CN112923894B - Mechanical angle automatic calibration method applied to holder - Google Patents
Mechanical angle automatic calibration method applied to holder Download PDFInfo
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Abstract
The invention provides an automatic calibration method for mechanical angles of a cloud deck, which simplifies, automates and keys the complex process of the existing cloud deck calibration, monitors an interface and a matched single chip microcomputer program through upper computer software, can effectively improve the accuracy and the index consistency of calibration parameters of cloud deck production, eliminates personal experience factors, and improves the production efficiency and the yield; after the automatic calibration process of the holder is started, the power supply voltage and the data of the inertia measurement unit are detected, so that the structural part damage caused by abnormal calibration and out-of-control motor due to insufficient power supply is effectively prevented; setting an upper limit mechanical angle, a lower limit mechanical angle, an actual measurement stroke and a calculation zero position corresponding to a zero degree mechanical angle; the correction of zero position calculation is completed through an amplitude convergence algorithm, the automatic calibration method can avoid the inaccuracy of boundary detection caused by the difference of empirical torque and empirical time during manual operation, and the calibration precision and the calibration efficiency of the mechanical angle of each shaft are ensured.
Description
Technical Field
The invention relates to the technical field of unmanned aerial vehicle cloud platforms, in particular to a mechanical angle automatic calibration method applied to a cloud platform.
Background
The servo control of the holder needs to use the mechanical angle of each shaft as the input of a rotation matrix, because of the randomness when the motor magnetic steel and the angle sensor are assembled, the mechanical angle of the holder which is not calibrated can not be used as the direct input of the rotation matrix, a series of calibrations need to be carried out on the mechanical angle of the holder, and the calibration accuracy directly influences the control precision of the holder, so the mechanical angle calibration of the holder is the problem to be solved in the production and debugging process.
The traditional calibration method mostly adopts a mode of tool cooperation and manual operation, however, the precision of the calibration method has higher requirements on the design level of the tool, and meanwhile, the calibration method depends on the personal experience of operators, the discreteness of the calibration precision is larger, the consistency of products cannot be improved, the yield is low, and the large-scale production is not facilitated.
Disclosure of Invention
Aiming at the problems that the calibration method in the prior art mostly adopts the mode of tool cooperation and manual operation, which has larger calibration precision discreteness and can not improve the consistency of products, the invention provides the automatic calibration method of the mechanical angle applied to the cloud deck.
The invention is realized by the following technical scheme:
a mechanical angle automatic calibration method applied to a holder comprises the following steps:
step 3, after obtaining the mechanical stroke of the current shafting of the tripod head, applying zero electrical angle vector voltage to the current detection shafting motor, reading the output of the angle sensor, recording the output as electrical angle offset, and when the motor is driven, subtracting the electrical angle offset from the electrical angle to complete electrical angle alignment;
step 4, sweeping the current shafting back and forth at a constant speed, recording an upper limit actual measurement angle and a lower limit actual measurement angle, calculating an actual measurement stroke, and calculating a calculation zero position corresponding to a zero mechanical angle by a linear alignment method;
step 5, controlling an inner frame motor of the holder to be kept at a calculation zero position, controlling an outer frame motor of the holder to perform continuous reciprocating sweeping action, correcting the calculation zero position of the inner frame motor of the holder, setting completion time, stopping calibration when the calculation zero position correction is not completed within the set completion time, and sending error type codes to upper computer software; when the zero correction is completed within the set completion time, all shafting are respectively executed according to the steps 2 to 5 and the calibration is completed, then the step 6 is executed;
step 6, controlling each shaft to be kept at the correction calculation zero position, automatically checking the position precision, and if the precision is qualified, successfully calibrating and executing the operation of the step 7;
and 7, writing the holder calibration parameters into the microcontroller for storage, completing the automatic calibration action of the mechanical angle of the holder, and restarting the equipment.
Preferably, in step 1, after the cradle head starts the automatic calibration process, the power supply voltage and the data of the inertial measurement unit are detected.
