CN102621995A - Frame type three degree-of-freedom cradle head control system and control method thereof - Google Patents

Abstract

Translated fromChinese

本发明公开了一种框架式三自由度云台控制系统及其控制方法，该系统包括外、中、内三个框架、控制各个框架动作的电机、齿轮减速机构、用于位置和速度检测的传感器模块。其特殊之处是云台的方位微调和俯仰控制都是采用的稀土永磁直流力矩电机直接驱动。外框架采用普通直流电机和一对减速齿轮机构实现方位粗调，由稀土永磁直流力矩电机直接驱动的中框架结构实现拍摄装置的俯仰运动控制，由稀土永磁直流力矩电机直接驱动的内框架结构实现拍摄装置的方位微调。本发明还提供了一种基于上述系统的控制方法。本发明机械强度大，抗振动特性好，稳像性能好，结构简单、重量轻，适用于航空拍摄以及多种航天应用。

The invention discloses a frame-type three-degree-of-freedom pan-tilt control system and a control method thereof. The system includes outer, middle and inner frames, a motor for controlling the action of each frame, a gear reduction mechanism, and a device for position and speed detection. sensor module. Its special feature is that the azimuth fine-tuning and pitch control of the gimbal are directly driven by rare-earth permanent magnet DC torque motors. The outer frame adopts an ordinary DC motor and a pair of reduction gear mechanisms to realize the coarse adjustment of the azimuth. The middle frame structure directly driven by the rare earth permanent magnet DC torque motor realizes the pitching motion control of the shooting device. The inner frame is directly driven by the rare earth permanent magnet DC torque motor. The structure realizes the fine adjustment of the orientation of the shooting device. The present invention also provides a control method based on the above system. The invention has high mechanical strength, good anti-vibration performance, good image stabilization performance, simple structure and light weight, and is suitable for aerial photography and various aerospace applications.

Description

Translated fromChinese

一种框架式三自由度云台控制系统及其控制方法A frame-type three-degree-of-freedom pan-tilt control system and control method thereof

技术领域technical field

本发明涉及监测设备研究领域，特别涉及一种框架式三自由度云台控制系统及其控制方法。The invention relates to the field of monitoring equipment research, in particular to a frame-type three-degree-of-freedom pan-tilt control system and a control method thereof.

背景技术Background technique

目前，视频监控系统应用场合越来越多，尤其是在航空航拍、环境监测、公安、消防、救援以及民用方面等领域得到了广泛应用。为了使摄像头能够实时的根据需要进行多角度的调整，多自由度云台应运而生。多自由度云台是将带有CCD摄像机或红外探测仪等设备安装于云台上，将云台安装于载机上，其中云台上还设置有传感器，云台控制系统根据传感器信号对摄像机或红外探测仪的方位和俯仰位置进行控制。但是目前的多自由度云台精度不高，对于一些精度要求较高的领域，例如军事监测等领域尚无法实现精确测量。At present, there are more and more application occasions for video surveillance systems, especially in the fields of aerial photography, environmental monitoring, public security, fire fighting, rescue and civilian use. In order to enable the camera to adjust multiple angles in real time as needed, a multi-degree-of-freedom pan/tilt came into being. The multi-degree-of-freedom pan/tilt is to install equipment such as a CCD camera or an infrared detector on the pan/tilt, and install the pan/tilt on the carrier, wherein the pan/tilt is also equipped with a sensor, and the pan/tilt control system controls the camera or camera according to the sensor signal. The azimuth and elevation position of the infrared detector is controlled. However, the accuracy of the current multi-degree-of-freedom pan/tilt is not high, and for some fields that require high precision, such as military monitoring, it is still impossible to achieve accurate measurement.

目前，国内外也进行了大量研究，有的精度不高，有的实现采用的机械结构和控制系统较为复杂，体积大且笨重，不利于推广应用。因此，需要提供一种结构简单、实现方便、且成本低、精度高的多自由度云台控制系统和方法。At present, a large number of researches have been carried out at home and abroad, some of which are not high in precision, and some of which are implemented with complex mechanical structures and control systems, which are large and heavy, which is not conducive to popularization and application. Therefore, it is necessary to provide a multi-degree-of-freedom pan-tilt control system and method with simple structure, convenient implementation, low cost and high precision.

发明内容Contents of the invention

本发明的主要目的在于克服现有技术的缺点与不足，提供一种框架式三自由度云台控制系统，该系统具有结构简单、精度高的优点。本发明还提供了一种基于上述框架式三自由度云台控制系统的控制方法，该方法具有控制精度高、实现方便的优点。The main purpose of the present invention is to overcome the shortcomings and deficiencies of the prior art, and provide a frame-type three-degree-of-freedom pan-tilt control system, which has the advantages of simple structure and high precision. The present invention also provides a control method based on the frame-type three-degree-of-freedom pan-tilt control system, which has the advantages of high control precision and convenient implementation.

