Gimbal Motor Torque Ramp-Down for Safe Camera Power-Off
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Solution Overview
Problem
Existing gimbals cause damage to camera devices when powered off instantly, leading to collisions with axis walls or ground due to unbalanced center of gravity, resulting in poor user experience.
Innovation Solution
A gimbal control method and device that configures motor control parameters based on the mass of the camera device, gradually decreasing motor torque when powering off or entering a sleep state to prevent sudden impacts, using an inertial measurement unit (IMU) to calculate the moment of inertia and adjust control parameters accordingly.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Use of energy by moving object
If the motor is powered off instantly to save power and increase use time, then power consumption is reduced, but the camera device collides with axis wall or ground causing damage
Solution Approach 1:
The system performs preliminary action by gradually reducing motor torque before complete power-off. The controller decreases motor output torque in a controlled manner over time, allowing the camera device to maintain balanced state during the transition period, preventing sudden collisions that would occur with instant power-off
Solution Approach 2:
The system applies beforehand cushioning by using the motor's gradual torque reduction as a cushioning mechanism. The decreasing motor torque acts as a controlled deceleration force that cushions the transition from powered state to powered-off state, preventing the harsh impact that would otherwise occur when the motor suddenly stops supporting the camera device
2Object-affected harmful factors
If the motor torque is reduced gradually to prevent camera device collision, then impact damage is reduced, but power-off time is extended
Solution Approach 1:
The system applies dynamics by making the motor torque a dynamic parameter that changes over time rather than a static on/off state. The controller dynamically adjusts torque output during the power-off transition, creating a time-varying torque profile that balances protection needs with power-saving requirements, optimizing the trade-off between impact reduction and power-off duration
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
Prevents damage to camera devices by gradually reducing motor torque, ensuring a controlled shutdown that maintains balance and reduces impact, thereby enhancing user experience and protecting equipment.
Implementation Method 1
measuring an angular acceleration of the axis arm through an inertial measurement unit (IMU) arranged at the axis arm
Implementation Method 2
controlling a torque of the electric motor to decrease gradually from a starting moment at which the gimbal is powered off or enters the sleep state
Data Source
AI summary
A gimbal system includes a gimbal configured to support a load and including one or more motors configured to change an attitude of the load, one or more processors, and a memory coupled to the one or more processors and storing instructions that, when executed by the one or more processors, cause the system to obtain a target control parameter of the one or more motors, and, in response to the gimbal switching from a power-on state to a powered-off state or a sleep state, control, according to the target control parameter, a torque of at least one of the one or more motors to decrease at a first speed within a first time period and to decrease at a second speed within a second time period after the first time period. The second speed is lower than the first speed.