Preferably, in step 2, the upper limit mechanical angle is set to a positive value, and the lower limit mechanical angle is set to a negative value; the theoretical mechanical travel of each axis is calculated as follows:
A T ＝|A m -A -n |；
wherein, A T Theoretical mechanical stroke; a. The m Upper mechanical angle; a. The -n The lower mechanical angle is.
Preferably, in step 4, the actual measurement stroke is calculated as follows:
A T ′|A m ′A -n ′|；
wherein A is T ' is the actual measurement stroke; a. The m ' is the upper practical angle; a. The -n ' is a lower limit actual angle.
Preferably, in step 4, the calculation of the zero position corresponding to the zero-degree mechanical angle is calculated as follows:
wherein A is 0 To calculate the zero position; a. The T Theoretical mechanical stroke; a. The -n A lower mechanical angle; a. The T ' is the actual measurement stroke; a. The -n ' is a lower limit actual angle.
Preferably, in step 5, a reciprocating projection component is formed in the direction of the inner frame of the pan/tilt head, and the amplitude variation of the projection component is counted to control the inner frame motor of the pan/tilt head to perform zero position calculation correction.
Preferably, in step 5, when the calculation zero position is corrected, the inner frame motor of the pan/tilt is controlled to be kept at the calculation zero position, then the outer frame motor of the pan/tilt is controlled to continuously sweep, the quadrature component in the direction of the outer frame rotating shaft of the pan/tilt is measured by using the inertia measurement unit, and the quadrature component calculation formula is as follows:
A q ＝A×sinθ；
wherein A is q Is the quadrature component amplitude; a is a sweep amplitude; theta is the angle of the null error.
Further, when the angle theta of the zero error is less than 5 degrees, linear processing is carried out on the sine function, the sweep amplitude is a fixed value, and the angle theta of the zero error and the quadrature component amplitude A are q An approximately linear relationship exists, and the calculation formula is as follows:
θK×A q ；
wherein θ is the zero error; k is a theoretical conversion coefficient; a. The q Is the quadrature component amplitude.
Compared with the prior art, the invention has the following beneficial technical effects:
the invention provides an automatic calibration method of mechanical angles applied to a holder, which simplifies, automates and keys the complex process of the existing holder calibration, and normally, an operator only needs to start a calibration flow, observe a monitoring interface of an upper computer and automatically restart after the calibration process is finished by starting the calibration flow and observing the monitoring interface of the upper computer, wherein the time consumed by the automatic calibration process is about 25-40 seconds, and the calibration precision is approved by a production line; the calibration parameter accuracy and index consistency of the cradle head production can be effectively improved, personal experience factors are eliminated, and the production efficiency and the yield are improved; after the automatic calibration process of the cradle head is started, the power supply voltage and the data of the inertia measurement unit are detected, so that the structural part damage caused by abnormal calibration and out-of-control motor due to insufficient power supply is effectively prevented; by setting the upper limit mechanical angle, the lower limit mechanical angle, the actual measurement stroke and the calculation zero position corresponding to the zero degree mechanical angle, the calibration efficiency of the theoretical mechanical stroke of each shaft is ensured, and the inaccuracy of boundary detection caused by the difference of experience torque and experience time during manual operation is avoided.
Drawings
FIG. 1 is a schematic view of an upper computer connecting pan/tilt head according to the present invention;
FIG. 2 is a flow chart of the mechanical angle automatic calibration method applied to the pan/tilt head according to the present invention;
FIG. 3 is a schematic view of the sweep boundary detection in the present invention;
FIG. 4 is a schematic diagram of the convergence algorithm correcting the calculated zero position in the present invention.
In the figure: 1-upper computer software; and 2-a tripod head.
Detailed Description
The present invention will now be described in further detail with reference to specific examples, which are intended to be illustrative, but not limiting, of the invention.