本发明的目的通过以下的技术方案实现：一种框架式三自由度云台控制系统，包括第一支座安装板、第二支座安装板、外框架驱动电机、齿轮减速机构、内框架稀土永磁直流力矩电机、中框架稀土永磁直流力矩电机、传感器模块、内框架、中框架、外框架和电机控制模块，所述第一支座安装板与外部固定连接，齿轮减速机构设置在第一支座安装板和第二支座安装板上，外框架设置在第二支座安装板上，外框架驱动电机通过驱动齿轮减速机构进而驱动外框架进行方位角调节；中框架与外框架连接，中框架稀土永磁直流力矩电机用于驱动中框架进行俯仰角调节；内框架与中框架连接，内框架稀土永磁直流力矩电机用于驱动内框架进行方位角调节；传感器模块包括3组传感器，分别用于检测内框架、中框架、外框架的位置和转动速率，传感器模块与电机控制模块相连，外框架驱动电机、内框架稀土永磁直流力矩电机、中框架稀土永磁直流力矩电机均分别与电机控制模块相连，电机控制模块用于接收各个传感器信号并根据信号向电机发出控制信号；内框架内固定设置一个安装板，检测装置固定安装在安装板上。The purpose of the present invention is achieved through the following technical solutions: a frame-type three-degree-of-freedom pan-tilt control system, including a first support mounting plate, a second support mounting plate, an outer frame drive motor, a gear reduction mechanism, and an inner frame rare earth Permanent magnet DC torque motor, medium frame rare earth permanent magnet DC torque motor, sensor module, inner frame, middle frame, outer frame and motor control module, the first support mounting plate is fixedly connected to the outside, and the gear reduction mechanism is set at the A base mounting plate and a second support mounting plate, the outer frame is set on the second support mounting plate, the outer frame drive motor drives the outer frame through the drive gear reduction mechanism to adjust the azimuth angle; the middle frame is connected with the outer frame , the middle frame rare earth permanent magnet DC torque motor is used to drive the middle frame to adjust the pitch angle; the inner frame is connected to the middle frame, and the inner frame rare earth permanent magnet DC torque motor is used to drive the inner frame to adjust the azimuth angle; the sensor module includes 3 sets of sensors , which are used to detect the position and rotation speed of the inner frame, middle frame and outer frame respectively. The sensor module is connected with the motor control module. The outer frame drive motor, inner frame rare earth permanent magnet DC torque motor, and middle frame rare earth permanent magnet DC torque motor They are respectively connected with the motor control module, and the motor control module is used to receive signals from various sensors and send control signals to the motor according to the signals; a mounting plate is fixedly arranged in the inner frame, and the detection device is fixedly installed on the mounting plate.

优选的，所述外框架驱动电机为直流电机。Preferably, the outer frame drive motor is a DC motor.

优选的，所述齿轮减速机构包括第一减速齿轮和第二减速齿轮，第一减速齿轮和第二减速齿轮的传动比为65∶1-75∶1。Preferably, the gear reduction mechanism includes a first reduction gear and a second reduction gear, and the transmission ratio between the first reduction gear and the second reduction gear is 65:1-75:1.

优选的，所述第二支座安装板和外框架通过螺栓连接；外框架驱动电机设置在第二支座安装板上。安装方便，且结构较小。Preferably, the second support mounting plate and the outer frame are connected by bolts; the driving motor of the outer frame is arranged on the second support mounting plate. It is easy to install and has a small structure.

优选的，所述用于检测外框架位置和转动速率的位置传感器和速率传感器均固定设置在外框架中轴线与第一支座安装板的交点处。Preferably, the position sensor and speed sensor for detecting the position and rotation rate of the outer frame are both fixedly arranged at the intersection of the central axis of the outer frame and the mounting plate of the first support.

优选的，所述用于检测中框架位置的位置传感器固定在外框架与中框架连接处的外框架外侧，用于检测中框架转动速率的速率传感芯片固定设置在位置传感器的表面，中框架稀土永磁直流力矩电机设置在外框架的另一侧，其中位置传感器与中框架稀土永磁直流力矩电机同轴安装。Preferably, the position sensor for detecting the position of the middle frame is fixed on the outside of the outer frame at the connection between the outer frame and the middle frame, and the speed sensor chip for detecting the rotation rate of the middle frame is fixedly arranged on the surface of the position sensor, and the middle frame is rare earth The permanent magnet DC torque motor is arranged on the other side of the outer frame, and the position sensor is coaxially installed with the rare earth permanent magnet DC torque motor of the middle frame.

优选的，所述用于检测内框架位置的位置传感器固定在中框架与内框架连接处中框架外侧，用于检测内框架转动速率的速率传感芯片固定设置在位置传感器的表面，内框架稀土永磁直流力矩电机设置在中框架的另一侧，其中位置传感器与内框架稀土永磁直流力矩电机同轴安装。Preferably, the position sensor for detecting the position of the inner frame is fixed on the outer side of the middle frame at the connection between the middle frame and the inner frame, and the speed sensor chip for detecting the rotation rate of the inner frame is fixedly arranged on the surface of the position sensor, and the inner frame is rare earth The permanent magnet DC torque motor is arranged on the other side of the middle frame, and the position sensor is coaxially installed with the rare earth permanent magnet DC torque motor of the inner frame.

优选的，所述内框架、中框架和外框架均采用航空用碳纤维。航空用碳纤维的比重不到钢的1/4，材料抗拉强度一般都在3500Mpa以上，是钢的7～9倍，抗拉弹性模量为230～430Gpa亦高于钢。Preferably, the inner frame, middle frame and outer frame are all made of aviation carbon fiber. The specific gravity of carbon fiber for aviation is less than 1/4 of that of steel. The tensile strength of the material is generally above 3500Mpa, which is 7 to 9 times that of steel. The tensile elastic modulus of 230 to 430Gpa is also higher than that of steel.

