A kind of anti-shake device of condenser motor, gimballed motor and gimbal

Abstract

This utility model relates to the field of camera technology and discloses a capacitive motor image stabilization device, a gimbal motor, and a gimbal. The capacitive motor image stabilization device of this utility model includes: a moving electrode plate disposed on a mover and a fixed electrode plate disposed on a stator. The projection of the moving electrode plate onto the fixed electrode plate always falls within the area of ​​the fixed electrode plate. The mover rotates around a rotation axis parallel to the fixed electrode plate, and during the rotation of the mover, the moving electrode plate never intersects the horizontal plane containing the rotation axis, wherein the horizontal plane is a plane perpendicular to the plane containing the fixed electrode plate. The moving electrode plate and the fixed electrode plate constitute a capacitor detection structure, which is used to detect the rotation angle of the mover. This improves both the image stabilization effect and the flexibility of the image stabilization device in the motor.

Description

Technical Field

[0001] This utility model relates to the field of camera technology, and in particular to a capacitive motor anti-shake device, a gimbal motor, and a gimbal. Background Technology

[0002] A gimbal is a platform device for mounting and fixing shooting equipment. Motors mounted on the gimbal control the shooting angle of the equipment. External environmental factors or inherent equipment characteristics can cause camera shake, affecting the shooting results. To achieve image stabilization, Hall effect sensors or TMR sensors are typically installed in the motor. These sensors detect changes in the magnetic field to determine the angle of rotation of the motor, thus correcting for shake.

[0003] However, because Hall sensors or TMR sensors are easily affected by magnetic fields in the environment, causing errors in the detection results, the current methods of using Hall sensors or TMR sensors to achieve shake correction are easily affected by the external environment, resulting in poor shake stabilization performance. Utility Model Content

[0004] The purpose of this utility model embodiment is to provide a stabilization device for a capacitor motor, a gimbal motor, and a gimbal, which improves the stabilization effect while increasing the flexibility of the stabilization device setting in the motor.

[0005] To solve the above-mentioned technical problems, embodiments of this utility model provide a vibration stabilization device for a capacitor motor, comprising: a moving electrode plate disposed on a mover and a fixed electrode plate disposed on a stator, wherein the projection of the moving electrode plate onto the fixed electrode plate is always within the area of ​​the fixed electrode plate; the mover rotates around a rotation axis, the rotation axis being parallel to the fixed electrode plate, and during the rotation of the mover, the moving electrode plate and the horizontal plane containing the rotation axis never intersect, wherein the horizontal plane is a plane perpendicular to the plane containing the fixed electrode plate; the moving electrode plate and the fixed electrode plate constitute a capacitor detection structure, the capacitor detection structure being used to detect the rotation angle of the mover.

[0006] An embodiment of this utility model also provides a gimbal motor, including: the above-mentioned anti-shake device for a capacitor motor, and a lens connected to the mover in the anti-shake device.

[0007] An embodiment of this utility model also provides a gimbal, comprising: a device body, a mounting portion disposed on the device body, and a shake-prevention device for the aforementioned capacitor motor or the aforementioned gimbal motor connected to the mounting portion.

[0008] Compared to the prior art, the anti-shake device of this utility model includes a moving electrode plate disposed on the mover and a fixed electrode plate disposed on the stator. The projection of the moving electrode plate onto the fixed electrode plate is always within the area of ​​the fixed electrode plate. Since the mover rotates around a rotation axis parallel to the fixed electrode plate, the moving electrode plate undergoes a synchronous change in tilt angle relative to the fixed electrode plate during rotation. As the tilt angle between the moving electrode plate and the fixed electrode plate changes, the projected area of ​​the moving electrode plate onto the fixed electrode plate changes, and the average distance between the moving electrode plate and the fixed electrode plate also changes. This causes a change in the capacitance signal of the capacitance detection structure formed by the moving electrode plate and the fixed electrode plate. The rotation angle of the mover can be determined based on the change in the capacitance signal. Furthermore, during the rotation of the mover, the moving electrode plate never intersects with the horizontal plane containing the rotation axis. Therefore, when the mover rotates in the same direction, the capacitance signal of the capacitance detection structure formed by the moving and fixed electrodes changes monotonically. For example, the capacitance signal increases monotonically when the mover rotates clockwise, and decreases monotonically when the mover rotates counterclockwise. Thus, regardless of the direction of rotation, the accurate rotation angle can be uniquely determined based on the capacitance signal, improving the anti-shake effect. In addition, the electrode plate can be positioned on a single side of the rotation axis, without requiring the electrode plate to be symmetrically positioned on both sides of the rotation axis. This allows for flexible placement of the electrode plate above or below the rotation axis where there is ample space, increasing the flexibility of the anti-shake device in the motor.

