基于FOC控制的双轴增稳云台的设计  

Design of Double-axis Cloud Platform Stabilizer Based on Non-inductive FOC Control

作　　者：王灵芝 郑敏娟[1] 王朝慧 陈士豪 WANG Ling-zhi;ZHENG Min-juan;WANG Chao-hui;CHEN Shi-hao(Department of Artificial Intelligence,Xiamen City University,Xiamen 361008,China)

机构地区：[1]厦门城市职业学院人工智能学院,福建厦门361008

出　　处：《电脑与电信》2024年第11期48-54,共7页Computer & Telecommunication

基　　金：福建省科技计划项目(2022H0004);中青年教师教育科研项目(JAT201357);厦门城市职业学院高层次人才科研启动金(G3R2022-9)。

摘　　要：随着视频媒体的迅猛扩张和观众需求的持续攀升,视频内容创作领域正经历着前所未有的繁荣景象,而采用增稳云台作为摄像设备的支撑平台,则日益成为市场的主流趋势。在分析FOC无刷电机控制算法的基础上,实现了对双轴稳增云台的控制。设计以STM32F407为主控,包含电机驱动模块、电流采样模块、姿态传感器模块、交互及调试模块四大模块;算法结合了扩展卡尔曼滤波器观测器解算云台姿态,运用PID算法完成对电机稳定、准确的运动控制。系统利用Solidworks软件制作云台的机械架构;通过仿真和实验验证,云台可有效消除抖动,保持载物的姿态,俯仰角度在-45°到45°可调,航向角度在-60°到60°可调。As video media continues to proliferate and audience demands escalate,the realm of video content creation has flourished unprecedentedly,propelling the adoption of gimbal stabilizers as the preferred camera carriers in the market.This paper delves into the FOC brushless motor control algorithm,integrating an Extended Kalman Filter(EKF)observer for precise gimbal attitude estimation.Furthermore,the PID algorithm is employed to ensure stable and accurate motor control.The design incorporates the STM32F407 as the main controller,comprising four core modules:motor drive module,current sampling module,attitude sensor module,and interaction&debugging module.Utilizing Solidworks,the mechanical framework of the gimbal is meticulously designed and constructed.Extensive simulations and rigorous experimental validations confirm that the gimbal effectively mitigates vibrations,maintaining a steadfast posture for the payload.Notably,its tilt angle is flexibly adjustable within a range of-45°to 45°,while the yaw angle spans from-60°to 60°,showcasing its versatility and adaptability to diverse operational scenarios.

关 键 词：双轴增稳云台 FOC STM32F407 PID 

分 类 号：TP23[自动化与计算机技术—检测技术与自动化装置]