According to the method for automatically calibrating the mechanical angle applied to the holder, disclosed by the invention, as shown in figure 1, after upper computer software 1 is connected with a holder 2 through a USB virtual serial port, the method for automatically calibrating the mechanical angle is carried out, and as shown in figure 2, the method comprises the following steps:
step 3, after the mechanical stroke of the current shafting of the holder is obtained, applying zero electrical angle vector voltage to a current detection shafting motor, reading the output of an angle sensor, recording the output as electrical angle offset, and subtracting the electrical angle offset from the electrical angle when the motor is driven to finish electrical angle alignment;
step 4, sweeping the current shafting back and forth at a constant speed, recording an upper limit actual measurement angle and a lower limit actual measurement angle, calculating an actual measurement stroke, and calculating a calculation zero position corresponding to a zero mechanical angle by a linear alignment method;
step 5, controlling an inner frame motor of the holder 2 to be kept at a calculation zero position, controlling an outer frame motor of the holder 2 to perform continuous reciprocating sweeping action, correcting the calculation zero position of the inner frame motor of the holder 2, setting completion time, stopping calibration when the calculation zero position correction is not completed within the setting completion time, and sending error type codes to the upper computer software 1; when the zero correction is completed within the set completion time, all shafting are respectively executed according to the steps 2 to 5 and the calibration is completed, then the step 6 is executed;
step 6, controlling each shaft to be kept at the correction calculation zero position, automatically checking the position precision, and if the precision is qualified, successfully calibrating, and performing the operation of step 7;
and 7, writing the calibration parameters of the holder 2 into the microcontroller for storage, completing the automatic calibration action of the mechanical angle of the holder, and restarting the equipment.
In the step 1, after the automatic calibration process is started for the holder 2, the power supply voltage and the data of the inertia measurement unit are detected.
In the step 2, setting a positive value for the upper limit mechanical angle and a negative value for the lower limit mechanical angle; the theoretical mechanical travel of each axis is calculated as follows:
A T ＝|A m -A -n |；
wherein, A T Theoretical mechanical stroke; a. The m Upper mechanical angle; a. The -n The lower mechanical angle is.
In step 4, the actual measurement travel is calculated as follows:
A T ′|A m ′A -n ′|；
wherein, A T Theoretical mechanical stroke; a. The m Upper mechanical angle; a. The -n The lower mechanical angle is.
The calculation zero position corresponding to the mechanical angle of zero degree is calculated as follows:
wherein, A 0 To calculate the zero position; a. The T Theoretical mechanical stroke; a. The -n A lower mechanical angle; a. The T ' is the measured travel; a. The -n ' is a lower limit actual angle.
And 5, forming a reciprocating projection component in the direction of the inner frame of the holder 2, and controlling an inner frame motor of the holder 2 to calculate zero correction by counting the amplitude change of the projection component.
In step 5, the inner frame motor of the holder 2 is controlled to be kept at the calculation zero position, the outer frame motor of the holder 2 is controlled to perform continuous reciprocating sweeping motion, the inertial measurement unit is used for detecting the sweeping motion, ideally, the sweeping motion does not generate a projection component in the inner frame direction, but due to the existence of zero position calculation error, a reciprocating projection component is actually generated in the inner frame direction, an angle is corrected by counting the amplitude change of the projection component in the direction capable of enabling the amplitude to be converged by controlling the inner frame motor, the angle is in direct proportion to the amplitude of the projection component, and the theoretical zero position of the inner frame motor is corrected by repeatedly analyzing and correcting. If the time exceeds 20 seconds and zero correction cannot be completed, the calibration is stopped, and an error type code is uploaded to upper computer software.
The automatic calibration method automatically calculates the motion parameters of the calibration action, after the validity of the inertia measurement unit and the execution mechanism is checked, the calibration action is executed according to the calculated motion parameters, when the inertia measurement unit and the execution mechanism are swept to a motion boundary at a constant speed, the motor is automatically controlled to output uniform torque, the uniform torque is kept for a uniform time at the boundary to check the validity of a boundary angle, and the inaccuracy of boundary detection caused by the difference of empirical torque and empirical time during manual operation is avoided; when the convergence algorithm is used for correcting the zero calculation of the inner frame, the program controls the outer frame to perform continuous swinging and sweeping actions, controls the inner frame to perform a convergence direction test near the zero calculation position, and corrects the zero calculation position in a stepping fine adjustment mode after the convergence direction is determined, so that the discreteness of zero error caused by zero searching jig precision and personal experience is avoided.
