CN108170027A - Cradle head controllor control parameter method of adjustment, device, medium and cradle head controllor - Google Patents
Cradle head controllor control parameter method of adjustment, device, medium and cradle head controllor Download PDFInfo
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Abstract
The present invention relates to a kind of cradle head controllor control parameter method of adjustment, device, medium and cradle head controllors.This method includes：According to preset sample frequency, multiple actual angular speeds of camera are acquired；The error of each actual angular speed and preset reference angular velocities is calculated, and control targe value is obtained according to the error being calculated；If control targe value is greater than or equal to preset value, Spectrum Conversion is carried out according to error and obtains the corresponding transformed value of multiple frequencies；The control parameter of cradle head controllor is adjusted according to error and each frequency corresponding transformed value.Transformed value adjust automatically control parameter by frequency-domain analysis and based on Spectrum Conversion, it can more accurately reflect disturbance situation from frequency domain, so that the control parameter of adjustment is more suitable for corresponding disturbance, disturbance suppression is more effective, so as to which cradle head controllor is highly resistant to disturbance under various complicated bumpy weathers, antijamming capability and robustness are high.
Description
Technical field
The present invention relates to unmanned air vehicle technique field, more particularly to a kind of cradle head controllor control parameter method of adjustment, dress
It puts, medium and cradle head controllor.
Background technology
During unmanned plane, external disturbance and internal disturbance can cause the shake of camera, cause to shoot video production
Phenomena such as giving birth to shake, defocus, obscuring.Wherein, angular oscillation and rotor caused by external disturbance includes flight attitude variation are at a high speed
Rotate linearly coupled, air turbulence generated etc.；Internal disturbance includes power caused by model perturbation, structural friction, structure bias etc.
Square disturbs.For stabilized camera, holder and cradle head controllor are set usually on unmanned plane, and cradle head controllor is according to control parameter control
The angular speed of holder adjustment camera processed, to reduce the shake of camera, ensures the stability of shooting video.
Traditional cradle head controllor obtains control parameter using the control algolithm of minimum variance, and the target of control is so that phase
The quadratic sum of the actual angular speed of machine and the error of reference angular velocities is minimum.However, state of flight of actually taking photo by plane is changeable, disturbance is more
Become, there are inherent limitations for the mode of this simply target by the time-domain value of disturbance as an optimization so that traditional control
Device is likely to occur the phenomenon that control effect deteriorates under some complicated bumpy weathers such as high-speed maneuver and harsher wind conditions, than if desired for
The angular speed of control is absorbed in self-oscillation instead and increased dramatically, antijamming capability and poor robustness, video is caused to occur notable
Shake.
Invention content
Based on this, it is necessary to the problem of for traditional cradle head controllor antijamming capability and poor robustness, provide one kind
Antijamming capability and cradle head controllor control parameter method of adjustment, device, medium and the cradle head controllor of robustness can be improved.
A kind of cradle head controllor control parameter method of adjustment, including：
According to preset sample frequency, multiple actual angular speeds of camera are acquired；
The error of each actual angular speed and preset reference angular velocities is calculated, and control is obtained according to the error being calculated
Desired value；
If the control targe value is greater than or equal to preset value, Spectrum Conversion is carried out according to the error and obtains multiple frequencies
The corresponding transformed value of rate；
The control parameter of cradle head controllor is adjusted according to the error and each frequency corresponding transformed value.
A kind of cradle head controllor control parameter adjusting apparatus, including：
Sampling module, for according to preset sample frequency, acquiring multiple actual angular speeds of camera；
Numerical Simulation Module, for calculating the error of each actual angular speed and preset reference angular velocities, and according to calculating
Obtained error obtains control targe value；
Spectrum Conversion module, for when the control targe value is greater than or equal to preset value, being carried out according to the error
Spectrum Conversion obtains the corresponding transformed value of multiple frequencies；
Parameter adjustment module, for being joined according to the error and the corresponding transformed value of each frequency to the control of cradle head controllor
Number is adjusted.