一种基于上述框架式三自由度云台控制系统的控制方法，包括以下步骤：A control method based on the above-mentioned frame-type three-degree-of-freedom pan-tilt control system, comprising the following steps:

(1)对方位和俯仰角度的调节：首先将待跟踪拍摄的目标相对惯性空间坐标系的三维坐标与检测装置当前相对于惯性坐标系的三维坐标进行比对，根据坐标差值再结合机构运动学分析，利用矩阵坐标变换得出检测装置转向目标位置所需的方位角和俯仰角度；(1) Adjustment of azimuth and pitch angle: first compare the three-dimensional coordinates of the target to be tracked and photographed relative to the inertial space coordinate system with the current three-dimensional coordinates of the detection device relative to the inertial coordinate system, and then combine the movement of the mechanism according to the coordinate difference Through scientific analysis, the azimuth and elevation angles required for the detection device to turn to the target position are obtained by matrix coordinate transformation;

然后将上述方位角与俯仰角度信息经功率放大器放大后发送到外框架驱动电机和中框架稀土永磁直流力矩电机进行调节，外框架驱动电机根据方位角信息对方位进行调节，中框架稀土永磁直流力矩电机对俯仰角度进行调节；Then the above azimuth and pitch angle information is amplified by the power amplifier and sent to the outer frame drive motor and the middle frame rare earth permanent magnet DC torque motor for adjustment. The outer frame drive motor adjusts the azimuth according to the azimuth information, and the middle frame rare earth permanent magnet The pitch angle is adjusted by DC torque motor;

上述调节完成后，再次将待跟踪拍摄目标的方位角度信息与当前的角度信息进行比较得出新的方位角差值，如果此方位角差值不为0，则将此方位角差值经功率放大器放大后发送到内框架稀土永磁直流力矩电机，内框架稀土永磁直流力矩电机对方位进行进一步调节；After the above adjustments are completed, compare the azimuth angle information of the target to be tracked and the current angle information again to obtain a new azimuth angle difference. If the azimuth angle difference is not 0, the azimuth angle difference After the amplifier is amplified, it is sent to the inner frame rare earth permanent magnet DC torque motor, and the inner frame rare earth permanent magnet DC torque motor further adjusts the orientation;

在上述调节过程中，各电机一旦完成目标的位置信息差值调节，则此电机停止运动，待所有电机均停止动作，则调节完成；In the above adjustment process, once each motor completes the adjustment of the position information difference of the target, the motor stops moving, and when all the motors stop, the adjustment is completed;

(2)对速度的调节：根据目标运动情况、拍摄图像的质量要求、目标与当前检测装置三维位置信息，得出拍摄的最优时间和所需转过的方位角度和俯仰角度，进而得到最优运行速度，速度大小的调节采用PWM的占空比可调的调节方式。(2) Adjustment of speed: According to the movement of the target, the quality requirements of the captured image, and the three-dimensional position information of the target and the current detection device, the optimal time for shooting and the azimuth and pitch angles required to be rotated are obtained, and then the optimal time is obtained. Optimum running speed, the adjustment of the speed adopts the adjustable duty cycle of PWM.

优选的，用于检测外框架位置的传感器模块实时地传递当前外框架的位置信息，一旦当前的位置信息与待跟踪拍摄的三维位置信息差值为零，则外框架驱动电机停止运动，实现方位角度的闭环调节；Preferably, the sensor module used to detect the position of the outer frame transmits the position information of the current outer frame in real time. Once the difference between the current position information and the three-dimensional position information to be tracked and photographed is zero, the outer frame drive motor stops moving to realize the orientation Angle closed-loop adjustment;

用于检测中框架位置的传感器模块实时地传递当前中框架的位置信息，一旦当前的位置信息与待跟踪拍摄的三维位置信息差值为零，则中框架稀土永磁直流力矩电机停止运动，实现俯仰角度的闭环调节；The sensor module used to detect the position of the middle frame transmits the current position information of the middle frame in real time. Once the difference between the current position information and the three-dimensional position information to be tracked and photographed is zero, the rare earth permanent magnet DC torque motor of the middle frame stops moving, realizing Closed-loop adjustment of pitch angle;

用于检测内框架位置的传感器模块实时地传递当前内框架的位置信息，一旦当前的位置信息与待跟踪拍摄的三维位置信息差值为零，则内框架稀土永磁直流力矩电机停止运动，实现方位角度的闭环调节。采用闭环调节，使控制精度更高。The sensor module used to detect the position of the inner frame transmits the current position information of the inner frame in real time. Once the difference between the current position information and the three-dimensional position information to be tracked and photographed is zero, the rare earth permanent magnet DC torque motor of the inner frame stops moving, realizing Closed-loop adjustment of azimuth angle. Closed-loop adjustment is adopted to make the control accuracy higher.

优选的，所述速度调节采用闭环调节方式，即将计算出的最优运行速度作为速度闭环系统的输入速度，在运动过程中对各个框架运行速度进行实时检测作为系统反馈，将二者之间的速度差值经过PWM功率放大后去调节对应电机的运行速度。Preferably, the speed adjustment adopts a closed-loop adjustment method, that is, the calculated optimal running speed is used as the input speed of the speed closed-loop system, and the running speed of each frame is detected in real time during the movement as system feedback, and the difference between the two The speed difference is amplified by the PWM power to adjust the running speed of the corresponding motor.

更进一步的，所述方位和俯仰角度的调节、速度的调节采用位置、速度双闭环串级调节，其中位置调节器的输出作为速度调节的输入。Further, the adjustment of the azimuth and pitch angle, and the adjustment of the speed adopt the double closed-loop cascade adjustment of position and speed, wherein the output of the position regulator is used as the input of the speed adjustment.

本发明与现有技术相比，具有如下优点和有益效果：Compared with the prior art, the present invention has the following advantages and beneficial effects:

1、本发明结构简单，零件数量少，加工制造容易，重量轻，机械强度高，不存在动力学耦合，能够抗击风阻和载体姿态变化所产生的扰动，通过控制方位角和俯仰角度，保持视轴稳定。框架起到载机和摄像仪或光学传感器的结构上的连接作用和隔离扰动的作用。适用于航空航天，航拍或监测等领域，可用于高空探测和灾情监测等。1. The present invention has a simple structure, a small number of parts, easy processing and manufacturing, light weight, high mechanical strength, no dynamic coupling, and can resist disturbances caused by wind resistance and carrier attitude changes. By controlling the azimuth and pitch angles, it can maintain the The shaft is stable. The frame plays the role of structural connection between the carrier aircraft and the camera or optical sensor and the function of isolating disturbances. It is suitable for aerospace, aerial photography or monitoring and other fields, and can be used for high-altitude detection and disaster monitoring.

