, other program modules, and program data. Each or some combination of these examples may include an implementation of a network environment. Program modules 42 typically perform the functions and / or methods described in the embodiments of this application.
[0083] Electronic device 11 can also communicate with one or more external devices 14 (e.g., keyboard, pointing device, display 24, etc.), and with one or more devices that enable a user to interact with electronic device 11, and / or with any device that enables electronic device 11 to communicate with one or more other computing devices (e.g., network interface card and modem, etc.). Such communication can be performed through input / output interface 22. Furthermore, electronic device 11 can also communicate with one or more networks (e.g., local area network, wide area network, and / or public network) through network adapter 20.
[0084] like Figure 4 As shown, network adapter 20 communicates with other modules of electronic device 11 via bus 18. It should be understood that, although... Figure 4 As not shown, other hardware and / or software modules may be used in conjunction with electronic device 11, including but not limited to: microcode, device drivers, redundant processing units, external disk drive arrays, tape drives, and data backup storage systems.
[0085] The processing unit 16 executes various functional applications and page displays by running programs stored in the system memory 28. For example, it implements a gimbal control method provided in this application embodiment. The method includes: obtaining the actual load angular velocity of the gimbal load and the actual joint angle of the gimbal at the current moment; determining the ideal joint angular velocity of the gimbal at the current moment based on the actual load angular velocity and the actual joint angle; determining the actual joint angular velocity of the gimbal based on the actual joint angle; determining the joint disturbance angular velocity caused by the movement of the gimbal mounting carrier based on the ideal joint angular velocity and the actual joint angular velocity; compensating the current control angular velocity using the joint disturbance angular velocity according to a preset compensation mechanism to determine the target control angular velocity; and controlling the gimbal according to the target control angular velocity.
[0086] Of course, those skilled in the art will understand that the processor can also implement the technical solutions of the gimbal control method provided in any embodiment of this application.
[0087] This application provides a computer-readable storage medium storing a computer program that, when executed by a processor, implements a gimbal control method, such as the one provided in this application. The method includes: acquiring the actual load angular velocity of the gimbal load and the actual joint angle of the gimbal at the current moment; determining the ideal joint angular velocity of the gimbal at the current moment based on the actual load angular velocity and the actual joint angle; determining the actual joint angular velocity of the gimbal based on the actual joint angle; determining the joint disturbance angular velocity caused by the movement of the gimbal mounting carrier based on the ideal joint angular velocity and the actual joint angular velocity; compensating the current control angular velocity using the joint disturbance angular velocity according to a preset compensation mechanism to determine a target control angular velocity; and controlling the gimbal according to the target control angular velocity.
[0088] The computer storage medium of this embodiment can be any combination of one or more computer-readable media. The computer-readable medium can be a computer-readable signal medium or a computer-readable storage medium. For example, a computer-readable storage medium can be, but is not limited to, an electrical, magnetic, optical, electromagnetic, infrared, or semiconductor system, apparatus, or device, or any combination thereof. More specific examples of computer-readable storage media (a non-exhaustive list) include: an electrical connection having one or more wires, a portable computer disk, a hard disk, a random access memory, a read-only memory, an erasable programmable read-only memory, an optical fiber, a portable compact disk read-only memory, an optical storage device, a magnetic storage device, or any suitable combination thereof. In this document, a computer-readable storage medium can be any tangible medium containing or storing a program that can be used by or in conjunction with an instruction execution system, apparatus, or device.
[0089] Computer-readable signal media may include data signals propagated in baseband or as part of a carrier wave, carrying computer-readable program code. Such propagated data signals may take various forms, including but not limited to electromagnetic signals, optical signals, or any suitable combination thereof. Computer-readable signal media may also be any computer-readable medium other than computer-readable storage media, capable of sending, propagating, or transmitting programs for use by or in connection with an instruction execution system, apparatus, or device.
[0090] Program code contained on a computer-readable medium may be transmitted using any suitable medium, including but not limited to: wireless, wire, optical fiber, radio frequency, etc., or any suitable combination thereof.
[0091] Computer program code for performing the operations of this application can be written in one or more programming languages or a combination thereof. Programming languages include object-oriented programming languages as well as conventional procedural programming languages. The program code can be executed entirely on the user's computer, partially on the user's computer, as a standalone software package, partially on the user's computer and partially on a remote computer, or entirely on a remote computer or server. In cases involving remote computers, the remote computer can be connected to the user's computer via any type of network, including a local area network (LAN) or a wide area network (WAN), or it can be connected to an external computer (e.g., via the Internet using an Internet service provider).
[0092] Those skilled in the art will understand that the modules or steps described above in this application can be implemented using general-purpose computing devices. They can be centralized on a single computing device or distributed across a network of multiple computing devices. Optionally, they can be implemented using computer-executable program code, which can then be stored in a storage device for execution by a computing device. Alternatively, they can be fabricated as separate integrated circuit modules, or multiple modules or steps can be fabricated as a single integrated circuit module. Thus, this application is not limited to any particular combination of hardware and software.