[0009] Additionally, the rotation axis includes a mutually perpendicular X-axis and a Y-axis; the moving electrode includes an X-axis moving electrode and a Y-axis moving electrode; the fixed electrode includes an X-axis fixed electrode and a Y-axis fixed electrode; wherein the plane containing the X-axis fixed electrode is perpendicular to the plane containing the Y-axis fixed electrode, and the projection of the X-axis moving electrode onto the X-axis fixed electrode is always within the area containing the X-axis fixed electrode, and the projection of the Y-axis moving electrode onto the Y-axis fixed electrode is always within the area containing the Y-axis fixed electrode; the X-axis moving electrode and the X-axis fixed electrode form an X-axis capacitance detection structure, and the Y-axis moving electrode and the Y-axis fixed electrode form a Y-axis capacitance detection structure; the rotation angle of the mover around the X-axis and the Y-axis is determined based on the detection results of the X-axis capacitance detection structure and the Y-axis capacitance detection structure.

[0010] In addition, the stator includes four sides arranged in pairs opposite each other; there are two X-axis fixed pole plates, each located on one of the opposite sides; there are two Y-axis fixed pole plates, each located on one of the other two opposite sides; each X-axis fixed pole plate and a corresponding X-axis moving pole plate form an X-axis capacitance detection structure; each Y-axis fixed pole plate and a corresponding Y-axis moving pole plate form a Y-axis capacitance detection structure; the rotation angle of the mover around the X-axis and the Y-axis is determined based on the differential calculation results of the two X-axis capacitance detection structures and the two Y-axis capacitance detection structures.

[0011] In addition, the X-axis moving electrode and the Y-axis moving electrode are always on the same side of the rotation plane, which is the plane containing the X-axis and the Y-axis.

[0012] In addition, the X-axis fixed electrode plate is perpendicular to the Y-axis, and the Y-axis fixed electrode plate is perpendicular to the X-axis.

[0013] In addition, the X-axis moving electrode plate is a symmetrical structure with respect to the Y-axis, and the Y-axis moving electrode plate is a symmetrical structure with respect to the X-axis.

[0014] In addition, the opposing surfaces of the moving electrode plate and the fixed electrode plate are both planes.

[0015] In addition, the opposing surfaces of the moving electrode plate and the fixed electrode plate are never parallel, or the opposing surfaces of the moving electrode plate and the fixed electrode plate are parallel in the target state, wherein the target state is the state in which the stator is rotated to the target angle. Attached Figure Description

[0016] One or more embodiments are illustrated by way of example with reference numerals in the accompanying drawings. These illustrations do not constitute a limitation on the embodiments. Elements with the same reference numerals in the drawings are denoted as similar elements. Unless otherwise stated, the figures in the drawings are not to be limited by scale.

[0017] Figure 1 This is a three-dimensional structural diagram of the anti-shake device for a capacitor motor according to an embodiment of this solution;

[0018] Figure 2 This is a simplified structural diagram showing the positional relationship between the moving plate, the fixed plate, and the rotating shaft in the anti-shake device of the capacitor motor according to the embodiment of this solution.

[0019] Figure 3 This is a simplified structural diagram illustrating the positional relationship between the moving plate, the fixed plate, and the rotating shaft in the anti-vibration device of the capacitor motor according to an embodiment of this solution.

[0020] Figure 4This is a schematic diagram of the structure of the moving plate and the fixed plate in the anti-shake device of the capacitor motor according to the embodiment of this solution;

[0021] Figure 5 This is a schematic diagram of the crosstalk effect in the anti-shake device of the capacitor motor according to the embodiment of this solution;

[0022] Figure 6 This is a schematic diagram of the differential calculation results in the anti-shake device of the capacitor motor according to the embodiment of this solution. Detailed Implementation

[0023] To make the objectives, technical solutions, and advantages of the embodiments of this utility model clearer, the various embodiments of this utility model will be described in detail below with reference to the accompanying drawings. However, those skilled in the art will understand that many technical details have been presented in the various embodiments of this utility model to enable readers to better understand this application. However, the technical solutions claimed in this application can be implemented even without these technical details and various changes and modifications based on the following embodiments.

