Abstract
A new structure and an improved control method of the three-axis gimbal for hexacopter unmanned aerial vehicle (UAV) are presented. By optimising the structure of the three-axis gimbal and establishing the mathematical model with the maximum stability, the improved structure of three-axis gimbal is proposed, which two groups of virtual reality (VR) camera arrays are mounted on the top and bottom of the frame to meet requirements of the 720-degree panoramic shot. The redundant design of five motors in the structure could realise the stabilisation of three-axis linkage of the gimbal that will ensure the optimal performance of the independent stable cameras all the time. At the same time, the attitude of the gimbal could be controlled by the complementary filter and proportional, integral and derivative algorithms. Furthermore, the closed-loop controls of angle, speed and current of Brushless DC motor are realised by the non-contact magnetic encoder, which improves the anti-shake performance of the system. The experiments in the prototype are designed to prove the anti-shake performance of the proposed gimbal and stability of the hexacopter UAV.
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