CN109618079A - A kind of ball machine based on direct driving motor driving - Google Patents
A kind of ball machine based on direct driving motor driving Download PDFInfo
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- CN109618079A CN109618079A CN201811497668.6A CN201811497668A CN109618079A CN 109618079 A CN109618079 A CN 109618079A CN 201811497668 A CN201811497668 A CN 201811497668A CN 109618079 A CN109618079 A CN 109618079A
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- Prior art keywords
- driving motor
- direct driving
- axis
- parameter
- ball machine
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- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
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Classifications
-
- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
- H04N23/00—Cameras or camera modules comprising electronic image sensors; Control thereof
- H04N23/50—Constructional details
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16M—FRAMES, CASINGS OR BEDS OF ENGINES, MACHINES OR APPARATUS, NOT SPECIFIC TO ENGINES, MACHINES OR APPARATUS PROVIDED FOR ELSEWHERE; STANDS; SUPPORTS
- F16M11/00—Stands or trestles as supports for apparatus or articles placed thereon ; Stands for scientific apparatus such as gravitational force meters
- F16M11/02—Heads
- F16M11/04—Means for attachment of apparatus; Means allowing adjustment of the apparatus relatively to the stand
- F16M11/06—Means for attachment of apparatus; Means allowing adjustment of the apparatus relatively to the stand allowing pivoting
- F16M11/12—Means for attachment of apparatus; Means allowing adjustment of the apparatus relatively to the stand allowing pivoting in more than one direction
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16M—FRAMES, CASINGS OR BEDS OF ENGINES, MACHINES OR APPARATUS, NOT SPECIFIC TO ENGINES, MACHINES OR APPARATUS PROVIDED FOR ELSEWHERE; STANDS; SUPPORTS
- F16M11/00—Stands or trestles as supports for apparatus or articles placed thereon ; Stands for scientific apparatus such as gravitational force meters
- F16M11/02—Heads
- F16M11/18—Heads with mechanism for moving the apparatus relatively to the stand
-
- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
- H04N23/00—Cameras or camera modules comprising electronic image sensors; Control thereof
- H04N23/60—Control of cameras or camera modules
- H04N23/68—Control of cameras or camera modules for stable pick-up of the scene, e.g. compensating for camera body vibrations
- H04N23/682—Vibration or motion blur correction
- H04N23/685—Vibration or motion blur correction performed by mechanical compensation
Landscapes
- Engineering & Computer Science (AREA)
- General Engineering & Computer Science (AREA)
- Multimedia (AREA)
- Signal Processing (AREA)
- Mechanical Engineering (AREA)
- Control Of Electric Motors In General (AREA)
Abstract
The present invention provides a kind of ball machine based on direct driving motor driving, and holder includes Z axis, Y-axis and X-axis, controls each axis and uses direct driving motor, the Z axis, Y-axis and X-direction linkage；It further include the dynamic that attitude transducer incudes the camera, attitude transducer obtains the attitude angle and angular speed of the camera, calculates the direct driving motor output control amount according to attitude angle and angular speed and based on pid control algorithm.It directly is directly connected to load as the output of power using direct driving motor replacement stepper motor, driving load.Attitude transducer is added on ball machine holder, frequency, amplitude and direction etc. for detection device vibration, direct driving motor is fed back to by algorithm again to compensate, and so as to reach the bring vibration influence for eliminating external environment, camera is allow to photograph very stable picture.
Description
Technical field
The invention belongs to video security monitoring fields, and in particular to a kind of ball machine based on direct driving motor driving.
Background technique
With the development of technology, the camera produced currently on the market much has the function of zoom, and times amplified
Rate is increasing, can see increasingly remoter place, this also means that camera needs to keep more in the process of work
Add stable state, otherwise shake slightly, can all lead to the unintelligible and sense of discomfort of video pictures.Carrying is taken the photograph currently on the market
As the equipment of head mainly has gunlock, ball machine and holder, ball machine is ball-shaped camera.Because gunlock be it is fixed, it is right
The effect of jitter very little of camera.Mainly for being ball machine and holder, the working principle of both equipment is all for existing application
The same, i.e., controlled level and vertical rotation are distinguished by two stepper motors, so that camera is rotated on a large scale, see
To the picture of multi-angle.