According to fig. 3, when detecting the sweeping boundary, the motor needs to be subjected to motion detection and stop detection, the motion detection is used for judging that the motor starts to rotate, and the stop detection is used for judging that the motor stops rotating, and the specific method is as follows: controlling a motor to rotate at a constant speed in the forward direction, continuously detecting the variation of the actually measured angle at the front moment and the rear moment in the rotating process, and judging that the motor is in a motion state if the variation is continuously greater than a threshold value and exceeds a specified number of times; continuously detecting the variation of the actually measured angle at the front moment and the back moment, wherein the variation is continuously smaller than the threshold value and exceeds the specified times, and judging that the motor is in a stop state; and then controlling the motor to rotate reversely, and carrying out boundary detection on the other side according to the above mode. The method can guarantee the consistency of output torque and the consistency of residence time, and further guarantee the consistency of equipment calibration.
According to fig. 4, when the calculation zero position is corrected, the inner frame motor of the pan/tilt head 2 is controlled to be kept at the calculation zero position, then the outer frame motor of the pan/tilt head 2 is controlled to continuously sweep, the quadrature axis component in the outer frame rotating shaft direction of the pan/tilt head 2 is measured by using the inertia measurement unit, and the quadrature axis component calculation formula is as follows:
A q ＝A×sinθ；
wherein A is q Is the quadrature component amplitude; a is a sweep amplitude; theta is the angle of the zero error;
when the angle theta of the zero error is less than 5 degrees, linear processing is carried out on the sine function, the sweep amplitude is a fixed value, and the angle theta of the zero error and the quadrature component amplitude A are q There is an approximately linear relationship, and the calculation formula is as follows:
θK×A q ；
wherein θ is the zero error; k is a theoretical conversion coefficient; a. The q Is the quadrature component amplitude.
Selecting a correction conversion coefficient K 'when zero error correction is carried out'<Calculating a correction error theta 'by theoretical conversion coefficient K, controlling the inner frame to offset the correction error theta' on the basis of calculating zero position, and then counting quadrature component amplitude A q Thus correcting the zero bit error several times. When the initial zero error correction is performed, because the zero error direction is unknown, the positive direction is firstly determined for correction, a convergence direction test is performed, as shown in fig. 4, if the quadrature component amplitude is found not to be converged, the negative correction is performed, after the convergence direction is confirmed, the zero error is continuously corrected until the quadrature component amplitude is converged to the minimum, and the zero error correction is considered to be completed. The method can guarantee the accuracy and convenience of zero error correction operation.
According to the invention, the upper computer software 1 monitors an interface, the cradle head 2 is controlled to start a set of automatic calibration method for internal solidification, the automatic calibration method can carry out stages of a complex process of calibrating the cradle head 2, each stage can upload a current calibration result after being executed, auxiliary data and curves are provided to help an operator to position a calibration progress and result, and the cradle head 2 completes a set of actions of parameter calculation, mechanical movement, parameter updating, storage and restarting according to a flow specified by an automatic calibration program.
