Patent ID: 11958604
Assignee: AUTEL ROBOTICS CO., LTD.
Field: Control (Instruments)
Classification: CPC G  B | IPC B  G

Claim 13:
14. The unmanned aerial vehicle according to claim 12 wherein when the yaw angular speed instruction input to the unmanned aerial vehicle is zero, the gimbal control system is further configured to:
obtain an actual yaw angle of the unmanned aerial vehicle and an actual yaw angle of the gimbal;
generate a yaw angular speed control instruction of the gimbal according to the actual yaw angle of the unmanned aerial vehicle and the actual yaw angle of the gimbal;
obtain an actual yaw angular speed of the gimbal;
generate a yaw axis motor control variable of the gimbal according to the yaw angular speed control instruction of the gimbal and the actual yaw angular speed of the gimbal; and
control the yaw axis motor of the gimbal according to the yaw axis motor control variable of the gimbal.