Three-axis micro pan/tilt and control method thereof

Abstract

The invention discloses a three-axis miniature pan-tilt and its control method. The miniature pan-tilt includes a roll axis assembly, a pitch axis assembly and a yaw axis assembly, and is characterized in that the roll axis assembly, the pitch axis assembly and the The yaw axis components are respectively equipped with micro DC motors and IMU sensors for collecting the angular velocity and acceleration of each axis. The three micro DC motors and the three IMU sensors are respectively electrically connected to the processing circuit device; the control method is through the processing circuit The microprocessor of the board receives the three-axis angular velocity and acceleration data collected by the three IMU sensors in real time, so as to control the rotation of the micro DC motor on the roll axis assembly and the pitch axis assembly in real time. The three-axis miniature pan / tilt of the present invention is small in size, realizes miniaturization, can be mounted on a miniature unmanned aerial vehicle or a pocket unmanned aerial vehicle, provides clear and stable video images for users, and its control mode is simple at the same time.

Description

Technical field [0001] The invention relates to the technical field of pan / tilt heads, in particular to a three-axis miniature pan / tilt head and a control method thereof. Background technique [0002] The motor used for the gimbal connected to the existing drone is a brushless motor, and the brushless motor interface is A, B, and C three-phase. [0003] Such as figure 1 The flow chart of the existing gimbal control method is shown, which adopts three closed-loop control. The gimbal main control processor calculates the current roll, pitch and yaw angle of the gimbal through the IMU sensor to obtain the position of each axis of the gimbal Control quantity; the position control quantity of each axis of the pan / tilt forms a closed loop through the position controller to obtain the speed control quantity of each axis; the speed control quantity of each axis forms a closed loop through the speed controller to obtain the current control quantity of each axis; The current control quantit...

AI Technical Summary

Problems solved by technology

However, this kind of sensor has the disadvantages of physical friction and short life; and the sensor is large in size and cannot be miniaturized, resulting in a large size of the pan / tilt; There is physical friction, so the life is longer than the angle sensor

However, it requires external magnet cooperation and cannot be miniaturized

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