The integrated video camera of ball machine currently on the market, holder, shield etc. are multi-functional in one, wherein ball machine cloud
Platform is mostly to recycle the rotation of the kinds of drive such as synchronous belt or gear worm control camera using stepper motor.So
The technical disadvantages of existing scheme are exactly stepper motor and the kind of drive, stepper motor due to technology bottleneck, its reaction speed,
Precision, backhaul difference and the service life all have reached the limit, cannot be promoted again, along with running part rigging error and rub
Wear consumption, the performance of complete machine can be declined again, be not achieved it is high accurately require, in design along with present ball machine holder
Vibration damping processing is not all done, camera can not be accurately controlled and turn to point required for our, while picture also will appear and tremble
Dynamic phenomenon, once external environment brings the interference of vibration, oscillation phenomenon will be more obvious, causes the picture of shooting can not be just
Often viewing, visual experience are poor.
Summary of the invention
In view of the shortcomings of the prior art, main it is an object of the invention to propose a kind of ball machine based on direct driving motor driving
It is exactly directly to replace stepper motor, the output as power using direct driving motor to tackle the problem at its root.It is straight to drive electricity
Machine reaction speed is fast, high-precision, poor without backhaul, it is prior it does not need complicated transmission system, can be directly connected to bear
It carries, driving load, so whole performance can be improved effectively.Meanwhile these advantages based on direct driving motor, the present invention exist
Attitude transducer is added on ball machine holder, is fed back to for frequency, amplitude and the direction etc. of detection device vibration, then by algorithm
Direct driving motor compensates, and so as to reach the bring vibration influence for eliminating external environment, photographs camera very
Stable picture, and the mode of this adjusting can be only applied to direct driving motor.To solve above-mentioned technical problem:
The present invention provides a kind of ball machine based on direct driving motor driving, including holder, the holder include Z axis, Y-axis and
X-axis characterized by comprising the first direct driving motor for controlling the Z axis controls the second direct driving motor of the Y-axis, control
The third direct driving motor of the X-axis；First, second, and third direct driving motor includes stator and rotor；The stator is fixed
Motionless, the rotor band dynamic load rotates；The Z axis, Y-axis and X-direction linkage；The camera of the holder is installed on described
In the load of X-axis；Attitude transducer incudes the dynamic of the camera, and the attitude transducer and the camera rigidly connect
It connects；The attitude transducer obtains the attitude angle and angular speed of the camera；According to the attitude angle and angle speed
It spends and is based on pid control algorithm and calculate the direct driving motor output control amount.
Further, the holder further includes pedestal for fixing, and the stator of first direct driving motor is fixed on institute
It states on pedestal, the rotor of first direct driving motor and upper layer load connect.
Further, the holder further includes bracket, and the stator of second direct driving motor is fixed on the bracket, institute
The rotor for stating the second direct driving motor is connected with Y-axis load.
Further, the stator of the third direct driving motor is fixed on the bracket, and the third direct driving motor turns
It is sub to be connected with X-axis load.
Further, the fixed form of above-mentioned first, second, and third direct driving motor stator, be by screw indirectly or
Direct mode is fixed；The connection type of first, second, and third direct drive motor rotor and load, is to pass through spiral shell
Directly or indirectly mode is attached silk.
Further, the attitude transducer is six axle sensors.
Further, the data for acquiring accelerometer, gyroscope in the attitude transducer pass through four element complementary filters
Attitude algorithm obtains the attitude angle and the angular speed；The angle difference and angle of presently described attitude angle and target angle
Speed calculates the direct driving motor by cas PID control algorithm and exports control amount as input quantity.
