Research On Trajectory Tracking Control Of Two-DOF PTZ Based On U-K Equation

From the beginning only as a camera carrier platform to the current carrier platform for various devices of drones and robots,the use of PTZ is becoming more and more widespread.In view of the complexity of the existing modeling methods and the susceptibility to nonlinear factors,this paper takes the two-degree-of-freedom PTZ as the research object,based on the U-K equation to dynamically model it and then conduct trajectory tracking control research to verify the feasibility of U-K equation for trajectory tracking control of PTZ.The U-K equation modeling method is compared with other traditional modeling methods,and its advantages are pointed out.The kinematics analysis of the PTZ is carried out by establishing a link coordinate system,and the relationship between the end position of the PTZ and the joint rotation angle is obtained and its working space is obtained,which provides a basis for trajectory planning.Based on analytical mechanics,the U-K basic equations are derived,and the solution method of servo restraint force is given.On this basis,the dynamic model is established to obtain the system motion equation.According to whether the initial conditions are compatible,there are two situations to simulate in MATLAB,and use Baumgarte constraint default stability correction method to correct the incompatible initial conditions.Before the experiment,the virtual prototype model of the gimbal was established in ADAMS,and the joint simulation of MATLAB and ADAMS was carried out to compare and verify the two models.It proved that the model built based on the U-K method was correct and verified from a simulation perspective that the feasibility of using U-K method to track and control the PTZ is ready for the experiment.Finally,the PTZ is tested by a control system based on the U-K equation and the experimental results are compared with the theoretical values.The feasibility provides new ideas and methods for the tracking control of the PTZ and also expands the application range of the U-K equation.