2、本发明中各框架均采用直流电机直接驱动，减少了中间传动环节，提高了系统的效率，同时提高了机械结构的刚度，有利于抗击扰动和振动。2. In the present invention, each frame is directly driven by a DC motor, which reduces the intermediate transmission links, improves the efficiency of the system, and improves the rigidity of the mechanical structure at the same time, which is beneficial to resist disturbance and vibration.

3、本发明中采用稀土永磁直流力矩电机直接驱动，传动效率高，转动惯量小，机电时间常数小，快速启动性能好。能够长时间工作在堵转，实现无级调速且调速范围宽，能够实现方位和俯仰的精确快速控制。3. In the present invention, a rare earth permanent magnet DC torque motor is used for direct drive, which has high transmission efficiency, small moment of inertia, small electromechanical time constant, and good quick start performance. It can work in locked rotor for a long time, realize stepless speed regulation and wide speed regulation range, and can realize precise and fast control of azimuth and pitch.

附图说明Description of drawings

图1是本发明装置的结构示意图；Fig. 1 is the structural representation of device of the present invention;

图2是本发明装置中齿轮传动机构处的结构示意图；Fig. 2 is the structural representation of gear transmission mechanism place in the device of the present invention;

图3是本发明方法的控制流程图；Fig. 3 is the control flowchart of the inventive method;

图4是本发明方法中位置闭环调节原理图；Fig. 4 is a schematic diagram of position closed-loop adjustment in the method of the present invention;

图5是本发明方法中速度最优解算原理示意图；Fig. 5 is a schematic diagram of the speed optimal solution principle in the method of the present invention;

图6是本发明方法中速度闭环调节原理图；Fig. 6 is a schematic diagram of speed closed-loop adjustment in the method of the present invention;

图7是本发明方法中位置、速度双闭环调节原理图；Fig. 7 is a schematic diagram of position and speed double closed-loop adjustment in the method of the present invention;

图8是本发明装置中稀土永磁直流力矩电机H桥驱动原理图。Fig. 8 is a driving principle diagram of the H-bridge of the rare earth permanent magnet DC torque motor in the device of the present invention.

图1-2中：101-第一支座安装板、102-第二支座安装板、201-第一组传感器模块、202-第二组传感器模块、203-第三组传感器模块、301-外框架驱动电机、302-中框架稀土永磁直流力矩电机、303-内框架稀土永磁直流力矩电机、401-齿轮减速机构、4011-第一减速齿轮、4012-第二减速齿轮、501-外框架、502-中框架、503-内框架。In Figure 1-2: 101-the first support mounting plate, 102-the second support mounting plate, 201-the first group of sensor modules, 202-the second group of sensor modules, 203-the third group of sensor modules, 301- Outer frame drive motor, 302-medium frame rare earth permanent magnet DC torque motor, 303-inner frame rare earth permanent magnet DC torque motor, 401-gear reduction mechanism, 4011-first reduction gear, 4012-second reduction gear, 501-outer Frame, 502-middle frame, 503-inner frame.

具体实施方式Detailed ways

下面结合实施例及附图对本发明作进一步详细的描述，但本发明的实施方式不限于此。The present invention will be further described in detail below in conjunction with the embodiments and the accompanying drawings, but the embodiments of the present invention are not limited thereto.

实施例1Example 1

如图1所示，一种框架式三自由度云台控制系统，包括第一支座安装板101、第二支座安装板102、外框架驱动电机301、齿轮减速机构401、内框架稀土永磁直流力矩电机303、中框架稀土永磁直流力矩电机302、传感器模块、内框架503、中框架502、外框架501和电机控制模块，所述第一支座安装板101与外部固定连接，齿轮减速机构401设置在第一支座安装板101和第二支座安装板102上，外框架501设置在第二支座安装板102上，外框架驱动电机301通过驱动齿轮减速机构401进而驱动外框架501进行方位角调节；中框架502与外框架501连接，中框架稀土永磁直流力矩电机302用于驱动中框架502进行俯仰角调节；内框架503与中框架502连接，内框架稀土永磁直流力矩电机303用于驱动内框架503进行方位角调节。传感器模块包括3组传感器，第一组传感器模块201用于检测外框架的位置和转动速率，第二组传感器模块202用于检测中框架的位置和转动速率，第三组传感器模块203用于检测内框架的位置和转动速率，传感器模块与电机控制模块相连，外框架驱动电机301、内框架稀土永磁直流力矩电机303、中框架稀土永磁直流力矩电机302均分别与电机控制模块相连，电机控制模块用于接收各个传感器信号并根据信号向电机发出控制信号；内框架503内固定设置一个安装板，检测装置固定安装在安装板上。检测装置可以为摄像机或光学传感器等。As shown in Figure 1, a frame-type three-degree-of-freedom pan/tilt control system includes a firstsupport mounting plate 101, a secondsupport mounting plate 102, an outerframe driving motor 301, agear reduction mechanism 401, and an inner frame rare earth permanent MagneticDC torque motor 303, middle frame rare earth permanent magnetDC torque motor 302, sensor module,inner frame 503,middle frame 502,outer frame 501 and motor control module, the firstsupport mounting plate 101 is fixedly connected with the outside, and the gear Thereduction mechanism 401 is arranged on the firstsupport mounting plate 101 and the secondsupport mounting plate 102, theouter frame 501 is arranged on the secondsupport mounting plate 102, and the outerframe driving motor 301 drives the outer frame through the drivegear reduction mechanism 401. Theframe 501 is used to adjust the azimuth angle; themiddle frame 502 is connected with theouter frame 501, and the rare earth permanent magnetDC torque motor 302 of the middle frame is used to drive themiddle frame 502 to adjust the pitch angle; theinner frame 503 is connected with themiddle frame 502, and the rare earth permanent magnet of the inner frame TheDC torque motor 303 is used to drive theinner frame 503 to adjust the azimuth angle. The sensor module includes 3 groups of sensors, the first group ofsensor modules 201 is used to detect the position and rotation rate of the outer frame, the second group ofsensor modules 202 is used to detect the position and rotation speed of the middle frame, and the third group ofsensor modules 203 is used to detect The position and rotational speed of the inner frame, the sensor module is connected with the motor control module, the outerframe drive motor 301, the inner frame rare earth permanent magnetDC torque motor 303, and the middle frame rare earth permanent magnetDC torque motor 302 are respectively connected with the motor control module, the motor The control module is used to receive signals from various sensors and send control signals to the motor according to the signals; a mounting plate is fixedly arranged in theinner frame 503, and the detection device is fixedly installed on the mounting plate. The detection device may be a camera or an optical sensor.