Further, the pid control algorithm uses variable parameter PID mode, according to the size of error e, adjusts ratio, product
Divide, the parameter of differential；Scale parameter P is according to function P (e (t))=ap+bp(1-sech(cpE (t))) it is adjusted, wherein aP、
bP、cPBe positive real constant, and parameter P value range is [aP, aP+bP], cpFor adjusting parameter P rate of change, sech is hyperbolic secant
Function；Integral parameter I is according to function I (e (t))=aIsech(cIE (t))) it is adjusted, wherein aI、cIBe positive real constant, ginseng
Number I value range is (0, aI], cIFor adjusting parameter I rate of change；Differential parameter D is according to function D (e (t))=aD+bD/(1+
dDexp(cDE (t))) or D (e (t))=aD+bD/(1+dDexp(-cDE (t))) it is adjusted, wherein aD、bD、cD、dDBe positive reality
Constant, parameter D value range are (aD, aD+bD), cDFor adjusting parameter D rate of change.
Further, when error e is bigger, do not consider the precision and overshoot of system, using increase scale parameter P into
Row is adjusted；When error e is smaller, reinforce the adjusting of integral parameter I and differential parameter D；When system overshoot, differential ginseng is increased
Number D is adjusted.
Further, as error rate evWhen less than or equal to 0, differential parameter D is according to function D (e (t))=aD+bD/(1+
dDexp(cDE (t))) it is adjusted；As error rate evWhen greater than 0, differential parameter D is according to function D (e (t))=aD+bD/(1
+dDexp(-cdE (t))) it is adjusted.
Compared with prior art, the present invention at least has the following beneficial effects or advantage:
This ball machine based on direct driving motor driving provided by the invention, the direct driving motor reaction speed is fast, high-precision, does not have
Have that backhaul is poor, it is prior it does not need complicated transmission system, can be directly connected to load, driving load, so whole
Performance can be improved effectively, without connection structures such as retarder, gear-boxes, improve reaction speed, the precision of holder ball machine
And service life, overall structure are simplified, assembly is fairly simple and volume production product is convenient, easy to maintain.Attitude transducer is for detecting
Frequency, amplitude and direction of vibration equipment etc., then direct driving motor is fed back to by algorithm and is compensated, the mode of this adjusting is answered
It can adequately be embodied for direct driving motor, so as to reach the bring vibration influence for eliminating external environment, make to take the photograph
As head can photograph very stable picture.
Detailed description of the invention
The present invention is described in further details below with reference to attached drawing；
Fig. 1 is ball machine system construction drawing.
Fig. 2 is ball machine Each part figure.
Fig. 3 is the function curve diagram that parameter P changes with error e.
Fig. 4 is the function curve diagram that parameter I changes with error e.
Fig. 5 is the function curve diagram that parameter D changes with error e.
Specific embodiment
Following will be combined with the drawings in the embodiments of the present invention, and technical solution in the embodiment of the present invention carries out clear, complete
Site preparation description, it is clear that described embodiments are some of the embodiments of the present invention, instead of all the embodiments.Based on this hair
Embodiment in bright, every other implementation obtained by those of ordinary skill in the art without making creative efforts
Example, shall fall within the protection scope of the present invention.
The present invention devises the holder ball machine overall precision for improving loading camera and stability, the present invention devise one kind
Use direct driving motor as the holder ball machine structure of power output, instead of the mode of traditional stepper motor and complicated drive mechanism,
Entirety is set to reach high accurately performance, it is specific as shown in Figure 1.
Structure design principle of the invention, mainly there is three parts, as shown in Figure 2:
First part, the structure design of control Z axis rotation.Direct driving motor is equally divided into rotor and stator, and stator is fixed not
Dynamic, rotor band dynamic load rotates.Pedestal plays fixed function as the bridge that complete machine and external environment are built.Direct driving motor 1
Stator is fixed by screws on pedestal, and rotor is directly loaded with upper layer by screw and connected.
Second part, the structure design of control Y-axis rotation, similarly, the stator of direct driving motor 2 is fixed by screws in bracket
On, rotor is directly connected with Y-axis load by screw, and the structure of mode first part is identical.
Part III, the structure design of control X-axis rotation, similarly, the stator of direct driving motor 3 is fixed by screws in bracket
On, rotor is directly connected with X-axis load by screw, and mode is identical as the structure of first part.The connection in X, Y, Z axis direction
It is dynamic, it can finally act directly in X-axis load, so camera is mounted in X-axis load.Since the present invention is to pass through posture
The dynamic of sensor sensing camera, so must be directly anchored on camera, keep and camera shooting with camera rigid connection
Head is synchronous.