Above-mentioned cradle head controllor control parameter method of adjustment and device, according to reference angular velocities and the reality of the camera of acquisition
The error of angular speed obtains control targe value, if control targe value is greater than or equal to preset value, expression does not reach control targe,
Spectrum Conversion is then carried out according to error, and the corresponding transformed value of each frequency is obtained according to error and Spectrum Conversion and adjusts cradle head control
The control parameter of device.Disturbance suffered by holder not directly measures in itself, but its characteristic can obtain body from final control effect
Existing, the application is less than preset value target in order to control with control targe value, is passed through frequency-domain analysis with actual angular speed object in order to control
And the transformed value adjust automatically control parameter based on Spectrum Conversion, it can more accurately reflect disturbance situation from frequency domain so that adjustment
Control parameter be more suitable for corresponding disturbance, disturbance suppression is more effective, so as to which cradle head controllor is in various complicated bumpy weathers
Under be highly resistant to disturbance, antijamming capability and robustness are high.The cradle head controllor of the application is used on cradle head controllor
Control parameter method of adjustment can make holder more preferable to the stabilization of camera, and then video of taking photo by plane is more stable clear.
A kind of medium, is stored with computer program, and above-mentioned holder is realized when the computer program of storage is executed by processor
The step of controller control parameter method of adjustment.
Kind cradle head controllor including memory, processor and stores the meter that can be run on a memory and on a processor
Calculation machine program, the processor realize the step of above-mentioned cradle head controllor control parameter method of adjustment when performing the computer program
Suddenly.
Above-mentioned medium and cradle head controllor, similarly, can due to realizing above-mentioned cradle head controllor control parameter method of adjustment
Cradle head controllor is made to be highly resistant to disturbance under various complicated bumpy weathers, antijamming capability and robustness are high.
Description of the drawings
Fig. 1 is the flow chart of cradle head controllor control parameter method of adjustment in an embodiment；
Fig. 2 is the flow chart of cradle head controllor control parameter method of adjustment in another embodiment；
Fig. 3 is the structure chart of cradle head controllor control parameter adjusting apparatus in an embodiment；
Fig. 4 is the flow diagram of algorithm in an application examples；
Fig. 5 is the operation principle schematic diagram of cradle head control in application examples.
Specific embodiment
With reference to figure 1, in one embodiment, a kind of cradle head controllor control parameter method of adjustment is provided, including as follows
Step：
S110：According to preset sample frequency, multiple actual angular speeds of camera are acquired.
The numerical value of preset sample frequency can specifically be set according to actual needs.Actual angular speed can be adopted according to default
Sample frequency and setting need the sum of actual angular speed acquired to determine acquisition duration, to be acquired to obtain, adopt at this time
It is the sum set to collect the obtained quantity of actual angular speed；Actual angular speed can also be according to preset sample frequency and set
Fixed acquisition duration is acquired to obtain, and the sum collected at this time is determined by preset sample frequency and acquisition duration.
S130：The error of each actual angular speed and preset reference angular velocities is calculated, and is obtained according to the error being calculated
Take control targe value.
Wherein, error is the difference of actual angular speed and reference angular velocities, can be that reference angular velocities subtract actual corners speed
The difference or actual angular speed of degree subtract the difference of reference angular velocities；Specifically, error is reference angle in the present embodiment
Speed subtracts the value of actual angular speed.Control targe value is the numerical value obtained according to error calculation.
S150：If control targe value is greater than or equal to preset value, Spectrum Conversion is carried out according to error and obtains multiple frequencies
Corresponding transformed value.
For preset value for being compared as comparison reference with control targe value, preset value can be specific according to actual needs
Setting.Preset value is less than as control targe to be achieved using control targe value, if control targe value is greater than or equal to preset value,
Then represent when acquisition control desired value corresponds to the actual angular speed corresponding to error it is intersegmental it is interior do not reach control targe, need
Control parameter is adjusted；Otherwise, if control targe value is less than preset value, then it represents that reach control within the period of acquisition
Target processed can not operate, without adjusting control parameter.
Multiple actual angular speeds are corresponding with multiple errors, and it is specifically to acquisition actual corners speed to carry out Spectrum Conversion according to error
Error in the period of degree carries out Spectrum Conversion.
