Gimbal, leveling method and control method thereof, leveling motor and gimbal assembly

A gimbal, comprising:

• at least one rotation assembly, each comprising a gimbal component, a transmission mechanism and a driving motor configured to drive the gimbal component to rotate so as to adjust an attitude of the gimbal;
• at least one balancing motor corresponding to the at least one rotation assembly, each balancing motor being configured to drive, via the transmission mechanism, at least part of the gimbal component to move along a balancing direction to adjust a center of gravity of the gimbal;
• at least one locking structure corresponding to the at least one rotation assembly,
• wherein each rotation assembly corresponds to one or more balancing directions, and each balancing direction corresponds to the at least one locking structure, so that the at least part of the gimbal component is allowed to move or remain fixed in a corresponding balancing direction of the one or more balancing directions;
• and
• a controller configured to:
• control at least one driving motor to rotate,
• obtain a first electric signal parameter of the at least one driving motor, and
• control the at least one balancing motor to operate based on the first electric signal parameter so as to enable the gimbal to be in a balanced state in a direction adjusted by the at least one balancing motor.

A balancing method for a gimbal, wherein the gimbal comprises:

• at least one rotation assembly, each comprising a gimbal component, a transmission mechanism, and a driving motor, wherein the driving motor is configured to drive the gimbal component to rotate so as to adjust an attitude of the gimbal;
• at least one balancing motor corresponding to the at least one rotation assembly, each balancing motor being configured to drive, via the transmission mechanism, at least part of the gimbal component to move along a balancing direction so as to adjust a center of gravity of the gimbal;
• and
• at least one locking structure corresponding to the at least one rotation assembly;
• wherein each rotation assembly corresponds to one or more balancing directions, and each balancing direction corresponds to the at least one locking structure, so that the at least part of the gimbal component is allowed to move or remain fixed in a corresponding balancing direction of the one or more balancing directions;
• the method comprising:
• controlling at least one driving motor to rotate;
• obtaining a first electric signal parameter of the at least one driving motor, wherein the first electric signal parameter corresponds to a torque output by the driving motor;
• and
• conducting a balancing operation according to a change of the torque,
• wherein the balancing operation comprises:
• in response to the change of the torque, controlling the at least one balancing motor to move the corresponding at least part of the gimbal component to adjust a center of gravity of the gimbal, thereby adjusting the change of the torque.