Wherein the dynamic of attitude transducer induction camera reaches elimination vibration interference to compensate, and method is specific
It is as follows:
The first step acquires accelerometer, the gyro data of six axis inertial sensors；
Second step obtains attitude angle and angular speed by quaternary number complementary filter attitude algorithm；
The angle difference and angular speed of third step, current pose angle and target angle pass through cascade PID as input quantity
Control algolithm calculates DD direct driving motor output control amount.
Pid control algorithm of the invention uses variable parameter PID mode, according to the size of error, changes ratio, integral, micro-
The parameter divided, to improve the response speed and precision of system on the basis of the original.
When application condition is big, the precision and overshoot of system can not be considered, in order to which system accelerates response speed,
Using scale parameter P effect is increased, reduce integral parameter I and differential parameter D effect.In application condition hour, it is in order to prevent
Overshoot of uniting is excessive, should reduce scale parameter P effect, reinforces integral parameter I and differential parameter D effect.When system overshoot, answer
Increase differential parameter D effect.According to the above variable rule, it can be deduced that such as draw a conclusion:
(1) as shown in figure 3, the function curve diagram that parameter P changes with error e, constructs following nonlinear function are as follows:
P (e (t))=ap+bp(1-sech(cpe(t)))
In formula, aP、bP、cPBe positive real constant, and parameter P value range is [aP, aP+bP], cpChange speed for adjusting parameter P
Rate.
(2) as shown in figure 4, the function curve diagram that parameter I changes with error e, constructs following nonlinear function are as follows:
I (e (t))=aIsech(cIe(t)))
In formula, aI、cIBe positive real constant, and parameter I value range is (0, aI], cIFor adjusting parameter I rate of change.
(3) as shown in figure 5, working as error rate evWhen less than or equal to 0, parameter D is non-linear as follows with error e varied configurations
Function are as follows:
D (e (t))=aD+bD/(1+dDexp(CDe(t)))
As error rate evWhen greater than 0, nonlinear function is constructed are as follows:
D (e (t))=aD+bD/(1+dDexp(-CDe(t)))
In formula, aD、bD、cD、dDBe positive real constant, and parameter D value range is (aD, aD+bD), cDFor adjusting parameter D variation
Rate.
Compared with prior art, the present invention at least has the following beneficial effects or advantage:
The ball machine of this direct driving motor driving provided by the invention, the direct driving motor reaction speed is fast, high-precision, does not have back
Path difference can be directly connected to load, and driving load is not necessarily to retarder, gear-box so whole performance can be improved effectively
Etc. connection structures, improve the reaction speed, precision and service life of holder ball machine, overall structure is simplified, assemble it is fairly simple and
Volume production product is convenient, easy to maintain.Frequency, amplitude and direction etc. of the attitude transducer for detection device vibration, then pass through calculation
Method feeds back to direct driving motor and compensates, and the mode of this adjusting, which is applied to direct driving motor, adequately to be embodied, thus
The bring vibration influence for eliminating external environment can be reached, camera is allow to photograph very stable picture.
The foregoing examples are only illustrative of the present invention, does not constitute the limitation to protection scope of the present invention, all
It is within being all belonged to the scope of protection of the present invention with the same or similar design of the present invention.
Claims (10)
1. a kind of ball machine based on direct driving motor driving, including holder, the holder include Z axis, Y-axis and X-axis, feature exists
In, comprising: the first direct driving motor for controlling the Z axis controls the second direct driving motor of the Y-axis, controls the third of the X-axis
Direct driving motor；First, second, and third direct driving motor includes stator and rotor；The stator is fixed, the rotor
Band dynamic load rotates；The Z axis, Y-axis and X-direction linkage；The camera of the holder is installed in the load of the X-axis；
Attitude transducer incudes the dynamic of the camera, the attitude transducer and camera rigid connection；The posture passes
Sensor obtains the attitude angle and angular speed of the camera；It is controlled according to the attitude angle and the angular speed and based on PTD
Algorithm processed calculates the direct driving motor output control amount.