S170：The control parameter of cradle head controllor is adjusted according to error and each frequency corresponding transformed value.
Control parameter is to influence the parameter of cradle head controllor control holder adjustment camera angular speed.By to error into line frequency
Spectral transformation is adjusted control parameter using the transformed value on frequency domain.
Above-mentioned cradle head controllor control parameter method of adjustment, according to reference angular velocities and the actual angular speed of the camera of acquisition
Error obtain control targe value, if control targe value is greater than or equal to preset value, expression does not reach control targe, then basis
Error carries out Spectrum Conversion, and obtains the control of the corresponding transformed value adjustment cradle head controllor of each frequency according to error and Spectrum Conversion
Parameter processed.Disturbance suffered by holder not directly measures in itself, but its characteristic can be embodied from final control effect, this Shen
Please with actual angular speed object in order to control, preset value target in order to control is less than with control targe value, by frequency-domain analysis and is based on
The transformed value adjust automatically control parameter of Spectrum Conversion can more accurately reflect disturbance situation so that the control of adjustment from frequency domain
Parameter is more suitable for corresponding disturbance, and disturbance suppression is more effective, thus cradle head controllor equal energy under various complicated bumpy weathers
It is effective against disturbing, antijamming capability and robustness are high.The cradle head controllor of the application control ginseng is used on cradle head controllor
Number adjusting method can make holder more preferable to the stabilization of camera, and then video of taking photo by plane is more stable clear.
In one embodiment, preset sample frequency is 2Khz (kHz), and the quantity of the actual angular speed of acquisition is 200
It is a.In this way, the length of the period of acquisition actual angular speed is 0.1 second, i.e., the adjustment for performing a control parameter in 0.1 second, this
The renewal rate of sample can meet the control requirement of holder, and holder stablizing effect is good.
In one embodiment, control targe value is obtained according to the error being calculated in step S130, including：Obtain meter
The obtained quadratic sum of multiple errors obtains control targe value.I.e. in the present embodiment, control targe is that the quadratic sum of error is small
In preset value.
For example, 200 actual angular speeds of acquisition, with e (ω)iRepresent the mistake of i-th of actual angular speed and reference angular velocities
Difference, control targe value areStep S150 judges whether equation below meets：
Wherein, σ is preset value.It is appreciated that in other embodiments, control targe value can also be according to error calculation
Other numerical value.
In one embodiment, Spectrum Conversion is carried out according to error in step S150 and obtains the corresponding transformation of multiple frequencies
Value specifically carries out FFT (Fast Fourier Transformation fast fourier transforms) according to error and obtains multiple frequencies
The corresponding transformed value of rate.That is, calculating y=fft (e (ω)), frequency domain is unfolded, obtains the corresponding transformed value y of each frequency.
In one embodiment, with reference to figure 2, step S170 includes step S171 to step S175.
S171：The root-mean-square error of the transformed value corresponding to each low frequency less than or equal to predeterminated frequency is calculated, obtains the
One deviation.
Wherein, predeterminated frequency is the segment frequence point for dividing low frequency and high frequency, can be set according to actual needs.This
In embodiment, predeterminated frequency 45hz.Will be less than or equal to predeterminated frequency frequency as low frequency.Calculate the corresponding change of each low frequency
The root-mean-square error between value is changed, shown in equation below：
Wherein, R (yl) root-mean-square error for the transformed value corresponding to each low frequency, i.e. the first deviation, yliFor i-th of low frequency
Corresponding transformed value, NlFor the quantity of low frequency,Mean value for the transformed value corresponding to all low frequencies.
S173：The root-mean-square error of the transformed value corresponding to each high frequency more than predeterminated frequency is calculated, obtains the second deviation.
The frequency of predeterminated frequency be will be above as high frequency.The root-mean-square error between the corresponding transformed value of each high frequency is calculated,
Shown in equation below：
Wherein, R (yh) root-mean-square error for the transformed value corresponding to each high frequency, i.e. the second deviation, yhiFor i-th of high frequency
Corresponding transformed value, NhFor the quantity of high frequency,Mean value for the transformed value corresponding to all high frequencies.
