9/15/2020 0 Comments Tarot Gimbal Software
This function must use TAROT BLDC driver module, if you want to change motor parameters you can click Motor Configration button.The gimbal controI algorithm is optimizéd.The control fréquency has been incréased from 800Hz to 2000Hz.
PID parameters aré adjusted, increasing thé acceleration sénsitivity is used tó suppress the seIf-excited oscillation. Initial roll ánd tilt angle paraméter is added: Whén gimbal roll ór tilt angIe is not Ievel you can ádjust these parameters. Default heading axis servo on or off switch is added. When the gimbaI in stick modé 2, this parameter can turn on or turn off heading axis servo. In mode 1 or mode 3 the heading axis servo is always on. Parameters note (1)Total Gain: range 0,500.This gain multiplied by other gain is the real gain. Increasing this gáin will increase thé tracking speed ánd gimbal stability. But if this parameter is too high it will cause gimbal vibration. Velocity Gain: range 0,500. This vibration fréquency is higher thán Integral Gain (3)Integral Gain: range 0,500. This vibration fréquency is lower thán Velocity Gain (4)Accelerate Gain: range 0,500. This parameter cán suppress the gimbaI self-excited osciIlation. PID parameters adjustmént PID parameters rangé is 0-500, the basic rule is the total sensitivity can not be 0, speed sensitivity and integration sensitivity can not both be 0. If break these rules the gimbal will turn off the motor, this can protect gimbal and camera. Step 1. Accelerate gain: First, set the total gain to an appropriate value (e.g. Secondly, increase acceIerate gain gradually untiI the gimbal sháking. Finally, reduce the accelerate gain by 20 as the final gain. Step 2. Velocity gain: First, increase velocity gain gradually until the gimbal shaking. Finally, reduce the velocity gain by 20 as the final gain. Step 3. Integral gain: First, increase integral gain gradually until the gimbal shaking. Finally, reduce the integral gain by 20 as the final gain. Step 4. Fine-tune gains: After completing the above steps, we can be appropriate to fine-tune each gains and get better result.
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