本实施例中，所述外框架驱动电机301为直流电机。所述电机控制模块采用AVRmega16L芯片，用于检测位置的位置传感器采用SAKAE电位器，用于检测转动速率的速率传感器采用ENC-03M型角速度传感器，采用功率驱动芯片L298N驱动电机。In this embodiment, the outerframe driving motor 301 is a DC motor. The motor control module adopts AVRmega16L chip, the position sensor for detecting position adopts SAKAE potentiometer, the speed sensor for detecting rotation rate adopts ENC-03M type angular velocity sensor, and adopts power drive chip L298N to drive the motor.

如图2所示，所述齿轮减速机构401包括第一减速齿轮4011和第二减速齿轮4012，第一减速齿轮4011和第二减速齿轮4012的传动比为65∶1。根据实际要求，此传动比可在65∶1-75∶1之间进行选择。As shown in FIG. 2 , thegear reduction mechanism 401 includes afirst reduction gear 4011 and asecond reduction gear 4012 , and the transmission ratio between thefirst reduction gear 4011 and thesecond reduction gear 4012 is 65:1. According to actual requirements, the transmission ratio can be selected between 65:1-75:1.

如图1所示，本实施例中，所述第二支座安装板102和外框架501通过螺栓连接；外框架驱动电机301设置在第二支座安装板102上。安装方便，且结构较小。As shown in FIG. 1 , in this embodiment, the secondsupport mounting plate 102 and theouter frame 501 are connected by bolts; the outerframe driving motor 301 is arranged on the secondsupport mounting plate 102 . It is easy to install and has a small structure.

如图1所示，所述用于检测外框架位置和转动速率的第一组传感器模块201均固定设置在外框架501中轴线与第一支座安装板101的交点处。所述第二组传感器模块202中用于检测中框架502位置的位置传感器固定在外框架501与中框架502连接处的外框架外侧，第二组传感器模块202中用于检测中框架转动速率的速率传感芯片固定设置在位置传感器的表面，中框架稀土永磁直流力矩电机302设置在外框架的另一侧，其中位置传感器与中框架稀土永磁直流力矩电机同轴安装。所述第三组传感器模块203中用于检测内框架位置的位置传感器固定在中框架502与内框架503连接处中框架外侧，第三组传感器模块203中用于检测内框架转动速率的速率传感芯片固定设置在位置传感器的表面，内框架稀土永磁直流力矩电机303设置在中框架502的另一侧，其中位置传感器与内框架稀土永磁直流力矩电机同轴安装。As shown in FIG. 1 , the first group ofsensor modules 201 for detecting the position and rotation rate of the outer frame are fixedly arranged at the intersection of the central axis of theouter frame 501 and the firstsupport mounting plate 101 . The position sensor used to detect the position of themiddle frame 502 in the second group ofsensor modules 202 is fixed on the outside of the outer frame at the junction of theouter frame 501 and themiddle frame 502, and the second group ofsensor modules 202 is used to detect the speed of the middle frame rotation rate. The sensor chip is fixedly arranged on the surface of the position sensor, and the middle frame rare earth permanent magnetDC torque motor 302 is arranged on the other side of the outer frame, wherein the position sensor and the middle frame rare earth permanent magnet DC torque motor are coaxially installed. The position sensor used to detect the position of the inner frame in the third group ofsensor modules 203 is fixed on the outside of the middle frame at the connection between themiddle frame 502 and theinner frame 503, and the speed sensor used to detect the rotation rate of the inner frame in the third group ofsensor modules 203 The sensing chip is fixedly arranged on the surface of the position sensor, and the inner frame rare earth permanent magnetDC torque motor 303 is arranged on the other side of themiddle frame 502, wherein the position sensor and the inner frame rare earth permanent magnet DC torque motor are installed coaxially.

本实施例中，所述内框架503、中框架502和外框架501均采用航空用碳纤维。航空用碳纤维的比重不到钢的1/4，材料抗拉强度一般都在3500Mpa以上，是钢的7～9倍，抗拉弹性模量为230～430Gpa亦高于钢。In this embodiment, theinner frame 503 , themiddle frame 502 and theouter frame 501 are all made of aviation carbon fiber. The specific gravity of carbon fiber for aviation is less than 1/4 of that of steel. The tensile strength of the material is generally above 3500Mpa, which is 7 to 9 times that of steel. The tensile elastic modulus of 230 to 430Gpa is also higher than that of steel.