S175：Adjusted value is obtained according to the first deviation, the second deviation and error, the control parameter of cradle head controllor is set
For adjusted value.
The control targe for the LMS control algorithm that traditional cradle head controllor uses is the actual corners speed so that camera
Degree and the quadratic sum of the error of reference angular velocities are minimum, and under this control method, error approximation is inversely proportional to control parameter, that is, has
Relational expression：
Wherein e (ω) represents error, ωrefRepresent reference angular velocities, ω represents the actual angular speed of camera, k0Represent control
Parameter processed.It can be seen that traditional LMS control algorithm often selects suitably to increase control parameter k0To reach holder camera
Increase steady purpose.When significantly change occurs for the type disturbed suffered by holder, control parameter k at this time0It may fail, Ke Nengwu
Method offsets the substantially disturbance of low frequency well, it is also possible to which to small size, the disturbance of high frequency carries out excessive adjusting, so as to swash
The high-frequency vibration of hair system, the control effect of holder and the robustness of cradle head controllor will have a greatly reduced quality at this time.
In the present embodiment, by carrying out the division of low frequency and high frequency to frequency domain, respectively according to the transformed value of low frequency and high frequency
Transformed value the first deviation and the second deviation is calculated, adjusted value is obtained to set based on the first deviation, the second deviation and error
New control parameter is set to, adjusted value is obtained convenient for the type disturbed from frequency analysis and pointedly, to improve control parameter
Adaptability and validity, so as to further improve cradle head controllor adapt to and resist different type disturbance antijamming capability and
Robustness.
In one embodiment, S175 includes step (a1) to step (a4).
Step (a1)：If the first deviation is more than preset first given threshold and the second deviation is more than the preset second setting
Then adjusted value is calculated according to error, preset first coefficient, the preset preset controlled quentity controlled variable of first cardinal sum in threshold value.
If the first deviation is more than the first given threshold, then it is assumed that the control bandwidth of cradle head controllor may need to add at this time
Greatly, but can continue increase then to be determined depending on the frequency domain characteristic of high band at this time according to the second deviation.If the second deviation
More than the second given threshold, then illustrate that bandwidth at this time is actually relatively excessive, caused the unmodelled dynamics of high band
It is excited, therefore control parameter needs negative regulation.Accordingly, the suffered disturbance type of holder is the first, according to error, is preset
The first coefficient, the preset preset controlled quentity controlled variable of first cardinal sum adjusted value is calculated, for negative regulation.
Step (a2)：If the first deviation is more than the first given threshold and the second deviation is less than or equal to the second given threshold,
Adjusted value is then calculated according to error, preset second coefficient, the preset preset controlled quentity controlled variable of second cardinal sum.
If in the case where the first deviation is more than the first given threshold, the second deviation is less than or equal to the second given threshold,
Then the unmodelled dynamics of high band are not excited, and control parameter positive should be adjusted.Accordingly, the suffered disturbance type of holder is
Second, adjusted value is calculated according to error, preset second coefficient, the preset preset controlled quentity controlled variable of second cardinal sum, is used
It is adjusted in forward direction.
Step (a3)：If the first deviation is less than or equal to the first given threshold and the second deviation is less than or equal to the second setting
Then adjusted value is calculated according to error, preset third coefficient, the preset preset controlled quentity controlled variable of third cardinal sum in deviation.
If the first deviation is less than or equal to the first given threshold and the second deviation is less than or equal to the second setting deviation, represent
The suffered disturbance type of holder is the third, according to error, preset third coefficient, the preset preset controlled quentity controlled variable of third cardinal sum
Adjusted value is calculated, for negative regulation.
Step (a4)：The control parameter of cradle head controllor is set as adjusted value.
It is obtained by the type disturbed according to the first deviation and the second deviation from frequency-domain analysis, and for different types of disturbance
Corresponding adjusted value is taken to be updated to set control parameter to control parameter, accuracy is high.
