Research On Technologies Of Hand-held Steady Pan-tilt System

With the rapid development of drone technology,stable pan tilt technology related to aerial photography has also become one of the hot spots for development.Pan tilt can be widely used in military,detection,production,and daily shooting.Due to the complicated working environment of the pan-tilt system and the change of the working conditions,it is difficult to realize and apply.Therefore,it is necessary to study a stable,reliable,low-cost pan-tilt system with high application value and market value.As a control system,pan-tilt system also has high academic value.This paper focuses on the implementation of a hand-held pan tilt system,analyzes the working principle of the pan tilt,and conducts research and discussion on several important issues in the pan tilt system design process,and proposes a relatively complete solution for a stable pan tilt system.In this paper,the structure and working principle of pan tilt system are introduced in detail.The pan tilt system attitude calculation technique is introduced in detail,and the error characteristics of MEMS sensors are analyzed.Then the quaternion is selected as the status update with the knowledge of inertial navigation.The method was followed by analysis and solution of the decoupling problem of the three-axis pantilt.Then the information fusion problem of the pan-tilt system is discussed.The commonly used Kalman filter fusion algorithm is introduced and a more simple and easy to implement fusion method is proposed.It is more accurate to apply the model reference adaptive idea to information fusion.Afterwards,the issue of the pan-tilt drift in the information problem and its compensation method were studied.Furthermore,based on the requirements of stability and anti-jamming performance of the system,the application of the active disturbance rejection control method proposed by the researcher Han Jingqing is applied to the pan-tilt system.The disturbance is observed and compensated by the extended state observer.The simulation and experimental verification are performed.The stability and reliability of the designed system.Finally,based on the existing conditions,the hardware and software design of the prototype of pan tilt is performed based on DSP,and the rationality and feasibility of the system proposed in this paper are verified through functional tests and performance tests.