Force-Sensing Gimbal Attitude Control for Precise Positioning
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Solution Overview
Problem
Existing gimbal control methods using remote controllers are cumbersome and lack high positioning accuracy due to instability in user operations, requiring repeated adjustments to achieve target attitudes.
Innovation Solution
A gimbal control method and device that detects human force applied to the gimbal using working parameters such as motor currents, torques, or control deviations, and adjusts the axial arms to a target attitude based on the direction of the applied force, utilizing an inertial measurement unit (IMU) for feedback control.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Ease of operation
If a remote controller with joystick or dial wheel is used to control gimbal movements, then the user can send movement instructions to the gimbal, but the operation becomes cumbersome and positioning accuracy is low due to instability in user operations requiring repeated adjustments
Solution Approach 1:
The patent replaces the mechanical remote control system (joystick/dial wheel) with a direct force sensing system. The force sensing mechanism detects human force applied directly to the gimbal body, converting physical force into control signals that drive the motors. This substitution eliminates the intermediate mechanical control components and their associated instability, providing both intuitive operation and precise positioning.
Solution Approach 2:
The patent introduces force sensing mechanisms and control algorithms as intermediaries between human input and gimbal movement. The force sensing mechanism captures the direction and magnitude of applied force, while the control algorithm processes this information to generate precise motor commands. This intermediary system transforms unstable manual joystick operations into stable, accurate gimbal positioning.
2Measurement precision
If repeated operations are performed to adjust the gimbal to target attitude, then positioning accuracy can be improved, but the operation time and complexity increase
Solution Approach 1:
The patent implements preliminary action by detecting the user's intended movement direction through applied force before the gimbal actually moves. The force sensing mechanism captures the direction and magnitude of the applied force, allowing the control system to calculate and execute the target attitude in one operation. This eliminates the need for repeated trial-and-adjustment operations, significantly reducing operation time while maintaining high positioning accuracy.
3Ease of operation
If force sensing mechanisms and control algorithms are implemented to detect human force and control gimbal movement, then positioning accuracy and operation simplicity improve, but device complexity increases
Solution Approach 1:
The patent applies universality by making the gimbal body itself serve multiple functions: it remains the structural support for mounting equipment while simultaneously acting as the force sensing interface. The existing gimbal structure is enhanced with force sensing capabilities rather than adding a separate complex control device. This multi-functionality approach improves ease of operation without proportionally increasing device complexity.
Applied Scientific Principles
This section explains which scientific principles are used to turn an abstract innovation direction into a practical engineering solution.
Function Achieved in This Case
The method provides a simple and intuitive operation process with high positioning accuracy by directly responding to human input, improving the efficiency of attitude adjustments compared to traditional remote controller methods.
Implementation Method 1
an inertial measurement unit (IMU) for feedback control
Data Source
AI summary
A gimbal control method includes obtaining a working parameter of a gimbal, where the gimbal includes an axial arm and a motor configured to drive the axial arm to rotate to drive a photographing device mounted on the gimbal to move in one or more directions; detecting that the working parameter matches a preset condition that a human force is applied to gimbal; and according to a direction of the human force applied to the gimbal, controlling the motor to drive the axial arm to rotate to a target attitude at which the human force stops to be applied to the gimbal.