Gimbal Rotation Control for Transmission Jitter Smoothing

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Solution Overview

Problem

Gimbal rotation is affected by transmission jitter, leading to delayed and buffered rotation due to unpredictable time intervals between command receptions, which cannot be adequately addressed by configuring gimbal sensitivity.

Innovation Solution

A method where the gimbal rotates to a target angle in a pre-set time period, and if no new command is received, it estimates a subsequent angle based on previous commands to continue rotation in another pre-set time period, ensuring continuous operation.

Engineering Contradictions & Design Principles

VSEngineering Contradiction Analysis

1Stability of the object's composition

If a pre-set rotation time is configured to control gimbal rotation speed, then the gimbal rotation smoothness is improved, but the response speed to new commands deteriorates

Engineering Contradiction:

Improvegimbal rotation smoothnessVSAvoidresponse speed to new commands

Core Design Contradiction:

Stability of the object's compositionVSSpeed

Solution Approach 1:

The system dynamically adjusts the rotation time based on whether a new command is received during the current rotation period. When no new command arrives, the original pre-set rotation time is used to maintain smooth rotation. When a new command is received, the rotation time is extended to accommodate the new target angle, thereby adapting the rotation behavior in real-time to resolve the contradiction between smoothness and responsiveness.

Inventive Principle:

Principle #15Dynamics

Solution Approach 2:

The rotation time parameter is changed from a fixed pre-set value to a variable that can be extended based on command reception status. This parameter change allows the system to maintain smooth rotation under normal conditions while rapidly responding to new commands when they arrive, effectively resolving the contradiction between rotation smoothness and response speed.

Inventive Principle:

Principle #35Parameter changes

2Reliability

If the rotation time is configured to be large to handle transmission jitter, then the gimbal can accommodate unpredictable command intervals, but the gimbal rotation becomes substantially slow and inefficient

Engineering Contradiction:

Improveability to handle transmission jitterVSAvoidgimbal rotation efficiency

Core Design Contradiction:

ReliabilityVSProductivity

Solution Approach 1:

Instead of using a uniformly large rotation time to handle all possible transmission jitter scenarios, the system dynamically adjusts the rotation time based on actual command reception patterns. The rotation time remains at the optimal pre-set value for normal operation, and is only extended when necessary to handle unexpected command intervals, thereby maintaining high rotation efficiency while still accommodating transmission jitter.

Inventive Principle:

Principle #15Dynamics

Solution Approach 2:

The system prepares for transmission jitter by having a mechanism to extend rotation time when needed, but does not continuously operate with an extended rotation time. The pre-set rotation time is optimized for normal efficient operation, and the extension capability serves as a preliminary preparedness measure that is activated only when transmission jitter actually occurs, thus avoiding the inefficiency of continuously using a large rotation time.

Inventive Principle:

Principle #10Preliminary action

3Measurement precision

If the gimbal waits for new commands before rotating, then it can accurately follow commanded angles, but delaying and buffering occur when commands are not timely received

Engineering Contradiction:

Improveaccuracy of following commanded anglesVSAvoiddelaying and buffering time

Core Design Contradiction:

Measurement precisionVSLoss of time

Solution Approach 1:

The system performs preliminary action by starting the gimbal rotation immediately upon receiving a command, without waiting for subsequent commands. The rotation begins towards the commanded angle while the system simultaneously monitors for new commands. This preliminary rotation action eliminates the delay and buffering that would occur if the system waited for all commands to arrive before initiating rotation, while still maintaining accuracy by allowing new commands to update the target angle during rotation.

Inventive Principle:

Principle #10Preliminary action

Solution Approach 2:

The gimbal rotation is made continuous rather than intermittent. Instead of waiting for command batches and then rotating, the system continuously rotates the gimbal towards the current commanded angle, maintaining uninterrupted useful action. This continuous rotation eliminates delays and buffering, while the system remains ready to receive and respond to new commands that may arrive during the rotation process.

Inventive Principle:

Principle #20Continuity of useful action

Data Source

PatentUS11279497B2Gimbal rotation method, gimbal, aircraft, and method and system for controlling rotation of gimbal

Publication Date: 2022.03.22 SZ DJI TECH CO LTD

AI summary

A gimbal rotation method includes controlling a driving assembly based on an angle command indicating a target angle to drive a gimbal to rotate to the target angle in a first time period having a pre-set length, determining whether a new angle command is received within the first time period, and, if not, estimating an estimated target angle based on gimbal rotation angles indicated by a plurality of previously-received angle commands and controlling the driving assembly to drive the gimbal to rotate from the target angle to the estimated target angle in a second time period having the pre-set length.