如图3所示，一种基于上述框架式三自由度云台控制系统的控制方法，包括以下步骤：As shown in Figure 3, a control method based on the above-mentioned frame-type three-degree-of-freedom pan-tilt control system includes the following steps:

(1)对方位和俯仰角度的调节：首先将待跟踪拍摄的目标相对惯性空间坐标系的三维坐标与检测装置当前相对于惯性坐标系的三维坐标进行比对，根据坐标差值再结合机构运动学分析，利用矩阵坐标变换得出检测装置转向目标位置所需的方位角和俯仰角度；(1) Adjustment of azimuth and pitch angle: first compare the three-dimensional coordinates of the target to be tracked and photographed relative to the inertial space coordinate system with the current three-dimensional coordinates of the detection device relative to the inertial coordinate system, and then combine the movement of the mechanism according to the coordinate difference Through scientific analysis, the azimuth and elevation angles required for the detection device to turn to the target position are obtained by matrix coordinate transformation;

然后将上述方位角与俯仰角度信息经功率放大器放大后发送到外框架驱动电机和中框架稀土永磁直流力矩电机进行调节，外框架驱动电机根据方位角信息对方位进行调节，中框架稀土永磁直流力矩电机对俯仰角度进行调节；Then the above azimuth and pitch angle information is amplified by the power amplifier and sent to the outer frame drive motor and the middle frame rare earth permanent magnet DC torque motor for adjustment. The outer frame drive motor adjusts the azimuth according to the azimuth information, and the middle frame rare earth permanent magnet The pitch angle is adjusted by DC torque motor;

上述调节完成后，再次将待跟踪拍摄目标的方位角度信息与当前的角度信息进行比较得出新的方位角差值，如果此方位角差值不为0，则将此方位角差值经功率放大器放大后发送到内框架稀土永磁直流力矩电机，内框架稀土永磁直流力矩电机对方位进行进一步调节；After the above adjustments are completed, compare the azimuth angle information of the target to be tracked and the current angle information again to obtain a new azimuth angle difference. If the azimuth angle difference is not 0, the azimuth angle difference After the amplifier is amplified, it is sent to the inner frame rare earth permanent magnet DC torque motor, and the inner frame rare earth permanent magnet DC torque motor further adjusts the orientation;

在上述调节过程中，各电机一旦完成目标的位置信息差值调节，则此电机停止运动，待所有电机均停止动作，则调节完成；In the above adjustment process, once each motor completes the adjustment of the position information difference of the target, the motor stops moving, and when all the motors stop, the adjustment is completed;

(2)对速度的调节：根据目标运动情况、拍摄图像的质量要求、目标与当前检测装置三维位置信息，得出拍摄的最优时间和所需转过的方位角度和俯仰角度，进而得到最优运行速度，速度大小的调节采用PWM的占空比可调的调节方式。(2) Adjustment of speed: According to the movement of the target, the quality requirements of the captured image, and the three-dimensional position information of the target and the current detection device, the optimal time for shooting and the azimuth and pitch angles required to be rotated are obtained, and then the optimal time is obtained. Optimum running speed, the adjustment of the speed adopts the adjustable duty cycle of PWM.

本实施例中，位置调节是采用如图4所示的闭环调节方式，具体是，用于检测外框架位置的传感器模块实时地传递当前外框架的位置信息，一旦当前的位置信息与待跟踪拍摄的三维位置信息差值为零，则外框架驱动电机停止运动，实现方位角度的闭环调节；用于检测中框架位置的传感器模块实时地传递当前中框架的位置信息，一旦当前的位置信息与待跟踪拍摄的三维位置信息差值为零，则中框架稀土永磁直流力矩电机停止运动，实现俯仰角度的闭环调节；用于检测内框架位置的传感器模块实时地传递当前内框架的位置信息，一旦当前的位置信息与待跟踪拍摄的三维位置信息差值为零，则内框架稀土永磁直流力矩电机停止运动，实现方位角度的闭环调节。采用闭环调节，使控制精度更高。In this embodiment, the position adjustment adopts the closed-loop adjustment method as shown in Figure 4. Specifically, the sensor module used to detect the position of the outer frame transmits the current position information of the outer frame in real time. If the difference of the three-dimensional position information is zero, the drive motor of the outer frame stops to realize the closed-loop adjustment of the azimuth angle; the sensor module used to detect the position of the middle frame transmits the current position information of the middle frame in real time. If the three-dimensional position information difference of tracking and shooting is zero, the rare earth permanent magnet DC torque motor of the middle frame stops moving to realize the closed-loop adjustment of the pitch angle; the sensor module used to detect the position of the inner frame transmits the current position information of the inner frame in real time, once If the difference between the current position information and the three-dimensional position information to be tracked and photographed is zero, the inner frame rare-earth permanent magnet DC torque motor stops moving to realize the closed-loop adjustment of the azimuth angle. Closed-loop adjustment is adopted to make the control accuracy higher.

