Dual-axis gimbal control system combining feedforward control with cascade fuzzy PID

Abstract

The utility model relates to a holder control system technical field discloses the double -axle holder control system of feedforward control and cascade fuzzy PID combination, including the top plate, the one side even fixed connection of top plate has the connecting rod no.

Description

Technical Field

[0001] This utility model relates to the field of gimbal control system technology, and in particular to a dual-axis gimbal control system that combines feedforward control and cascaded fuzzy PID. Background Technology

[0002] The dual-axis gimbal control system, which combines feedforward control with cascaded fuzzy PID control, ensures the stability of the camera, sensors, and other loads through horizontal and vertical coordinated control, motor drive, and attitude sensor compensation for swaying. It combines attitude stability with flexible orientation adjustment and is suitable for scenarios such as drone aerial photography and security monitoring.

[0003] Traditional dual-axis gimbals on the market mostly use a single motor to drive a single axis or a simplified transmission structure. The former is prone to response delay and decreased stability and accuracy due to changes in load weight, while the latter has large inter-axis interference and jamming during direction adjustment. Utility Model Content

[0004] To overcome the above shortcomings, this utility model provides a dual-axis gimbal control system that combines feedforward control with cascaded fuzzy PID, aiming to improve the problems of response delay, decreased stability and accuracy, and stuttering caused by a single motor driving a single axis or a simplified transmission structure in dual-axis gimbals.

[0005] To achieve the above objectives, this utility model provides the following technical solution: a dual-axis gimbal control system combining feedforward control and cascade fuzzy PID, comprising a top plate, a connecting rod 1 uniformly fixedly connected to one side of the top plate, a base plate fixedly connected to one side of the connecting rod 1, bolts uniformly fixedly connected to one side of the base plate, a control plate mounted on one side of the bolts, a connecting cylinder 1 fixedly connected to the bottom of the base plate, an adjusting arm 1 mounted on one side of the connecting cylinder 1, a connecting cylinder 2 mounted on one side of the adjusting arm 1, and an adjusting structure rotatably connected inside both the connecting cylinder 1 and the connecting cylinder 2. An adjusting arm 2 is mounted on one side of the connecting cylinder 2, a connecting box fixedly connected to one side of the adjusting arm 2, a limit plate slidably connected inside the connecting box, a connecting plate fixedly connected to one side of the connecting box, and a limit structure fixedly mounted on one side of the connecting plate.

[0006] By adopting the above technical solution, the camera or sensor is placed in the connecting box, and the limiting structure drives the limiting plate to slide and clamp the device in the connecting box. The top plate is connected to the bottom of the drone or other moving equipment. The control board transmits the device's operating status to the control system. The feedforward control and cascade fuzzy PID are combined to provide timely feedback on the status of the camera or sensor connected to the gimbal. Based on the feedback, the adjustment structure in the first and second connecting cylinders drives the first and second adjustment arms to rotate, thereby driving the connecting box to move, realizing the vertical adjustment of the clamped device, and improving the adjustment accuracy and response speed of the dual-axis gimbal.

[0007] Preferably, the adjustment structure includes two connecting cylinders four, one of which has its outer wall fixedly connected to the inner wall of the first connecting cylinder, and the other of which has its outer wall fixedly connected to the inner wall of the second connecting cylinder.

[0008] Preferably, a servo motor 2 is fixedly installed on the inner wall of the connecting cylinder 4, and a connecting rod 2 is fixedly connected to the output end of the servo motor 2. One side of the connecting rod 2 is rotatably connected to one side of the connecting cylinder 4.

[0009] Preferably, a worm is fixedly connected to the middle of the second connecting rod, the teeth of the worm are meshed with a worm wheel, and a harmonic reducer is fixedly connected to the inner wall of the worm wheel.

[0010] Preferably, the inner wall of the harmonic reducer is fixedly connected to a connecting rod three, one end of the connecting rod three is rotatably connected to one side of the worm gear, and the outer wall of the connecting rod three is rotatably connected to the inside of the connecting cylinder four.

[0011] Preferably, one end of one of the connecting rods three is fixedly connected to one side of the adjusting arm one, and one end of the other connecting rod three is fixedly connected to one side of the adjusting arm two.

[0012] Preferably, the limiting structure includes a servo motor, one side of which is fixedly mounted on one side of the connecting plate, and a lead screw is fixedly connected to the output end of the servo motor, with a connecting cylinder connected to the outer wall of the lead screw by a thread.

