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

Claim 11:
12. An unmanned aerial vehicle, comprising:
a body;
an arm, connected to the body;
a power apparatus, disposed on the arm;
a gimbal, connected to the body;
a flight control system, disposed on the body; and
a gimbal control system, disposed on the gimbal or the body and configured to control the gimbal,
the flight control system being configured to generate a yaw angular speed instruction of the unmanned aerial vehicle; and
the gimbal control system being configured to:
control a yaw axis motor of the gimbal according to the yaw angular speed instruction of the unmanned aerial vehicle generated by the flight control system;
wherein the gimbal control system is specifically configured to: determine whether the yaw angular speed of the unmanned aerial vehicle is zero;
when the yaw angular speed instruction of the unmanned aerial vehicle is not zero obtain an actual yaw angular speed of the gimbal;
generate a yaw axis motor control instruction of the gimbal according to the yaw angular speed instruction input to the unmanned aerial vehicle and the actual yaw angular speed of the gimbal;
obtain an additional yaw axis motor control instruction of the gimbal, the additional yaw axis motor control instruction being used to control the yaw axis motor of the gimbal, to enable a sight of an imaging device mounted on the gimbal to coincide with a heading of the unmanned aerial vehicle;
generate a yaw axis motor control variable of the gimbal according to the yaw axis motor control instruction of the gimbal and the additional yaw axis motor control instruction of the gimbal; and
control the yaw axis motor of the gimbal according to the yaw axis motor control variable of the gimbal.