Tri-axial Gimbal Servo System with Quaternion Filtering
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Solution Overview
Problem
The stability and continuity of video data from vehicle-mounted cameras in driverless vehicles are compromised due to uncertain attitude changes caused by uneven road surfaces, steering, and braking, which affect the performance of tri-axial gimbals used in these systems.
Innovation Solution
A vehicle-mounted camera gimbal servo system with a tri-axial gimbal and a servo control apparatus, including pitch, roll, and yaw motors, along with an inertial measurement unit, actuator control unit, angular velocity loop control unit, and angular displacement loop control unit, utilizing quaternion complementary filtering, particle swarm optimization, and extended state observers to implement double closed-loop control and improve dynamic and anti-disturbance performance.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Stability of the object's composition
If a tri-axial gimbal is used to maintain camera stability during vehicle motion, then video data stability is improved, but the system becomes more complex and sensitive to disturbance factors
Solution Approach 1:
The patent implements double closed-loop control with angular velocity loop and angular displacement loop. The angular velocity loop uses feedback from angular velocity sensors to generate control signals, while the angular displacement loop uses feedback from position sensors to adjust the gimbal angles, ensuring video stability despite vehicle motion disturbances
Solution Approach 2:
The patent replaces purely mechanical gimbal stabilization with an electro-mechanical control system. Motors (pitch motor, roll motor, yaw motor) are used to actively control gimbal angles based on sensor feedback, substituting passive mechanical balancing with active electronic control
2Reliability
If the gimbal system is designed to compensate for vehicle attitude changes, then anti-disturbance performance is improved, but the control system complexity increases
Solution Approach 1:
The patent uses feedback from inertial measurement units and angular velocity sensors to detect vehicle attitude changes in real-time. The control system processes this feedback information and adjusts motor outputs to compensate for disturbances, improving reliability through continuous monitoring and correction
Solution Approach 2:
The control system is divided into separate functional modules: angular velocity loop control, angular displacement loop control, pitch/roll/yaw motor control, and sensor processing. This segmentation allows each module to be optimized independently while working together to achieve overall anti-disturbance performance
3Speed
If double closed-loop control is implemented with angular velocity and angular displacement loops, then dynamic performance is improved, but the device complexity and control difficulty increase
Solution Approach 1:
The control system is divided into nested loops: the inner angular velocity loop handles rapid dynamic responses, while the outer angular displacement loop manages position accuracy. This segmentation allows each loop to operate at its optimal response speed without interfering with the other, improving overall dynamic performance
Solution Approach 2:
The angular velocity loop anticipates and responds to rapid changes before they affect the final position. By pre-correcting velocity deviations, the system prepares for position adjustments, improving dynamic response without requiring overly complex control algorithms
4Measurement precision
If position sensors are added to all three motors for closed-loop control, then measurement precision is improved, but the device complexity and cost increase
Solution Approach 1:
Position sensors (encoders) are added to the pitch motor, roll motor, and yaw motor to provide feedback on actual gimbal angles. This feedback enables the angular displacement loop to compare target positions with actual positions and make precise corrections, improving measurement precision through direct sensing
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 system enhances the dynamic performance and anti-disturbance capabilities of the camera gimbal, ensuring stable video data and improving the safety of driverless vehicles by compensating for gravitational unbalance and real-time system disturbances.
Implementation Method 1
an inertial measurement unit, mounted on the camera (11), configured to measure angular velocity information and angular displacement information of the camera (11), and generate precise angular displacement information by using a quaternion complementary filtering algorithm
Implementation Method 2
the counterweight block (13) is connected on the pitch arm (4) in a threaded manner, to compensate for a gravitational unbalance moment in a roll direction caused by the self-weight of the pitch motor
Implementation Method 3
the pitch motor includes a pitch motor stator (2) and a pitch motor rotor (3); the yaw motor includes a yaw motor stator (6) and a yaw motor rotor (8); the roll motor includes a roll motor stator (9) and a roll motor rotor (10)
Data Source
AI summary
Disclosed are a vehicle-mounted camera gimbal servo system and a control method. The vehicle-mounted camera gimbal servo system includes a camera tri-axial gimbal and a servo control apparatus. The camera tri-axial gimbal includes a pitch motor, a roll motor, a yaw motor, a roll arm (1), a pitch arm (4), a yaw arm (5), a gimbal top (7), a camera (11), a pitch-axis bearing (12), and a counterweight block (13); the pitch motor includes a pitch motor stator (2) and a pitch motor rotor (3); the yaw motor includes a yaw motor stator (6) and a yaw motor rotor (8); the roll motor includes a roll motor stator (9) and a roll motor rotor (10); the servo control apparatus includes an inertial measurement unit, a three-dimensional modeling control unit, an angular velocity loop control unit, and an angular displacement loop control unit.