[0013] Preferably, a limiting frame is slidably connected to the outer wall of the connecting cylinder three, one side of the limiting frame is fixedly connected to one side of the servo motor one, and one side of the connecting cylinder three is fixedly connected to one side of the limiting plate.

[0014] This utility model has the following beneficial effects:

[0015] 1. In this utility model, by placing the camera or sensor into the connecting box, the limiting structure drives the limiting plate to slide within the connecting box to clamp the device. The top plate is connected to the bottom of the drone or other mobile equipment. The control board transmits the device's operating status to the control system. The system uses a combination of feedforward control and cascaded fuzzy PID to provide timely feedback on the status of the camera or sensor connected to the gimbal. Based on the feedback, the adjustment structures in connecting cylinder one and connecting cylinder two drive adjusting arm one and adjusting arm two to rotate, thereby driving the connecting box to move, realizing vertical adjustment of the clamped device, and improving the adjustment accuracy and response speed of the dual-axis gimbal.

[0016] 2. In this utility model, the second servo motor drives the second connecting rod to rotate, which in turn drives the worm gear to rotate. The toothed end of the worm gear drives the worm wheel to rotate, which in turn drives the harmonic reducer to rotate, and finally drives the third connecting rod to rotate. This achieves the angle adjustment of the first and second adjusting arms. The toothed end structure of the worm gear and worm wheel allows the worm gear to drive the worm wheel to rotate, but the worm wheel cannot drive the worm gear to rotate, thus achieving a non-reverse rotation effect. The harmonic reducer improves the stability of the rotation of the third connecting rod, and the second servo motor ensures the accuracy of the rotation angle adjustment. Attached Figure Description

[0017] Figure 1 This is a three-dimensional structural diagram of the dual-axis gimbal control system combining feedforward control and cascaded fuzzy PID proposed in this utility model.

[0018] Figure 2 This is a partial structural diagram of the limit plate of the dual-axis gimbal control system that combines feedforward control and cascaded fuzzy PID proposed in this utility model.

[0019] Figure 3 This is a partial structural diagram of the limit frame of the dual-axis gimbal control system that combines feedforward control and cascaded fuzzy PID proposed in this utility model.

[0020] Figure 4 This is a schematic diagram of the internal structure of the connecting cylinder of the dual-axis gimbal control system that combines feedforward control and cascaded fuzzy PID proposed in this utility model.

[0021] Legend:

[0022] 1. Top plate; 2. Connecting rod one; 3. Bolt; 4. Control plate; 5. Connecting cylinder one; 6. Adjusting arm one; 7. Connecting cylinder two; 8. Adjusting arm two; 9. Base plate; 10. Servo motor one; 11. Lead screw; 12. Connecting cylinder three; 13. Limiting frame; 14. Connecting box; 15. Limiting plate; 16. Worm gear; 17. Connecting cylinder four; 18. Worm wheel; 19. Servo motor two; 20. Connecting rod two; 21. Harmonic reducer; 22. Connecting rod three; 23. Connecting plate. Detailed Implementation

[0023] The technical solutions of the embodiments of this utility model will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of this utility model, and not all embodiments. Based on the embodiments of this utility model, all other embodiments obtained by those skilled in the art without creative effort are within the protection scope of this utility model.

[0024] Reference Figures 1-4This utility model provides an embodiment of a dual-axis gimbal control system combining feedforward control and cascaded fuzzy PID, comprising a top plate 1, a connecting rod 1 2 uniformly fixedly connected to one side of the top plate 1, a base plate 9 fixedly connected to one side of the connecting rod 1 2, bolts 3 uniformly fixedly connected to one side of the base plate 9, a control plate 4 installed on one side of the bolts 3, a connecting cylinder 1 5 fixedly connected to the bottom of the base plate 9, an adjusting arm 1 6 installed on one side of the connecting cylinder 1 5, a connecting cylinder 2 7 installed on one side of the adjusting arm 1 6, both connecting cylinder 1 5 and connecting cylinder 2 7 having rotatably connected adjustment structures inside, an adjusting arm 2 8 installed on one side of the connecting cylinder 2 7, a connecting box 14 fixedly connected to one side of the adjusting arm 2 8, a limit plate 15 slidably connected inside the connecting box 14, a connecting plate 23 fixedly connected to one side of the connecting box 14, and a limit structure fixedly installed on one side of the connecting plate 23.

