Design And Implementation Of Handheld Stabilized Pan-tilt-zoom

The main role of the handheld stabilized pan-tilt-zoom is to isolate the camera's attitude which is caused by the external environment factors.For example,due to the external disturbance factors such as pan-tilt-zoom body vibration which is caused by operator movement and wind resistance and so on.The purpose of the handheld stabilized pan-tilt-zoom is ensure that the camera's axis of sight always keeps its desired posture.The most important thing for the camera of the handheld stabilized pan-tilt-zoom to shoot high quality images is to ensure that the camera's visual axis is stable with respect to the target.Therefore,during the shooting of the camera,the device is required to maintain a horizontal,uniform motion and maintain the stability of the device.This article uses the RK3399 chip as the control core of the hand-held stabilized pan_tilt_zoom control system.The paper designed the mechanical structure and the control system hardware circuit of the pan-tilt-zoom.The main contents of the paper is:Firstly,according to the common hand-held stable pan-tilt-zoom,a single MEMS measuring sensor is often used and placed on the target carrier or the handheld stabilized pan-tilt-zoom base.Based on the structure and characteristics of the hand-held stabilized pan-tilt-zoom system designed in this paper,a dual inertial sensor installation scheme is designed,an inertial sensor is placed on the target carrier and the other is placed on the motor connected to the frame.At the same time,the working principle of hand-held stabilized pan-tilt-zoom is analyzed and Kinematic model is established.Secondly,three BLDC motors were selected as the carrier to drive the pan-tilt-zoom.At the same time,the stabilized pan-tilt-zoom frame control model was derived from the known mathematical model of the BLDC motor.The conventional PID control method is used to simulate the system,because the mathematical model of the control system is not accurate enough to achieve the desired control effect.The fuzzy adaptive PID control method is used to simulate the stabilized pan-tilt-zoom control system.The simulation results have better rapidity and stability than the conventional PID control method.The classical Kalman filter method is used in the control system,and the MATLAB simulation results show that the effect is perfect.Finally,the hardware and software control system of the handheld stabilized pan-tilt-zoom system are designed,and the experimental verification of the design meets the requirements of the design index.