同时，本实施例中所述速度调节也采用闭环调节方式，具体是：At the same time, the speed adjustment described in this embodiment also adopts a closed-loop adjustment method, specifically:

首先如图5所示，根据跟踪拍摄目标运动的规律(可能是无规律的运动，可以根据统计学原理，得出其运动规律)、拍摄图像质量的要求来计算出跟踪拍摄的最优时间；同时根据跟踪目标的三维坐标信息、当前拍摄装置的三维坐标信息(也可用最后一次完成跟踪的拍摄装置的三维坐标信息来替代)，再运用机构运动学知识及坐标变换原理得到需要调整的方位角度和俯仰角度；最后根据上述得到的信息计算出最优运行速度；First, as shown in Figure 5, calculate the optimal time for tracking and shooting according to the law of tracking and shooting the target's movement (it may be irregular movement, which can be obtained according to the statistical principle) and the requirements of the quality of the captured image; At the same time, according to the three-dimensional coordinate information of the tracking target and the three-dimensional coordinate information of the current shooting device (it can also be replaced by the three-dimensional coordinate information of the shooting device that completed the last tracking), and then use the knowledge of mechanism kinematics and the principle of coordinate transformation to obtain the azimuth angle that needs to be adjusted and pitch angle; finally calculate the optimal running speed according to the information obtained above;

然后采用如图6所示的速度闭环调节方式，即将计算出的最优运行速度V_i作为速度闭环系统的输入速度，在运动过程中对各个框架运行速度V₀进行实时检测作为系统反馈，将二者之间的速度差值经过PWM功率放大后去调节对应电机的运行速度。整个速度调节过程可以看作系统的调速优化，是一个及时性跟踪拍摄系统。Then adopt the speed closed-loop adjustment method shown in Figure 6, the calculated optimal running speed V_i is used as the input speed of the speed closed-loop system, and the real-time detection of the running speed V₀ of each frame is used as the system feedback during the motion process. The speed difference between the two is amplified by the PWM power to adjust the running speed of the corresponding motor. The entire speed adjustment process can be regarded as the speed adjustment optimization of the system, which is a timely tracking and shooting system.

本实施例中，方位和俯仰角度的调节、速度的调节采用如图7所示的位置、速度双闭环串级调节，其中位置调节器的输出作为速度调节的输入。通过实时检测各个电机和框架的运行速度和位置，然后将位置反馈给位置调节控制器，将速度反馈到速度调节控制器，根据反馈信号共同实现调节。In this embodiment, the adjustment of azimuth and pitch angle and the adjustment of speed adopt the double closed-loop cascade adjustment of position and speed as shown in Figure 7, wherein the output of the position regulator is used as the input of the speed adjustment. By detecting the running speed and position of each motor and frame in real time, the position is fed back to the position adjustment controller, and the speed is fed back to the speed adjustment controller, and the adjustment is jointly realized according to the feedback signal.

如图8所示，内框架稀土永磁直流力矩电机、中框架稀土永磁直流力矩电机中的H桥驱动原理：通过对四个功率开关(V1、V2、V3、V4)的导通和关断来控制电机的速度和方向的，通过一组开关(V1、V4)与另一组开关(V2、V3)可以改变流过直流电机两端的电源极性，从而控制电机的转向。当开关(V1、V4)导通，另一组开关(V2、V3)断开时，电源电流从电机A端流向B端，假设电机正转；当开关(V2、V3)导通，另一组开关(V1、V4)断开时，电源电流从电机B端流向A端，则电机反转。四个功率开关(V1、V2、V3、V4)的控制采用PWM信号来控制，将方波信号加在电机电枢的两端，通过固定周期调节PWM信号的占空比来改变电机电枢上的平均电压，控制电机的转速或方向。As shown in Figure 8, the driving principle of the H bridge in the inner frame rare earth permanent magnet DC torque motor and the middle frame rare earth permanent magnet DC torque motor: by turning on and off the four power switches (V1, V2, V3, V4) To control the speed and direction of the motor, a set of switches (V1, V4) and another set of switches (V2, V3) can change the polarity of the power flowing through the two ends of the DC motor, thereby controlling the steering of the motor. When the switches (V1, V4) are turned on and the other group of switches (V2, V3) is turned off, the power supply current flows from the motor A terminal to the B terminal, assuming that the motor is rotating forward; when the switches (V2, V3) are turned on, the other When the group switch (V1, V4) is disconnected, the power supply current flows from the motor B terminal to the A terminal, and the motor reverses. The control of the four power switches (V1, V2, V3, V4) is controlled by the PWM signal, and the square wave signal is added to both ends of the motor armature, and the duty cycle of the PWM signal is adjusted by a fixed period to change the motor armature. The average voltage that controls the speed or direction of the motor.

上述实施例为本发明较佳的实施方式，但本发明的实施方式并不受上述实施例的限制，其他的任何未背离本发明的精神实质与原理下所作的改变、修饰、替代、组合、简化，均应为等效的置换方式，都包含在本发明的保护范围之内。The above-mentioned embodiment is a preferred embodiment of the present invention, but the embodiment of the present invention is not limited by the above-mentioned embodiment, and any other changes, modifications, substitutions, combinations, Simplifications should be equivalent replacement methods, and all are included in the protection scope of the present invention.

Claims (10)

1. frame-type Three Degree Of Freedom cloud platform control system; It is characterized in that; Comprise the first bearing installing plate, the second bearing installing plate, outside framework drive motor, gear reduction, inner frame rareearth permanent-magnet DC torque motor, middle frame rareearth permanent-magnet DC torque motor, sensor assembly, inner frame, middle frame, outside framework and motor control module; The said first bearing installing plate is connected with external stability; Gear reduction is arranged on the first bearing installing plate and the second bearing installing plate, and outside framework is arranged on the second bearing installing plate, and the outside framework drive motor carries out azimuth adjustment through driven wheel reducing gear and then driving outside framework; Middle frame is connected with outside framework, and middle frame rareearth permanent-magnet DC torque motor is used to drive middle frame and carries out angle of pitch adjusting; Inner frame is connected with middle frame, and inner frame rareearth permanent-magnet DC torque motor is used to drive inner frame and carries out azimuth adjustment; Sensor assembly comprises 3 groups of sensors; Be respectively applied for the position and the slewing rate that detect inner frame, middle frame, outside framework; Sensor assembly links to each other with motor control module; Outside framework drive motor, inner frame rareearth permanent-magnet DC torque motor, middle frame rareearth permanent-magnet DC torque motor link to each other with motor control module respectively, and motor control module is used to receive each sensor signal and sends control signal according to signal to motor; The inner frame internal fixation is provided with an installing plate, and pick-up unit is fixedly mounted on the installing plate.