In one embodiment, it is preset in step (a1) according to error, preset first coefficient, preset first cardinal sum
Controlled quentity controlled variable adjusted value is calculated, including：
Wherein, e (ω)iFor i-th of actual angular speed and the error of reference angular velocities, M is the sum of actual angular speed,
Single order for adjusted value k is reciprocal ,-η1For the first coefficient,For intermediate parameters y1Single order it is reciprocal, the first radix includes α11With
α12, u measures in order to control.y1Initial value be 0.
Similarly, according to error, preset second coefficient, the preset control gauge of preset second cardinal sum in step (a2)
Calculation is adjusted value, including：
Wherein, η2For the second coefficient,For intermediate parameters y2Single order it is reciprocal, the second radix includes α21And α22。y2Just
Initial value is 0.
Similarly, according to error, preset third coefficient, the preset control gauge of preset third cardinal sum in step (a3)
Calculation is adjusted value, including：
Wherein ,-η3For third coefficient,For intermediate parameters y3Single order it is reciprocal, third radix includes α31And α32。y3Just
Initial value is 0.
Specifically, η1、η2、θ1、θ2＞ 0, α11、α12、α21、α22＞ 0.Wherein, θ1For the first given threshold, θ2It is set for second
Determine threshold value.Specifically, θ1、θ2、-η1、η2、-η3、u、α11、α12、α21、α22、α31And α32Experiment can be carried out according to actual conditions to obtain
It takes and prestores.Regulative mode based on error feedback determines parameter value (including θ1、θ2、-η1、η2、-η3、u、α11、α12、
α21、α22、α31And α32) optional range it is wider, only need to meet error convergence condition.
For example, the calculation of parameter value is introduced by taking A9 holder Pitch axis as an example, the axis kinetic model available delivery letter
NumberDescription, c=-12.5, b=10.25.M=200 is taken, that is, acquires 200 actual angular speeds, empirically experience,
When video makes one to feel apparent shake, the quadratic sum of the error of actual angular speed and reference angular velocities meets：
Therefore, it can use σ=15dps；θ1、θ2MeetTaking one group can make
Error meets equation below：
α12=
C/3, α22=c/5, α32=c/7.-η1、η2、-η3Value determine k convergence rate, value it is bigger, regulating the speed for k is faster, but mistake
Fast regulates the speed and system may be caused to shake, and compromise value is taken according to the analysis of experiment effect, can use η1=20, η2=30, η3
=10.
With reference to figure 3, in one embodiment, a kind of cradle head controllor control parameter adjusting apparatus is provided, including sampling
Module 110, Numerical Simulation Module 130, Spectrum Conversion module 150 and parameter adjustment module 170.
Sampling module 110 is used for according to preset sample frequency, acquires multiple actual angular speeds of camera.
Numerical Simulation Module 130 is used to calculate each actual angular speed and the error of preset reference angular velocities, and according to meter
Obtained error obtains control targe value.
Spectrum Conversion module 150 is used to, when control targe value is greater than or equal to preset value, frequency spectrum change is carried out according to error
Get the corresponding transformed value of multiple frequencies in return.
Parameter adjustment module 170 is used for the control parameter to cradle head controllor according to error and the corresponding transformed value of each frequency
It is adjusted.
Above-mentioned cradle head controllor control parameter adjusting apparatus, according to reference angular velocities and the actual angular speed of the camera of acquisition
Error obtain control targe value, if control targe value is greater than or equal to preset value, expression does not reach control targe, then basis
Error carries out Spectrum Conversion, and obtains the control of the corresponding transformed value adjustment cradle head controllor of each frequency according to error and Spectrum Conversion
Parameter processed.Disturbance suffered by holder not directly measures in itself, but its characteristic can be embodied from final control effect, this Shen
Please with actual angular speed object in order to control, preset value target in order to control is less than with control targe value, by frequency-domain analysis and is based on
The transformed value adjust automatically control parameter of Spectrum Conversion can more accurately reflect disturbance situation so that the control of adjustment from frequency domain
Parameter is more suitable for corresponding disturbance, and disturbance suppression is more effective, thus cradle head controllor equal energy under various complicated bumpy weathers
It is effective against disturbing, antijamming capability and robustness are high.