[0025] Specifically, by placing the camera or sensor into the connecting box 14, the limiting structure drives the limiting plate 15 to slide within the connecting box 14, clamping the device through the limiting plate 15 and one side of the connecting box 14. The top plate 1 is connected to the bottom of the drone or other mobile equipment. The control board 4 transmits the device's operating status to the control system. Feedforward control combined with cascaded fuzzy PID provides timely feedback on the status of the camera or sensor connected to the gimbal. Based on the feedback, the adjusting structure in the connecting cylinder 1 5 drives the adjusting arm 1 6 to rotate, thereby driving the adjusting arm 2 8 and the connecting box 14 to move horizontally, achieving horizontal adjustment of the clamped device. The adjusting structure in the connecting cylinder 2 7 drives the adjusting arm 2 8 to rotate, thereby driving the connecting box 14 to move vertically, achieving vertical adjustment of the clamped device. This improves the adjustment accuracy and response speed of the dual-axis gimbal, and addresses the issues of response delay, decreased stability accuracy, and jamming caused by a single motor driving a single axis or a simplified transmission structure in dual-axis gimbals.

[0026] Reference Figure 4 The adjustment structure includes two connecting cylinders 17. The outer wall of one connecting cylinder 17 is fixedly connected to the inner wall of connecting cylinder 5, and the outer wall of the other connecting cylinder 17 is fixedly connected to the inner wall of connecting cylinder 7. A servo motor 19 is fixedly installed on the inner wall of the connecting cylinder 17. A connecting rod 20 is fixedly connected to the output end of the servo motor 19. One side of the connecting rod 20 is rotatably connected to one side of the connecting cylinder 17. A worm gear 16 is fixedly connected to the middle of the connecting rod 20. A worm wheel 18 is meshed with the tooth end of the worm gear 16. A harmonic reducer 21 is fixedly connected to the inner wall of the worm wheel 18. A connecting rod 22 is fixedly connected to the inner wall of the harmonic reducer 21. One end of the connecting rod 22 is rotatably connected to one side of the worm wheel 18. The outer wall of the connecting rod 22 is rotatably connected to the inside of the connecting cylinder 17. One end of one connecting rod 22 is fixedly connected to one side of the adjusting arm 6, and one end of the other connecting rod 22 is fixedly connected to one side of the adjusting arm 8.

[0027] Specifically, the servo motor 19 drives the connecting rod 20 to rotate, which in turn drives the worm 16 to rotate. The teeth of the worm 16 drive the worm wheel 18 to rotate, which in turn drives the harmonic reducer 21 to rotate. The rotation of the harmonic reducer 21 drives the connecting rod 22 to rotate, thereby achieving angle adjustment of the adjusting arm 6 and the adjusting arm 8. The tooth end structure of the worm 16 and the worm wheel 18 allows the worm 16 to drive the worm wheel 18 to rotate, but the worm wheel 18 cannot drive the worm 16 to rotate, achieving a non-reverse rotation effect. The harmonic reducer 21 improves the stability of the rotation of the connecting rod 22, and the servo motor 19 ensures the accuracy of the rotation angle adjustment.

[0028] Reference Figure 1 , Figure 3 The limiting structure includes a servo motor 10, one side of which is fixedly mounted on one side of the connecting plate 23. The output end of the servo motor 10 is fixedly connected to a lead screw 11. The outer wall of the lead screw 11 is threadedly connected to a connecting cylinder 12. The outer wall of the connecting cylinder 12 is slidably connected to a limiting frame 13. One side of the limiting frame 13 is fixedly connected to one side of the servo motor 10, and one side of the connecting cylinder 12 is fixedly connected to one side of the limiting plate 15.

[0029] Specifically, the servo motor 10 drives the lead screw 11 to rotate. Under the limit of the limit frame 13, the connecting cylinder 12 slides in the limit frame 13 using its internal thread, which drives the limit plate 15 to slide in the connecting box 14, thereby achieving the clamping of equipment such as cameras or sensors.

[0030] Working principle: In use, the camera or sensor is placed into the connecting box 14. The servo motor 10 drives the lead screw 11 to rotate. Under the limit of the limit frame 13, the connecting cylinder 12 slides within the limit frame 13 using its internal thread, causing the limit plate 15 to slide within the connecting box 14, thus clamping the camera or sensor. The top plate 1 is connected to the bottom of the drone or other moving equipment. The control board 4 transmits the equipment's operating status to the control system. The system uses a combination of feedforward control and cascaded fuzzy PID to provide timely feedback on the status of the camera or sensor connected to the gimbal. Based on the feedback, the connecting cylinder... Servo motor 19 inside the first 5 drives worm gear 16 to rotate. The tooth end of worm gear 16 drives worm wheel 18 to rotate, which in turn drives harmonic reducer 21 to rotate. The rotation of harmonic reducer 21 drives connecting rod 22 to rotate, thereby adjusting the angle of adjusting arm 6. This, in turn, drives adjusting arm 8 and connecting box 14 to move horizontally, thereby adjusting the horizontal position of the clamping device. Servo motor 19 inside the connecting cylinder 7 drives worm gear 16 to rotate, which in turn drives connecting rod 22 to rotate, thereby adjusting the angle of adjusting arm 8. This, in turn, drives connecting box 14 to move vertically, thereby adjusting the vertical position of the clamping device.

