机电工程技术2025，Vol.54Issue(7)：55-59,106,6.DOI:10.3969/j.issn.1009-9492.2025.07.011
基于前馈-反馈复合控制的摄影电动摇臂运动补偿算法及实现
Motion Compensation Algorithm and Implementation of Photographic Electric Rocker Arm Based on Feedforward-feedback Composite Control
摘要
Abstract
For photography,the motion compensation of the electric rocker arm has poor tracking performance and low positioning accuracy,resulting in problems such as blurred video and drift of shooting targets.The traditional closed-loop control is based on feedback error adjustment,which is simple to control and has good stability,but there is a time lag problem.Feedforward control responds quickly and without hysteresis,but is highly dependent on model accuracy.In order to solve the above problems,a motion compensation control strategy for the photographic electric rocker arm based on feedforward-feedback composite control is proposed,the target values of the elevation angle compensation,swing angle compensation and upside-swing angle compensation of the photographic electric rocker arm are derived,and the corresponding motion compensation algorithm is designed,and an experimental platform for the control system of the photographic electric rocker arm based on STM32 is built,which is composed of a control signal module,a sensor module,a controller module and an actuator,and the feasibility of the algorithm is verified by comparing experiments with the single closed-loop control scheme.The experimental results show that the error range of elevation angle compensation is reduced to 0～0.012 m,the error range of swing angle compensation is 0～0.014 m,and the error range of elevation-swing angle compensation is 0～0.008,which improves the control accuracy and responsiveness of the motion compensation of the photographic electric rocker arm,and has a good control effect.关键词
前馈控制/复合控制/摄影电动摇臂/运动补偿Key words
feedforward control/composite control/photographic electric rocker arm/motion compensation分类
计算机与自动化引用本文复制引用
杨文龙,罗先喜..基于前馈-反馈复合控制的摄影电动摇臂运动补偿算法及实现[J].机电工程技术,2025,54(7):55-59,106,6.基金项目
国家自然科学基金(62063001) （62063001）