[0024] The division of the following embodiments is for ease of description and should not constitute any limitation on the specific implementation of this utility model. The various embodiments can be combined with or referenced by each other without contradiction.

[0025] Embodiments of this utility model relate to a vibration stabilization device for a capacitor motor, such as... Figure 1 As shown, the moving electrode plate 31 is disposed on the moving element 1 and the fixed electrode plate 32 is disposed on the stator 2. The projection of the moving electrode plate 31 onto the fixed electrode plate 32 is always within the area where the fixed electrode plate 32 is located. Figure 2 As shown, the mover 1 rotates about the rotation axis 4, which is parallel to the stationary plate 32, and as... Figure 3 As shown, during the rotation of the mover 1, the moving electrode 31 and the horizontal plane 41 where the rotation axis is located never intersect. The horizontal plane 41 is a plane perpendicular to the plane where the fixed electrode 32 is located. The moving electrode 31 and the fixed electrode 32 constitute the capacitance detection structure 30, which is used to detect the rotation angle of the mover.

[0026] Compared to the prior art, the anti-shake device of this utility model includes a moving electrode plate disposed on the mover and a fixed electrode plate disposed on the stator. The projection of the moving electrode plate onto the fixed electrode plate is always within the area of ​​the fixed electrode plate. Since the mover rotates around a rotation axis parallel to the fixed electrode plate, the moving electrode plate undergoes a synchronous change in tilt angle relative to the fixed electrode plate during rotation. As the tilt angle between the moving electrode plate and the fixed electrode plate changes, the projected area of ​​the moving electrode plate onto the fixed electrode plate changes, and the average distance between the moving electrode plate and the fixed electrode plate also changes. This causes a change in the capacitance signal of the capacitance detection structure formed by the moving electrode plate and the fixed electrode plate. The rotation angle of the mover can be determined based on the change in the capacitance signal. Furthermore, during the rotation of the mover, the moving electrode plate never intersects with the horizontal plane containing the rotation axis. Therefore, when the mover rotates in the same direction, the capacitance signal of the capacitance detection structure formed by the moving and fixed electrodes changes monotonically. For example, the capacitance signal increases monotonically when the mover rotates clockwise, and decreases monotonically when the mover rotates counterclockwise. Thus, regardless of the direction of rotation, the accurate rotation angle can be uniquely determined based on the capacitance signal, improving the anti-shake effect. In addition, the electrode plate can be positioned on a single side of the rotation axis, without requiring the electrode plate to be symmetrically positioned on both sides of the rotation axis. This allows for flexible placement of the electrode plate above or below the rotation axis where there is ample space, increasing the flexibility of the anti-shake device in the motor.

[0027] The detection principle of using a capacitance detection structure to detect the rotation angle of a mover is explained as follows:

[0028] The moving plate and the fixed plate constitute a capacitor structure. For ease of calculation, the opposing surfaces of the moving plate and the fixed plate are both planar, and the physical formula for a parallel plate capacitor can be referenced: C = εS / 4πkd; where ε represents the dielectric constant of the medium, determined by the medium between the plates, such as air or water; k represents the electrostatic constant, also known as the Coulomb constant, which indicates that the magnitude of the force between two point charges, each with a charge of 1C, 1m apart in a vacuum is 8.987551 × 10⁻⁶. 9 N, i.e., k = 8.987551 × 10 9 N·m 2 / C; S represents the area of ​​the two plates facing each other (projected area); d represents the vertical distance between the two plates (average value); π represents pi. When the mover rotates, although the projection of the moving plate onto the fixed plate always falls within the range of the fixed plate, the angle between the plane containing the moving plate and the plane containing the fixed plate changes. Therefore, the projected area of ​​the moving plate onto the fixed plate changes, and the average value of the vertical distance between the moving and fixed plates also changes. According to the physical formula for a parallel plate capacitor, the change in capacitance corresponds to the angle of rotation of the mover. Therefore, the rotation angle of the mover can be determined based on the capacitance value.