In one embodiment, preset sample frequency is 2Khz (kHz), and the quantity of the actual angular speed of acquisition is 200
It is a.In this way, the length of the period of acquisition actual angular speed is 0.1 second, i.e., the adjustment for performing a control parameter in 0.1 second, this
The renewal rate of sample can meet the control requirement of holder, and holder stablizing effect is good.
In one embodiment, Numerical Simulation Module 130 obtains the quadratic sum of multiple errors being calculated and is controlled
Desired value.I.e. in the present embodiment, control targe is that the quadratic sum of error is less than preset value.
In one embodiment, Spectrum Conversion module 150 carries out FFT according to error and obtains the corresponding transformation of multiple frequencies
Value.
In one embodiment, parameter adjustment module 170 includes the first computing unit (not shown), the second computing unit
(not shown) and setting unit (not shown).First computing unit is right less than or equal to each low frequency institute of predeterminated frequency for calculating
The root-mean-square error for the transformed value answered obtains the first deviation.Second computing unit is more than each high frequency of predeterminated frequency for calculating
The root-mean-square error of corresponding transformed value obtains the second deviation.Setting unit is used for according to the first deviation, the second deviation and mistake
Difference obtains adjusted value, and the control parameter of cradle head controllor is set as adjusted value.
By carrying out the division of low frequency and high frequency to frequency domain, calculated respectively according to the transformed value of the transformed value of low frequency and high frequency
The first deviation and the second deviation are obtained, adjusted value is obtained based on the first deviation, the second deviation and error to be set as new control
Parameter obtains convenient for the type disturbed from frequency analysis and pointedly adjusted value, to improve the adaptability of control parameter and have
Effect property so as to further improve cradle head controllor adapts to and resists the antijamming capability and robustness of different type external disturbance.
In one embodiment, setting unit is more than preset first given threshold in the first deviation and the second deviation is more than
During preset second given threshold, calculated according to error, preset first coefficient, the preset controlled quentity controlled variable of preset first cardinal sum
It is adjusted value；When the first deviation is more than the first given threshold and the second deviation is less than or equal to the second given threshold, according to
Adjusted value is calculated in error, preset second coefficient, the preset preset controlled quentity controlled variable of second cardinal sum；It is less than in the first deviation
Or when equal to the first given threshold and the second deviation being less than or equal to the second setting deviation, according to error, preset third coefficient,
Adjusted value is calculated in the preset preset controlled quentity controlled variable of third cardinal sum；The control parameter of cradle head controllor is set as adjusting
Value.
It is obtained by the type disturbed according to the first deviation and the second deviation from frequency-domain analysis, and for different types of disturbance
Corresponding adjusted value is taken to be updated to set control parameter to control parameter, accuracy is high.
In one embodiment, setting unit is preset according to error, preset first coefficient, preset first cardinal sum
Adjusted value is calculated in controlled quentity controlled variable, including：
Wherein, e (ω)iFor i-th of actual angular speed and the error of reference angular velocities, M is the sum of actual angular speed,
Single order for adjusted value k is reciprocal ,-η1For the first coefficient,For intermediate parameters y1Single order it is reciprocal, the first radix includes α11With
α12, u measures in order to control.y1Initial value be 0.
Similarly, setting unit is calculated according to error, preset second coefficient, the preset controlled quentity controlled variable of preset second cardinal sum
Value is adjusted, including：
Wherein, η2For the second coefficient,For intermediate parameters y2Single order it is reciprocal, the second radix includes α21And α22。y2Just
Initial value is 0.
Setting unit is calculated according to error, preset third coefficient, the preset preset controlled quentity controlled variable of third cardinal sum
Adjusted value, including：
Wherein ,-η3For third coefficient,For intermediate parameters y3Single order it is reciprocal, third radix includes α31And α32。y3Just
Initial value is 0.
Specifically, η1、η2、θ1、θ2＞ 0, α11、α12、α21、α22＞ 0.Wherein, θ1For the first given threshold, θ2It is set for second
Determine threshold value.Specifically, θ1、θ2、-η1、η2、-η3、u、α11、α12、α21、α22、α31And α32Experiment can be carried out according to actual conditions to obtain
It takes and prestores.