[0093] Note that the above are merely preferred embodiments and the technical principles employed in this application. Those skilled in the art will understand that this application is not limited to the specific embodiments described herein, and various obvious changes, readjustments, and substitutions can be made without departing from the scope of protection of this application. Therefore, although this application has been described in detail through the above embodiments, this application is not limited to the above embodiments. Many other equivalent embodiments may be included without departing from the inventive concept of this application, and the scope of this application is determined by the scope of the appended claims.
Claims
1. A gimbal control method, characterized in that, The method includes: Obtain the actual load angular velocity of the gimbal load at the current moment and the actual joint angle of the gimbal at the current moment. Determine the ideal joint angular velocity of the gimbal at the current moment based on the actual load angular velocity and the actual joint angle, and determine the actual joint angular velocity of the gimbal based on the actual joint angle. The joint disturbance angular velocity caused by the movement of the gimbal mounting carrier is determined based on the ideal joint angular velocity and the actual joint angular velocity. The current control angular velocity is compensated using the joint disturbance angular velocity according to a preset compensation mechanism in order to determine the target control angular velocity; The gimbal is controlled according to the target control angular velocity.
2. The gimbal control method of claim 1, wherein, The step of determining the ideal joint angular velocity of the gimbal at the current moment based on the actual load angular velocity and the actual joint angle includes: determining the rotation matrix from the load coordinate system to the gimbal coordinate system based on the actual joint angle, and determining the ideal joint angular velocity of the gimbal at the current moment based on the rotation matrix and the actual load angular velocity.
3. The gimbal control method of claim 1, wherein, The step of compensating the current control angular velocity using the joint disturbance angular velocity according to a preset compensation mechanism to determine the target control angular velocity includes: The compensation coefficient is determined based on the joint disturbance angular velocity; The target control angular velocity is determined by compensating the current control angular velocity based on the compensation coefficient and the joint disturbance angular velocity.
4. The gimbal control method according to claim 3, characterized in that, The determination of the compensation coefficient based on the joint disturbance angular velocity includes: When the magnitude of the joint disturbance angular velocity is greater than a preset compensation threshold, the sum of the square of the joint disturbance angular velocity and the preset saturation curve parameter is calculated, and the ratio of the square of the joint disturbance angular velocity to the sum is calculated to obtain the saturation adjustment factor. The compensation coefficient is obtained by multiplying the preset overall compensation gain by the saturation adjustment factor.
5. The gimbal control method according to claim 3, characterized in that, The determination of the compensation coefficient based on the joint disturbance angular velocity includes: When the modulus of the joint disturbance angular velocity is less than or equal to a preset compensation threshold, the compensation coefficient is determined to be the preset compensation coefficient.
6. The gimbal control method according to claim 3, characterized in that, The step of compensating the current control angular velocity based on the compensation coefficient and the joint disturbance angular velocity to determine the target control angular velocity includes: The compensation angular velocity is obtained by multiplying the compensation coefficient by the joint disturbance angular velocity. The target control angular velocity is obtained by calculating the difference between the current control angular velocity and the joint compensation angular velocity.
7. The gimbal control method according to claim 1, characterized in that, The step of determining the actual joint angular velocity of the gimbal based on the actual joint angle includes: The actual joint angle is differentiated to obtain the actual joint angular velocity of the gimbal at the current moment.
8. The gimbal control method according to claim 4, characterized in that, The preset saturation curve parameters are within a first set value range, the preset overall compensation gain is within a second set value range, and the preset overall compensation gain is the maximum value of the compensation coefficient.
9. A gimbal control device, characterized in that, The device includes: The first determining module is used to obtain the actual load angular velocity of the gimbal load at the current moment and the actual joint angle of the gimbal at the current moment, determine the ideal joint angular velocity of the gimbal at the current moment based on the actual load angular velocity and the actual joint angle, and determine the actual joint angular velocity of the gimbal based on the actual joint angle. The second determining module is used to determine the joint disturbance angular velocity caused by the movement of the gimbal mounting carrier based on the ideal joint angular velocity and the actual joint angular velocity. The compensation module is used to compensate the current control angular velocity using the joint disturbance angular velocity according to a preset compensation mechanism, so as to determine the target control angular velocity; The control module is used to control the gimbal according to the target control angular velocity.
10. An electronic device, characterized in that, The electronic device includes: At least one processor; and A memory communicatively connected to the at least one processor; wherein, The memory stores a computer program that can be executed by the at least one processor, the computer program being executed by the at least one processor to enable the at least one processor to perform the gimbal control method according to any one of claims 1 to 8.
11. A computer-readable storage medium having a computer program stored thereon, characterized in that, When executed by the processor, the program implements the gimbal control method as described in any one of claims 1 to 8.