[0029] During the rotation of the mover, the moving plate never intersects the horizontal plane containing the axis of rotation. This ensures that the average vertical distance between the moving and fixed plates changes monotonically as the mover rotates in the same direction. When both the distance and the area opposite change simultaneously, the capacitance is much more sensitive to changes in distance than to changes in the area opposite, resulting in a monotonically changing capacitance value as the mover rotates in the same direction. Regardless of the direction the mover rotates, the precise rotation angle can be uniquely determined based on the capacitance signal.

[0030] The following explanation addresses the point that capacitors are much more sensitive to changes in distance than to changes in the area they face:

[0031] By taking the partial derivative of the physical formula for a parallel plate capacitor with respect to the area S, we can obtain the sensitivity of the capacitor to changes in the area S.

[0032] By taking the partial derivative of the physical formula for a parallel-plate capacitor with respect to a distance *d*, the sensitivity of the capacitor to changes in distance can be obtained.

[0033] Compare the absolute values ​​of the two partial derivatives, and determine the factor that has a greater impact on the change in capacitance based on the comparison result:

[0034]

[0035] Since the size of the facing area S in the capacitor structure is much larger than the size of the vertical distance, the value of d / S is much less than 1. Therefore, the change in distance d has a much greater impact on the capacitor than the change in the facing area S.

[0036] In addition, such as Figure 4 As shown, the rotation axis includes: a mutually perpendicular X-axis and a Y-axis; the X-axis and Y-axis intersect at an angle as shown in the figure. Figure 2 and Figure 3The rotation center O is shown. The moving electrode includes an X-axis moving electrode 311 and a Y-axis moving electrode 312; the fixed electrode includes an X-axis fixed electrode 321 and a Y-axis fixed electrode 322; wherein, the plane where the X-axis fixed electrode 321 is located is perpendicular to the plane where the Y-axis fixed electrode 322 is located, and the projection of the X-axis moving electrode 311 onto the X-axis fixed electrode 321 is always within the area where the X-axis fixed electrode 321 is located, and the projection of the Y-axis moving electrode 312 onto the Y-axis fixed electrode 322 is always within the area where the Y-axis fixed electrode 322 is located; the X-axis moving electrode 311 and the X-axis fixed electrode 321 form an X-axis capacitance detection structure 301, and the Y-axis moving electrode 312 and the Y-axis fixed electrode 322 form a Y-axis capacitance detection structure 302, and the rotation angle of the mover around the X-axis and Y-axis is determined according to the detection results of the X-axis capacitance detection structure and the Y-axis capacitance detection structure.

[0037] The method for determining the rotation angles of the mover around the X and Y axes based on the detection results of the X-axis capacitance detection structure and the Y-axis capacitance detection structure is as follows:

[0038] Assumptions: When detecting the rotation angle along the X-axis, the capacitance signal of the X-axis capacitance detection structure generated by the X-axis rotation is f(X), the crosstalk signal generated by the Y-axis rotation is g(Y), and the capacitance signal detected by the X-axis capacitance detection structure is Cx. Due to the symmetrical design of the X-axis and Y-axis capacitance detection structures, when detecting the rotation angle along the Y-axis, the capacitance signal of the Y-axis capacitance detection structure generated by the Y-axis rotation can be represented as f(Y), and the crosstalk signal generated by the X-axis rotation can be represented as g(X).

[0039] From this, we can derive the equation:

[0040] Cx = f(X) + g(Y);

[0041] Cy = f(Y) + g(X);

[0042] By fixing one rotation axis and rotating the other, and collecting the corresponding Cx and Cy, the functions f and g can be determined. After determining the functions f and g, the rotation angles of the mover on the X-axis and Y-axis can be determined based on the capacitance signals of the detected X-axis and Y-axis capacitance detection structures.

[0043] Furthermore, in this embodiment, the crosstalk caused by the rotation of the two axes is very small, such as... Figure 5As shown, the capacitance value change curves of each capacitor detection structure are displayed when the X-axis rotation angle is controlled at 0 degrees and the Y-axis rotates within the range of -180 degrees to 180 degrees. It can be clearly seen that the peak-to-peak values ​​of the capacitance values ​​C(Y,Tx) and C(Y_1,Tx) of the two Y-axis capacitor detection structures are larger than those of the capacitance values ​​C(X,Tx) and C(X_1,Tx) of the two X-axis capacitor detection structures. The change in capacitance value of the two X-axis capacitor detection structures is almost negligible. Therefore, it can be concluded that the crosstalk effect of the two-axis rotation is very small.