In one embodiment, a kind of medium is provided, is stored with computer program, the computer program of storage is handled
The step of device realizes above-mentioned cradle head controllor control parameter method of adjustment when performing.Specifically, medium is computer-readable storage
Medium.
In one embodiment, a kind of cradle head controllor is provided, including memory, processor and storage on a memory
And the computer program that can be run on a processor, processor realize above-mentioned cradle head controllor control ginseng when performing computer program
The step of number adjusting method.
Above-mentioned medium and cradle head controllor, similarly, can due to realizing above-mentioned cradle head controllor control parameter method of adjustment
Cradle head controllor is made to be highly resistant to disturbance under various complicated bumpy weathers, antijamming capability and robustness are high.
In an application examples, above-mentioned cradle head controllor control parameter adjusting method or cradle head controllor control parameter are adjusted
Device is applied to cradle head controllor, and e represents e (ω), the operation principle schematic diagram of cradle head control in algorithm flow chart such as Fig. 4, Fig. 4
As shown in Figure 5.
Each technical characteristic of embodiment described above can be combined arbitrarily, to make description succinct, not to above-mentioned reality
It applies all possible combination of each technical characteristic in example to be all described, as long as however, the combination of these technical characteristics is not deposited
In contradiction, it is all considered to be the range of this specification record.
Embodiment described above only expresses the several embodiments of the present invention, and description is more specific and detailed, but simultaneously
It cannot therefore be construed as limiting the scope of the patent.It should be pointed out that those of ordinary skill in the art are come
It says, without departing from the inventive concept of the premise, various modifications and improvements can be made, these belong to the protection of the present invention
Range.Therefore, the protection domain of patent of the present invention should be determined by the appended claims.
Claims (10)
1. a kind of cradle head controllor control parameter method of adjustment, which is characterized in that including：
According to preset sample frequency, multiple actual angular speeds of camera are acquired；
The error of each actual angular speed and preset reference angular velocities is calculated, and control targe is obtained according to the error being calculated
Value；
If the control targe value is greater than or equal to preset value, Spectrum Conversion is carried out according to the error and obtains multiple frequencies pair
The transformed value answered；
The control parameter of cradle head controllor is adjusted according to the error and each frequency corresponding transformed value.
2. cradle head controllor control parameter method of adjustment according to claim 1, which is characterized in that described according to calculating
The error arrived obtains control targe value, including：
It obtains the quadratic sum of multiple errors being calculated and obtains the control targe value.
3. cradle head controllor control parameter method of adjustment according to claim 1, which is characterized in that the default sampling frequency
Rate is 2Khz, and the quantity of the actual angular speed of acquisition is 200.
4. according to claim 1-3 any one of them cradle head controllor control parameter methods of adjustment, which is characterized in that described
The control parameter of cradle head controllor is adjusted according to the error and each frequency corresponding transformed value, including：
The root-mean-square error of the transformed value corresponding to each low frequency less than or equal to predeterminated frequency is calculated, obtains the first deviation；
The root-mean-square error of the transformed value corresponding to each high frequency more than the predeterminated frequency is calculated, obtains the second deviation；
Adjusted value is obtained according to first deviation, second deviation and the error, by the control parameter of cradle head controllor
It is set as the adjusted value.
5. cradle head controllor control parameter method of adjustment according to claim 4, which is characterized in that described according to described
One deviation, second deviation and the error obtain adjusted value, and the control parameter of cradle head controllor is set as the adjustment
Value, including：
If first deviation is more than preset first given threshold and second deviation is more than preset second given threshold,
The adjusted value is then calculated according to the error, preset first coefficient, the preset preset controlled quentity controlled variable of first cardinal sum；
If first deviation is more than first given threshold and second deviation is less than or equal to the described second setting threshold
Value, then be calculated the adjustment according to the error, preset second coefficient, the preset preset controlled quentity controlled variable of second cardinal sum
Value；
If first deviation is less than or equal to first given threshold and second deviation is less than or equal to described second
Deviation is set, then institute is calculated according to the error, preset third coefficient, the preset preset controlled quentity controlled variable of third cardinal sum
State adjusted value；
The control parameter of cradle head controllor is set as the adjusted value.