2. the ball machine according to claim 1 based on direct driving motor driving, it is characterised in that: the holder further includes being used for
The stator of fixed pedestal, first direct driving motor is fixed on the pedestal, the rotor of first direct driving motor with it is upper
Layer load connection.
3. the ball machine according to claim 2 based on direct driving motor driving, it is characterised in that: the holder further includes branch
The stator of frame, second direct driving motor is fixed on the bracket, and the rotor of second direct driving motor and the Y-axis load
It is connected.
4. the ball machine according to claim 3 based on direct driving motor driving, it is characterised in that: the third direct driving motor
Stator is fixed on the bracket, and the rotor of the third direct driving motor is connected with X-axis load.
5. the ball machine according to claim 4 based on direct driving motor driving, it is characterised in that: above-mentioned first, second and the
The fixed form of three direct driving motor stators is that directly or indirectly mode is fixed by screw；First, second He
The connection type of third direct drive motor rotor and load is that directly or indirectly mode is attached by screw.
6. the ball machine according to claim 1 based on direct driving motor driving, it is characterised in that: the attitude transducer is six
Axle sensor.
7. the ball machine according to claim 1 based on direct driving motor driving, it is characterised in that: acquire the attitude transducer
The data of middle accelerometer, gyroscope obtain the attitude angle and angle speed by four element complementary filter attitude algorithms
Degree；The angle difference of presently described attitude angle and target angle and angular speed pass through cas PID control algorithm as input quantity
Calculate the direct driving motor output control amount.
8. the ball machine according to claim 7 based on direct driving motor driving, it is characterised in that: the pid control algorithm is adopted
Ratio, the parameter of integral, differential are adjusted according to the size of error e with variable parameter PID mode；
Scale parameter P is according to function P (e (t))=ap+bp(1-sech(cpE (t))) it is adjusted, wherein aP、bP、cPBe positive reality
Constant, parameter P value range are [aP, aP+bP], cpFor adjusting parameter P rate of change, sech is hyperbolic secant function；
Integral parameter I is according to function I (e (t))=aIsech(cIE (t))) it is adjusted, wherein aI、cIBe positive real constant, parameter I
Value range is (0, aI], cIFor adjusting parameter I rate of change；
Differential parameter D is according to function D (e (t))=aD+bD/(1+dDexp(cDE (t))) or D (e (t))=aD+bD/(1+dDexp(-
cDE (t))) it is adjusted, wherein aD、bD、cD、dDBe positive real constant, and parameter D value range is (aD, aD+bD), cDFor adjustment ginseng
Number D rate of change.
9. the ball machine according to claim 8 based on direct driving motor driving, it is characterised in that: when error e is bigger, no
The precision and overshoot of consideration system are adjusted using scale parameter P is increased；When error e is smaller, reinforce integral parameter
The adjusting of I and differential parameter D；When system overshoot, increases differential parameter D and adjust.
10. the ball machine according to claim 8 based on direct driving motor driving, it is characterised in that: as error rate evIt is less than
When equal to 0, differential parameter D is according to function D (e (t))=aD+bD/(1+dDexp(cDE (t))) it is adjusted；Work as error rate
evWhen greater than 0, differential parameter D is according to function D (e (t))=aD+bD/(1+dDexp(-cdE (t))) it is adjusted.
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811497668.6A CN109618079A (en) | 2018-12-07 | 2018-12-07 | A kind of ball machine based on direct driving motor driving |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811497668.6A CN109618079A (en) | 2018-12-07 | 2018-12-07 | A kind of ball machine based on direct driving motor driving |
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| CN109618079A true CN109618079A (en) | 2019-04-12 |
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| CN201811497668.6A Pending CN109618079A (en) | 2018-12-07 | 2018-12-07 | A kind of ball machine based on direct driving motor driving |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110989691A (en) * | 2019-11-22 | 2020-04-10 | 普宙飞行器科技（深圳）有限公司 | Cloud deck control method and device, storage medium, electronic equipment and unmanned aerial vehicle |
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