Gimbal Control Using Feedforward Compensation for Tracking
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Solution Overview
Problem
Handheld gimbals face challenges with dithering, shaking, and difficulty in tracking fast-moving targets due to high cost and limited responsiveness, restricting their practicality in various shooting applications.
Innovation Solution
A gimbal control method and system that uses real-time simulation and measurement data to calculate position errors and generate torque control instructions for Pitch, Yaw, and Roll axes, employing proportional-derivative and proportional-integral-derivative calculations to stabilize and adjust the gimbal's visual angle smoothly, allowing for omnidirectional positioning and tracking.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Object-affected harmful factors
If direct current brushless gimbal is used, then noise is reduced, but cost increases
Solution Approach 1:
The patent changes the control parameters and algorithms of the gimbal system, implementing advanced control strategies including feedforward compensation, adaptive impedance control, and coordinate transformation algorithms. These parameter changes enable ordinary gimbals to achieve performance comparable to expensive brushless gimbals without changing the fundamental motor type, thus reducing cost while maintaining low noise operation
Solution Approach 2:
The patent replaces complex mechanical brushless motor structures with simpler motor systems combined with sophisticated control algorithms. By substituting mechanical complexity with computational control (including neural network-based control and adaptive impedance control), the system achieves similar performance at lower cost
2Measurement precision
If brushless gimbal tracks heading angle, then tracking capability is improved, but response time deteriorates
Solution Approach 1:
The patent implements feedforward compensation mechanisms that anticipate and pre-correct for disturbances before they affect the tracking performance. By calculating and applying compensatory torques in advance based on predicted disturbances, the system improves response time while maintaining accurate tracking capability
Solution Approach 2:
The patent employs adaptive impedance control that dynamically adjusts the system's mechanical impedance characteristics in real-time. This allows the gimbal to switch between different control modes (position control, velocity control, torque control) depending on the operational requirements, optimizing both tracking precision and response speed for different scenarios
3Device complexity
If visual angle range is fixed, then system complexity is reduced, but adaptability deteriorates
Solution Approach 1:
The patent implements a unified control framework that handles multiple functions including position control, velocity control, torque control, and various coordinate transformations within a single system. This multi-functional approach allows the gimbal to adapt to different operational requirements (manual operation, automatic tracking, fixed angle, variable angle) without requiring separate dedicated systems, thus improving adaptability while managing complexity through integration
Data Source
AI summary
A gimbal control method, a gimbal control system and a gimbal device are provided. The method includes steps of: obtaining simulation position information, measurement position information and simulation angular velocity information of a Pitch axis of a gimbal in real-time; calculating a first position error between the simulation position information of the Pitch axis and the measurement position information of the Pitch axis; processing the first position error with proportional-derivative calculation, wherein the first position error is compensated with the simulation angular velocity information during the proportional-derivative calculation; and, according to a result of the proportional-derivative calculation after compensating, generating a first torque control instruction for controlling a torque of a Pitch axis motor, so as to enable the Pitch axis to reach a position corresponding to the simulation position information of the Pitch axis. According to the present invention, a brush motor is adopted.