2. frame-type Three Degree Of Freedom cloud platform control system according to claim 1 is characterized in that said outside framework drive motor is a direct current generator; Said gear reduction comprises first reduction gearing and second reduction gearing, and the ratio of gear of first reduction gearing and second reduction gearing is 65: 1-75: 1...

3. frame-type Three Degree Of Freedom cloud platform control system according to claim 1 is characterized in that, the said second bearing installing plate is connected through bolt with outside framework; The outside framework drive motor is arranged on the second bearing installing plate;

Saidly be used to detect the position transducer of outside framework position and slewing rate and the intersection point place that rate sensor all is fixedly installed on the outside framework axis and the first bearing installing plate.

4. frame-type Three Degree Of Freedom cloud platform control system according to claim 1; It is characterized in that; The said position transducer that is used to detect the middle frame position is fixed on the outside framework outside of outside framework and middle frame junction; The speed sensing chip that is used to detect the middle frame slewing rate is fixedly installed on the surface of position transducer, and middle frame rareearth permanent-magnet DC torque motor is arranged on the opposite side of outside framework, wherein position transducer and the coaxial installation of middle frame rareearth permanent-magnet DC torque motor.

5. frame-type Three Degree Of Freedom cloud platform control system according to claim 1; It is characterized in that; The said position transducer that is used to detect the inner frame position is fixed on the middle frame and the inner frame junction middle frame outside; The speed sensing chip that is used to detect the inner frame slewing rate is fixedly installed on the surface of position transducer, and inner frame rareearth permanent-magnet DC torque motor is arranged on the opposite side of middle frame, wherein position transducer and the coaxial installation of inner frame rareearth permanent-magnet DC torque motor.

6. frame-type Three Degree Of Freedom cloud platform control system according to claim 1 is characterized in that said inner frame, middle frame and outside framework all adopt aviation to use carbon fibre.

7. control method based on the said frame-type Three Degree Of Freedom of claim 1 cloud platform control system,, it is characterized in that, may further comprise the steps:

(1) to the adjusting of orientation and luffing angle: at first the three-dimensional coordinate and the current three-dimensional coordinate with respect to inertial coordinates system of pick-up unit of the target relative inertness space coordinates of shooting to be tracked are compared; According to the combining mechanism kinematics analysis again of coordinate difference, utilize the matrix coordinate transform to draw pick-up unit and turn to required position angle, target location and luffing angle;

Then above-mentioned position angle and luffing angle information, power amplifier are sent to the outside framework drive motor after amplifying and middle frame rareearth permanent-magnet DC torque motor is regulated; The outside framework drive motor is regulated the orientation according to azimuth information, and middle frame rareearth permanent-magnet DC torque motor is regulated luffing angle;

After above-mentioned adjusting is accomplished; Once more with the orientation angles information of photographic subjects to be tracked and current angle information compare the position angle difference that makes new advances; If this position angle difference is not 0; Then this position angle difference is sent to inner frame rareearth permanent-magnet DC torque motor after power amplifier amplifies, inner frame rareearth permanent-magnet DC torque motor is further regulated the orientation;

In above-mentioned adjustment process, in a single day each motor is accomplished the positional information difference of target and is regulated, and then this motor stop motion treats that all motors all stop action, then regulates and accomplishes;

(2) to the adjusting of speed: according to quality requirements, target and the current detection device three dimensional local information of target travel situation, photographic images; Draw optimal time and the required orientation angles that turns over and the luffing angle of shooting; And then obtaining optimized operation speed, the regulative mode of the EDM Generator of Adjustable Duty Ratio of PWM is adopted in the adjusting of velocity magnitude.

8. frame-type Three Degree Of Freedom cloud platform control method according to claim 7; It is characterized in that; The sensor assembly that is used to detect the outside framework position transmits the positional information of current outside framework in real time; In case the three dimensional local information difference of current position information and shooting to be tracked is zero, then outside framework drive motor stop motion, the closed loop adjustment of realization orientation angles;

The sensor assembly that is used to detect the middle frame position transmits the positional information of current middle frame in real time; In case the three dimensional local information difference of current position information and shooting to be tracked is zero; Then middle frame rareearth permanent-magnet DC torque motor stop motion, the closed loop adjustment of realization luffing angle;

The sensor assembly that is used to detect the inner frame position transmits the positional information of current inner frame in real time; In case the three dimensional local information difference of current position information and shooting to be tracked is zero; Then inner frame rareearth permanent-magnet DC torque motor stop motion, the closed loop adjustment of realization orientation angles.

9. frame-type Three Degree Of Freedom cloud platform control method according to claim 7; It is characterized in that; The closed loop adjustment mode is adopted in said speed regulation; The optimized operation speed that is about to calculate detects as system feedback each framework travelling speed in motion process as the input speed of speed closed loop system in real time, the travelling speed of removing to regulate corresponding motor after the speed difference between the two is amplified through pwm power.

10. according to Claim 8 or 9 described frame-type Three Degree Of Freedom cloud platform control methods; It is characterized in that; The adjusting of said orientation and luffing angle, the adjusting of speed adopt position, speed double closed loop tandem to regulate, and wherein the output of position control is as the input of speed regulation.

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