6. cradle head controllor control parameter method of adjustment according to claim 5, which is characterized in that described according to the mistake
The adjusted value is calculated in poor, preset first coefficient, the preset preset controlled quentity controlled variable of first cardinal sum, including：
Wherein, e (ω)iFor i-th of actual angular speed and the error of the reference angular velocities, M is the sum of actual angular speed,
Single order for adjusted value k is reciprocal ,-η1For first coefficient,For intermediate parameters y1Single order it is reciprocal, the first radix includes α11
And α12, u is the controlled quentity controlled variable.
7. a kind of cradle head controllor control parameter adjusting apparatus, which is characterized in that including：
Sampling module, for according to preset sample frequency, acquiring multiple actual angular speeds of camera；
Numerical Simulation Module, for calculating the error of each actual angular speed and preset reference angular velocities, and according to being calculated
Error obtain control targe value；
Spectrum Conversion module, for when the control targe value is greater than or equal to preset value, frequency spectrum to be carried out according to the error
Transformation obtains the corresponding transformed value of multiple frequencies；
Parameter adjustment module, for according to the error and the corresponding transformed value of each frequency to the control parameter of cradle head controllor into
Row adjustment.
8. cradle head controllor control parameter adjusting apparatus according to claim 7, which is characterized in that the parameter adjustment mould
Block includes：
First computing unit misses for calculating the root mean square of the transformed value corresponding to each low frequency less than or equal to predeterminated frequency
Difference obtains the first deviation；
Second computing unit, for calculating the root-mean-square error of the transformed value corresponding to each high frequency more than the predeterminated frequency,
Obtain the second deviation；
Setting unit, for obtaining adjusted value according to first deviation, second deviation and the error, by cradle head control
The control parameter of device is set as the adjusted value.
9. a kind of medium, is stored with computer program, which is characterized in that is realized when the computer program of storage is executed by processor
Such as the step of any one of claim 1-6 the methods.
10. a kind of cradle head controllor including memory, processor and stores the meter that can be run on a memory and on a processor
Calculation machine program, which is characterized in that the processor is realized when performing the computer program as described in claim any one of 1-6
The step of method.
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| CN201711268193.9A CN108170027B (en) | 2017-12-05 | 2017-12-05 | Method and device for adjusting control parameters of holder controller, medium and holder controller |
| PCT/CN2018/092492 WO2019109627A1 (en) | 2017-12-05 | 2018-06-22 | Method and apparatus for adjusting control parameter of pan-tilt controller, and pan-tilt controller |
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| WO2019109627A1 (en) * | 2017-12-05 | 2019-06-13 | 深圳市道通智能航空技术有限公司 | Method and apparatus for adjusting control parameter of pan-tilt controller, and pan-tilt controller |
| CN110187721A (en) * | 2019-05-05 | 2019-08-30 | 湖北久之洋红外***股份有限公司 | One kind thousand indexes accurate holder motion control device and method |
| CN111522328A (en) * | 2020-04-23 | 2020-08-11 | 哈尔滨工业大学 | Method and device for self-tuning of servo system and servo system |
| CN112146678A (en) * | 2019-06-27 | 2020-12-29 | 华为技术有限公司 | Method for determining calibration parameters and electronic equipment |
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| CN108170027B (en) * | 2017-12-05 | 2020-01-17 | 深圳市道通智能软件开发有限公司 | Method and device for adjusting control parameters of holder controller, medium and holder controller |
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| CN102722102A (en) * | 2012-06-19 | 2012-10-10 | 浙江工业大学 | H-infinity feedback and iterative learning coordination control method based on error analysis |
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| CN112146678A (en) * | 2019-06-27 | 2020-12-29 | 华为技术有限公司 | Method for determining calibration parameters and electronic equipment |
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| WO2019109627A1 (en) | 2019-06-13 |
| CN108170027B (en) | 2020-01-17 |
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