[0031] Finally, it should be noted that the above description is only a preferred embodiment of the present utility model and is not intended to limit the present utility model. Although the present utility model has been described in detail with reference to the foregoing embodiments, those skilled in the art can still modify the technical solutions described in the foregoing embodiments or make equivalent substitutions for some of the technical features. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of the present utility model should be included within the protection scope of the present utility model.

Claims

1. A dual-axis gimbal control system combining feedforward control and cascaded fuzzy PID, comprising a top plate (1), characterized in that: A connecting rod (2) is uniformly fixedly connected to one side of the top plate (1). A base plate (9) is fixedly connected to one side of the connecting rod (2). Bolts (3) are uniformly fixedly connected to one side of the base plate (9). A control plate (4) is installed on one side of the bolts (3). A connecting cylinder (5) is fixedly connected to the bottom of the base plate (9). An adjusting arm (6) is installed on one side of the connecting cylinder (5). A connecting cylinder (7) is installed on one side of the adjusting arm (6). An adjusting structure is rotatably connected inside both the connecting cylinder (5) and the connecting cylinder (7). An adjusting arm (8) is installed on one side of the connecting cylinder (7). A connecting box (14) is fixedly connected to one side of the adjusting arm (8). A limit plate (15) is slidably connected inside the connecting box (14). A connecting plate (23) is fixedly connected to one side of the connecting box (14). A limit structure is fixedly installed on one side of the connecting plate (23).

2. The dual-axis gimbal control system combining feedforward control and cascaded fuzzy PID according to claim 1, characterized in that: The adjustment structure includes two connecting cylinders four (17), one of which has its outer wall fixedly connected to the inner wall of connecting cylinder one (5), and the other has its outer wall fixedly connected to the inner wall of connecting cylinder two (7).

3. The dual-axis gimbal control system combining feedforward control and cascaded fuzzy PID according to claim 2, characterized in that: A servo motor 2 (19) is fixedly installed on the inner wall of the connecting cylinder 4 (17). A connecting rod 2 (20) is fixedly connected to the output end of the servo motor 2 (19). One side of the connecting rod 2 (20) is rotatably connected to one side of the connecting cylinder 4 (17).

4. The dual-axis gimbal control system combining feedforward control and cascaded fuzzy PID according to claim 3, characterized in that: A worm (16) is fixedly connected to the middle of the connecting rod 2 (20), and a worm wheel (18) is meshed with the tooth end of the worm (16). A harmonic reducer (21) is fixedly connected to the inner wall of the worm wheel (18).

5. The dual-axis gimbal control system combining feedforward control and cascaded fuzzy PID according to claim 4, characterized in that: The inner wall of the harmonic reducer (21) is fixedly connected to a connecting rod three (22), one end of the connecting rod three (22) is rotatably connected to one side of the worm gear (18), and the outer wall of the connecting rod three (22) is rotatably connected to the inside of the connecting cylinder four (17).

6. The dual-axis gimbal control system combining feedforward control and cascaded fuzzy PID according to claim 5, characterized in that: One end of one of the connecting rods (22) is fixedly connected to one side of the adjusting arm (6), and one end of the other connecting rod (22) is fixedly connected to one side of the adjusting arm (8).

7. The dual-axis gimbal control system combining feedforward control and cascaded fuzzy PID according to claim 1, characterized in that: The limiting structure includes a servo motor (10), one side of which is fixedly installed on one side of the connecting plate (23). The output end of the servo motor (10) is fixedly connected to a lead screw (11), and the outer wall of the lead screw (11) is threadedly connected to a connecting cylinder (12).

8. The dual-axis gimbal control system combining feedforward control and cascaded fuzzy PID according to claim 7, characterized in that: The outer wall of the connecting cylinder three (12) is slidably connected to the limiting frame (13), one side of the limiting frame (13) is fixedly connected to one side of the servo motor one (10), and one side of the connecting cylinder three (12) is fixedly connected to one side of the limiting plate (15).

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