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A method of establishing a two-axis pan-tilt control system based on system identification

A control system and system identification technology, applied in the direction of electric controllers, controllers with specific characteristics, etc., can solve the problems of unfavorable design controllers, large errors and inability to accurately control the movement of two-axis gimbals

Active Publication Date: 2020-08-04
CHINA UNIV OF MINING & TECH
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Problems solved by technology

In addition, after each controller is added, interference factors will be introduced due to the sensor used for parameter measurement by the controller, which is not conducive to continuing to design the controller
Therefore, the currently designed control system has large errors in the use process and cannot accurately control the movement of the two-axis gimbal.

Method used

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  • A method of establishing a two-axis pan-tilt control system based on system identification
  • A method of establishing a two-axis pan-tilt control system based on system identification
  • A method of establishing a two-axis pan-tilt control system based on system identification

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Embodiment Construction

[0074] The present invention will be further described below.

[0075] As shown in the figure, the concrete steps of the present invention are:

[0076] (1) The Pitch axis and the Yaw axis of the two-axis pan / tilt are independently established to control the system; the two axes of the two-axis pan / tilt are controlled independently, and each axis uses a dual-loop controller with a position loop and a speed loop. The output of the controller is sent to the ESC, which integrates the current loop control inside the ESC, and the motor will control the movement of the gimbal under the drive of the ESC. The angular velocity information is fed back through the Inertial Measurement Unit (IMU) installed on the gimbal, and the position information is fed back through the magnetic encoder installed on the motor. control scheme such as figure 1 .

[0077] This control scheme is the control scheme of the continuous system, and the pan-tilt system is a discrete system in actual situation...

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Abstract

The invention discloses a method for establishing a two-axis cloud platform controlling system based on system identification. A multi-identification method is adopted to identify a cloud platform module, a velocity loop controller is established according to the model, a position loop controller is established according to a new system, and a cloud platform control system is obtained. Finally theperformance of the controller is analyzed through input and output of the cloud platform control system. The method has the advantages that the interference introduced by adding the controller is added to a newly identified system, and the accumulation errors are not amplified; compared with single identification, newly added external interference is considered by every controller designing in multi-identification, so that the designing of each controller is allowed to be close to the optimal under the situation. The control system has the advantages of high responding speed, good robustnessand large frequency bandwidth.

Description

technical field [0001] The invention relates to a method for establishing a two-axis pan-tilt control system, in particular to a method for establishing a two-axis pan-tilt control system based on system identification. Background technique [0002] Gimbals have a wide range of real-life applications, including object tracking, surveillance, border patrol, and entertainment. In addition, the gimbal is widely used on drones for aerial photography. [0003] There are linear and nonlinear models for the PTZ model. Centrifugal, Coulomb, and Coriolis forces are ignored in the linear model, but they are not ignored in the nonlinear model, and viscous friction, inertia, and mass are also introduced. [0004] For the above two models, it is necessary to determine the respective parameters. You can choose the method of mechanism modeling, by measuring the parameters of each part of the model, and substituting them into the model, ignoring or simplifying some parameters that are di...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): G05B11/42
CPCG05B11/42
Inventor 范逸辉郑行言赵达叶宾李会军程健朱美强
Owner CHINA UNIV OF MINING & TECH
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