[0044] In addition, such as Figure 4 As shown, the stator includes four sides arranged in pairs opposite each other; there are two X-axis fixed electrode plates 321, which are located on two opposite sides respectively; there are two Y-axis fixed electrode plates 322, which are located on the other two opposite sides respectively; each X-axis fixed electrode plate 321 and a corresponding X-axis moving electrode plate 311 form an X-axis capacitance detection structure 301; each Y-axis fixed electrode plate 322 and a corresponding Y-axis moving electrode plate 312 form a Y-axis capacitance detection structure 302; the rotation angle of the mover around the X-axis and Y-axis is determined based on the differential calculation results of the two X-axis capacitance detection structures and the two Y-axis capacitance detection structures.

[0045] The formula for calculating the difference can be: magnification factor × (C) X1 -C X2 ) / (C X1 +C X2 ); where C X1 C represents the capacitance signal generated by one of the X-axis capacitance sensing structures. X2 This represents the capacitance signal generated by another X-axis capacitance detection structure. Differential calculation can eliminate noise that affects the accuracy of the calculation results due to environmental factors or human operation, while also improving the sensitivity of rotation angle detection. The differential calculation of the Y-axis capacitance detection structure is similar to that of the X-axis capacitance detection structure described above.

[0046] like Figure 6As shown, this is the simulation result after differential calculation when the X-axis rotates within the range of -180 degrees to 180 degrees with the Y-axis rotation angle of 0 degrees. Here, m1 represents the differential calculation value C(rx0, tx) - C(rx1, tx) calculated between the capacitance C(rx0, tx) formed by one of the receiving plates rx0 and the transmitting plate tx of the X-axis capacitance detection structure when the X-axis rotates by -180 degrees and the capacitance C(rx1, tx) formed by the other receiving plate rx1 and the transmitting plate tx of the X-axis capacitance detection structure. m2 represents the corresponding differential calculation value when the X-axis rotates by 180 degrees. It can be seen that the result after differential calculation tends to change linearly, which is more beneficial for the detection and control of rotation angle.

[0047] In practical applications, one of the fixed electrode plate and the moving electrode plate is used as the emitting electrode plate, and the other is used as the receiving electrode plate. The two can be interchanged.

[0048] Furthermore, both the X-axis moving electrode and the Y-axis moving electrode are always on the same side of the plane of rotation, which is the plane containing the X-axis and Y-axis. For example Figure 4 As shown, the X-axis moving electrode and the Y-axis moving electrode can both be located below the plane of rotation formed by the X and Y axes, or both above the plane of rotation formed by the X and Y axes. When there is limited space above the rotating shaft inside the motor, but ample space below the rotating shaft, all the X-axis moving electrode and the Y-axis moving electrode can be simultaneously positioned below the plane of rotation formed by the X and Y axes to fully utilize the internal space of the motor.

[0049] The X-axis fixed electrode is perpendicular to the Y-axis, and the Y-axis fixed electrode is perpendicular to the X-axis. The X-axis moving electrode has a symmetrical structure with respect to the Y-axis, and the Y-axis moving electrode has a symmetrical structure with respect to the X-axis.

[0050] Furthermore, the opposing surfaces of the moving and fixed electrodes can be set to be parallel to each other or at a certain angle. For example, in the target state, the opposing surfaces of the moving and fixed electrodes are parallel, while in other states they are at a certain angle. The target state is the state where the stator rotates to the target angle. Alternatively, the opposing surfaces of the moving and fixed electrodes can always be non-parallel, as long as the distance between the moving and fixed electrodes changes monotonically during the rotation of the moving electrode.

[0051] Another feasible embodiment of this utility model relates to a gimbal motor, including: the above-mentioned anti-shake device for a capacitor motor, and a lens connected to the mover in the anti-shake device.

[0052] Compared with related technologies, the gimbal motor provided in this embodiment of the present invention is equipped with the anti-shake device of the capacitor motor provided in the aforementioned embodiment. Therefore, it also has the same technical effects provided in the aforementioned embodiment, which will not be elaborated here.

[0053] Another feasible embodiment of this utility model relates to a gimbal, including a device body, a mounting part disposed on the device body, and a shake-proof device for the aforementioned capacitor motor or the aforementioned gimbal motor connected to the mounting part.

[0054] Compared with related technologies, the gimbal provided in this embodiment of the present invention is equipped with the anti-shake device of the capacitor motor or the gimbal motor provided in the aforementioned embodiments. Therefore, it also has the same technical effects provided in the aforementioned embodiments, which will not be elaborated here.

