Patent ID: 11880120
Assignee: SZ DJI TECHNOLOGY CO., LTD.
Field: Mechanical elements (Mechanical engineering)
Classification: CPC F  G  H | IPC G  H

Claim 16:
17. A gimbal control method comprising:
configuring, while a gimbal is in a power-on state, turning-off motor control parameters, the gimbal including an axis arm and an electric motor configured to drive the axis arm to rotate to drive a camera device carried by the gimbal to move in one or more directions, the turning-off motor control parameters being configured to control the electric motor when the gimbal is powered off or enters a sleep state, and configuring the turning-off motor control parameters including:
obtaining a torque of the axis arm according to a current value of the electric motor;
measuring an angular acceleration of the axis arm through an inertial measurement unit (IMU) arranged at the axis arm;
calculating a ratio of the torque of the axis arm to the angular acceleration to obtain a moment of inertia of the camera device; and
configuring the turning-off motor control parameters according to the moment of inertia of the camera device; and

in response to the gimbal being powered off or entering the sleep state, controlling a torque of the electric motor to decrease gradually from a starting moment at which the gimbal is powered off or enters the sleep state according to the turning-off motor control parameters.