摘要
为减小手机摄录时的机械抖动,利用闭环反馈原理,综合3D打印、微控制器、微机电系统等技术,开发了一种具有主动防抖功能的4自由度手持式云台稳定器。云台采用3D打印技术一次成型,由2台步进电机分别控制其横滚和俯仰运动。摄录时手机固定于云台之上,通过六轴运动处理传感器MPU6050检测云台角度,STM32F407运行PID算法,控制2台步进电机协调运转。样机测试结果显示,该系统可有效抵偿手机在一定限度内的机械抖动,拍摄画质显著提升。
In order to reduce the mechanical jitter as recording by cellphones,a 4-DoF (degree of freedom) handheld cloud platform stabilizer which is capable of active anti-vibration is developed.The principle of closed-loop feedback is employed,and various technologies are adopted: 3D printing,micro controller,MEMS (Micro-Electro-Mechanical System),etc.The cloud platform is mechanically realized with one-step forming by 3D printing.Two step motors are utilized to control the motions of roll and pitch,respectively.The cellphone is installed on the stabilizer,6-axis motion processing sensor acquires the roll and pitch angles of cloud platform.The STM32F407 micro-controller coordinates two step motors by running PID (Proportional-integral-derivative) algorithm.Prototype testing results demonstrate the mechanical vibration is effectively compensated,and the image quality is significantly improved.
作者
李晓林
刘颖添
徐志宇
LI Xiaolin;LIU Yingtian;XU Zhiyu(College of Electronics and Information Engineering,Tongji University,Shanghai 201804,China;College of Mechanical and Electronic Engineering and Automation,Harbin Institute of Technology(Shenzhen), Shenzhen 518000,China;Computer & Information Technology Practical Education Demonstration Center, Tongji University,Shanghai 200092,China)
出处
《实验室研究与探索》
CAS
北大核心
2019年第1期91-94,127,共5页
Research and Exploration In Laboratory
基金
国家级计算机与信息技术实验教学示范中心(同济大学)建设项目
同济大学实验教改项目
关键词
云台稳定器
PID算法
步进电机
三维打印
cloud platform stabilizer
PID algorithm
stepper motor
3D printing