[0055] Those skilled in the art will understand that the above embodiments are specific embodiments for implementing the present invention, and in practical applications, various changes can be made to them in form and detail without departing from the spirit and scope of the present invention.

Claims

1. A vibration stabilization device for a capacitor motor, characterized in that, include: A moving electrode plate disposed on the moving element and a fixed electrode plate disposed on the stator, wherein the projection of the moving electrode plate toward the fixed electrode plate is always within the area where the fixed electrode plate is located; The moving element rotates around a rotation axis, which is parallel to the fixed electrode plate. During the rotation of the moving element, the moving electrode plate and the horizontal plane containing the rotation axis never intersect. The horizontal plane is a plane perpendicular to the plane containing the fixed electrode plate. The moving electrode plate and the fixed electrode plate constitute a capacitance detection structure, which is used to detect the rotation angle of the moving element.

2. The anti-vibration device for a capacitor motor according to claim 1, characterized in that, The rotation axis includes: an X-axis and a Y-axis that are perpendicular to each other; the moving electrode includes: an X-axis moving electrode and a Y-axis moving electrode; the fixed electrode includes: an X-axis fixed electrode and a Y-axis fixed electrode; wherein, the plane where the X-axis fixed electrode is located is perpendicular to the plane where the Y-axis fixed electrode is located, and the projection of the X-axis moving electrode onto the X-axis fixed electrode is always within the area where the X-axis fixed electrode is located, and the projection of the Y-axis moving electrode onto the Y-axis fixed electrode is always within the area where the Y-axis fixed electrode is located; The X-axis moving electrode plate and the X-axis fixed electrode plate form an X-axis capacitance detection structure, and the Y-axis moving electrode plate and the Y-axis fixed electrode plate form a Y-axis capacitance detection structure. The rotation angle of the mover around the X-axis and the Y-axis is determined based on the detection results of the X-axis capacitance detection structure and the Y-axis capacitance detection structure.

3. The anti-vibration device for a capacitor motor according to claim 2, characterized in that, The stator includes four sides arranged in pairs opposite to each other; The number of X-axis fixed electrode plates is two, and the two X-axis fixed electrode plates are respectively located on two opposite sides. The number of Y-axis fixed electrode plates is two, and the two Y-axis fixed electrode plates are respectively located on two other opposite sides. Each of the X-axis fixed plates and a corresponding X-axis moving plate form an X-axis capacitance detection structure; each of the Y-axis fixed plates and a corresponding Y-axis moving plate form a Y-axis capacitance detection structure. Based on the differential calculation results of the two X-axis capacitor detection structures and the two Y-axis capacitor detection structures, the rotation angle of the mover around the X-axis and the Y-axis is determined.

4. The anti-vibration device for a capacitor motor according to claim 2, characterized in that, The X-axis moving electrode and the Y-axis moving electrode are always on the same side of the rotation plane, which is the plane containing the X-axis and the Y-axis.

5. The anti-vibration device for a capacitor motor according to claim 2, characterized in that, The X-axis fixed electrode plate is perpendicular to the Y-axis, and the Y-axis fixed electrode plate is perpendicular to the X-axis.

6. The anti-vibration device for a capacitor motor according to claim 2, characterized in that, The X-axis moving electrode plate is a symmetrical structure relative to the Y-axis, and the Y-axis moving electrode plate is a symmetrical structure relative to the X-axis.

7. The anti-vibration device for a capacitor motor according to claim 1, characterized in that, The opposing surfaces of the moving electrode plate and the fixed electrode plate are both planes.

8. The anti-vibration device for a capacitor motor according to claim 7, characterized in that, The opposing surfaces of the moving electrode plate and the fixed electrode plate are never parallel, or the opposing surfaces of the moving electrode plate and the fixed electrode plate are parallel in the target state, wherein the target state is the state in which the stator is rotated to the target angle.

9. A gimbal motor, characterized in that, include: The image stabilization device for a capacitor motor as described in any one of claims 1 to 8, and the lens connected to the mover in the image stabilization device.

10. A gimbal, characterized in that, include: The device body includes a mounting portion disposed on the device body, and a stabilization device for a capacitor motor as described in any one of claims 1 to 8, or a gimbal motor as described in claim 9, connected to the mounting portion.

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