Examples
Calibrating the first cradle head to be tested and the second cradle head to be tested by using a mechanical angle automatic calibration method of the cradle head, taking the calibration of a pitch axis as an example, and starting an automatic calibration process for the cradle head 2 by receiving a calibration instruction through upper computer software 1; in the automatic calibration process, the upper limit mechanical angle set on the first pan-tilt is 100 degrees and the lower line mechanical angle is-105 degrees; the upper limit mechanical angle of the second tripod head is 100 degrees, the lower line mechanical angle is-105 degrees, and the theoretical stroke of the first tripod head is calculated to be 205 degrees; the theoretical stroke of the second tripod head is 205 degrees; after mechanical strokes of all shafts in the first cloud platform and the second cloud platform are respectively obtained, applying zero electrical angle vector voltage to current detection shafting motors of the first cloud platform and the second cloud platform, reading the output of an angle sensor, and recording the zero electrical angle vector voltage as electrical angle offset, wherein the zero electrical angle offset of the first cloud platform and the zero electrical angle offset of the second cloud platform are respectively 16538 and 18285, and when the motors are driven, subtracting the electrical angle offset from the electrical angle to complete electrical angle alignment;
sweeping the current shaft system back and forth at a constant speed, and recording an upper limit actual measurement angle and a lower limit actual measurement angle of the first pan-tilt head as 15495 and 202163 respectively; recording an upper limit actual measurement angle and a lower limit actual measurement angle of the second tripod head to be 25638 and 211376 respectively, calculating to obtain actual measurement strokes of the first tripod head and the second tripod head to be 186668 and 185738 respectively, and calculating zero positions corresponding to zero-degree mechanical angles of the first tripod head and the second tripod head to be 106552 and 116242 respectively by a linear alignment method;
controlling inner frame motors of the first pan-tilt and the second pan-tilt to be kept at the calculation zero positions, controlling outer frame motors of the first pan-tilt and the second pan-tilt to perform continuous reciprocating sweeping actions, and correcting the theoretical zero positions of the inner frame motors of the first pan-tilt and the second pan-tilt through a convergence algorithm to obtain corrected zero positions of the first pan-tilt and the second pan-tilt which are 107042 and 115176 respectively; the upper limit setting completion time is 20 seconds, when zero correction is not completed in the setting completion time, calibration is stopped, and an error type code is sent to the upper computer software 1; when the zero correction is completed within the set completion time;
after the calibration of all shafting is finished, controlling each shaft to be kept on a correction calculation zero position, automatically checking the position precision, if the precision is checked to be qualified, the calibration is successful, and the storage operation of calibration parameters can be carried out; the calibration parameters of the first cloud platform and the second cloud platform are written into the microcontroller for storage, so that the calibration parameters can be directly read and used when the system is started next time, the automatic calibration action of the mechanical angle of the cloud platforms is completed, the equipment is restarted, and the calibration statistics of the pitching axes of the first cloud platform and the second cloud platform are shown in table 1.
| Item | First cloud platform | Second tripod head |
| Upper limit mechanical angle | 100° | 100° |
| Lower limit mechanical angle | -105° | -105° |
| Theoretical mechanical stroke | 205° | 205° |
| Zero electrical angle offset | -16538 | -18285 |
| Upper limit actual measurement angle | 15495 | 25638 |
| Lower limit actual measurement angle | 202163 | 211376 |
| Resolving the journey | 186668 | 185738 |
| Computing zero position | 106552 | 116242 |
| Correcting zero position | 107042 | 115176 |
| Correcting upper limit mechanical angle | -100.58° | -98.37° |
| Correcting lower limit mechanical angle | 104.50° | 105.69° |
TABLE 1 Pitch axes calibration statistics for Pan-Tilt and Pan-Tilt
Claims (5)
1. The automatic mechanical angle calibration method applied to the holder is characterized by comprising the following steps of:
step 1, upper computer software (1) receives a calibration instruction to start an automatic calibration process for a cradle head (2);
step 2, in the automatic calibration process, calculating the mechanical stroke of the current shafting in the cradle head (2) according to the upper limit mechanical angle and the lower limit mechanical angle set by the current shafting for the cradle head (2);
step 3, after the mechanical stroke of the current shafting of the holder is obtained, applying zero electrical angle vector voltage to a current detection shafting motor, reading the output of an angle sensor, recording the output as electrical angle offset, and subtracting the electrical angle offset from the electrical angle when the motor is driven to finish electrical angle alignment;
