Gimbal Attitude Control Using Direct Force Sensing and IMU Feedback
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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 application using working parameters like motor currents, torques, and control deviations, allowing the gimbal to rotate to a target attitude based on the direction of the applied force, incorporating an inertial measurement unit (IMU) for feedback control.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Ease of operation
If 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 not high 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 handle, substituting the mechanical transmission path with a sensor-based detection system that directly measures applied forces and converts them to control signals, eliminating the instability of manual joystick operations.
Solution Approach 2:
The patent introduces a force sensing mechanism as an intermediary between the user's hand and the gimbal control system. This intermediary detects the force and direction of human input and translates it into precise control commands, serving as a mediator that converts natural human motion into accurate gimbal positioning without the instability of traditional mechanical controls.
2Productivity
If remote controller is used for gimbal control, then movement instructions can be transmitted, but repeated operations are needed for adjusting, resulting in loss of time
Solution Approach 1:
The patent replaces the multi-step mechanical control process with a direct force-to-motion conversion system. By sensing the force applied to the handle and directly translating it to gimbal movement, the system eliminates the repeated adjustment cycles required by traditional remote controls, significantly improving control efficiency and reducing time loss.
Solution Approach 2:
The patent enables continuous control action where the gimbal responds continuously to the force applied by the user. Unlike discrete joystick inputs that require release and re-pressing for continuous adjustment, the force sensing system maintains continuous feedback and adjustment as long as force is applied, eliminating idle time between adjustments and improving overall productivity.
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 upon the cumbersome and imprecise control of traditional remote-controlled gimbals.
Implementation Method 1
an inertial measurement unit (IMU) and a controller. The controller configured to obtain working parameters of the gimbal, and in response to detecting that the working parameter matches a preset condition that a human force is applied to the gimbal
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. The method further includes obtaining a working parameter of the gimbal when the gimbal is controlled by a remote controller; and in response to the measured working parameter being greater than the working parameter of the gimbal when the gimbal is controlled by the remote controller, controlling the motor to drive the axial arm to rotate to a target attitude.