基于CORTEX M4主控芯片GD32F450I, 通过采用三次多项式方式, 完成千分度云台的路径规划, 从而减小运动中的冲击和振动, 提高云台的运动精度。采用基于位置环和速度环的双环控制算法, 快速控制千分度云台的位置运动精度。针对千分度云台的俯仰运动, 还需要通过脉动差值补偿方式, 有效消除负载力矩引起的齿隙误差, 从而使得千分度云台控制精度达到 0.004°(方位)和0.006°(俯仰)的要求。

In this paper, based on CORTEX M4 master control chip GD32F450I, path planning of millimeter precision PTZ is completed by using cubic polynomial method, so as to reduce impact and vibration in motion and improve the motion accuracy of the PTZ. Using a double-loop control algorithm based on position loop and velocity loop control method, the position motion precision of the millimeter precision PTZ can be controlled quickly. For the pitch movement of the PTZ, it is also necessary to effectively eliminate the backlash error caused by the load torque by means of fluctuation difference compensation. The control accuracy of the millimeter precision PTZ can reach 0.004deg (azimuth) and 0.006deg (pitch).