step 4, sweeping the current shafting back and forth at a constant speed, recording an upper limit actual measurement angle and a lower limit actual measurement angle, calculating an actual measurement stroke, and calculating a calculation zero position corresponding to a zero mechanical angle by a linear alignment method;
step 5, controlling an inner frame motor of the holder (2) to be kept at a calculation zero position, controlling an outer frame motor of the holder (2) to perform continuous reciprocating sweeping action, correcting the calculation zero position of the inner frame motor of the holder (2), setting completion time, stopping calibration when the calculation zero position correction is not completed within the setting completion time, and sending error type codes to the upper computer software (1); when zero position correction is completed in the set completion time, all shafting is executed according to the steps 2 to 5 respectively and calibration is completed, and then the step 6 is executed;
forming a reciprocating projection component in the direction of an inner frame of the holder (2), and controlling an inner frame motor of the holder (2) to calculate zero correction by counting amplitude changes of the projection component;
when the zero position is corrected and calculated, firstly controlling an inner frame motor of the holder (2) to be kept at the zero position, then controlling an outer frame motor of the holder (2) to continuously sweep, and measuring the quadrature component of the outer frame rotating shaft direction of the holder (2) by using an inertia measuring unit, wherein the quadrature component calculation formula is as follows:
A q ＝A×sinθ；
wherein A is q Is the quadrature component amplitude; a is a sweep amplitude; theta is the angle of the zero error;
when the angle theta of the zero error is less than 5 degrees, linear processing is carried out on the sine function, the sweep amplitude is a fixed value, and the angle theta of the zero error and the quadrature component amplitude A are q There is an approximately linear relationship, and the calculation formula is as follows:
θ＝K×A q ；
wherein θ is the zero error; k is a theoretical conversion coefficient; a. The q Is the quadrature component amplitude;
when the convergence algorithm is used for correcting the calculated zero position of the inner frame, the program controls the outer frame to perform continuous sweeping action, controls the inner frame to perform convergence direction test near the calculated zero position, and corrects the calculated zero position in a stepping fine adjustment mode after the convergence direction is determined;
step 6, controlling each shaft to be kept at the correction calculation zero position, automatically checking the position precision, and if the precision is qualified, successfully calibrating and executing the operation of the step 7;
and 7, writing the calibration parameters of the holder (2) into the microcontroller for storage, completing the automatic calibration action of the mechanical angle of the holder, and restarting the equipment.
2. The method for automatically calibrating the mechanical angle applied to the pan/tilt head according to claim 1, wherein in step 1, the power supply voltage and the data of the inertial measurement unit are detected after the pan/tilt head (2) is started up in the automatic calibration process.
3. The automatic calibration method for mechanical angles of a pan/tilt head according to claim 1, wherein in step 2, the upper limit mechanical angle is set to a positive value, and the lower limit mechanical angle is set to a negative value; the theoretical mechanical travel of each axis is calculated as follows:
A T ＝|A m -A -n |；
wherein A is T Theoretical mechanical stroke; a. The m Upper mechanical angle; a. The -n The lower mechanical angle is.
4. The method for automatically calibrating a mechanical angle of a pan/tilt head according to claim 1, wherein in step 4, the actual measurement stroke is calculated as follows:
A T ′＝|A m ′-A -n ′|；
wherein A is T ' is the actual measurement stroke; a. The m ' is the upper practical angle; a. The -n ' is a lower limit actual angle.
5. The method for automatically calibrating a mechanical angle applied to a pan/tilt head according to claim 1, wherein in step 4, the calculation zero position corresponding to the mechanical angle of zero degree is calculated as follows:
wherein A is 0 To calculate the zero position; a. The T Theoretical mechanical stroke; a. The -n A lower mechanical angle; a. The T ' is the actual measurement stroke; a. The -n ' is a lower limit actual angle.
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| WO2019140655A1 (en) * | 2018-01-19 | 2019-07-25 | 深圳市大疆创新科技有限公司 | Position-limit angle calibration method and terminal device |
| CN111684386A (en) * | 2019-05-28 | 2020-09-18 | 深圳市大疆创新科技有限公司 | Cradle head zero calibration method and cradle head |
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| CN111106774A (en) * | 2020-01-13 | 2020-05-05 | 深圳市星图智控科技有限公司 | Calibration method for electrical angle and mechanical angle of foc-driven brushless motor with magnetic encoder |
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