阅读说明：本技术 云台的控制方法、云台、飞行器和计算机可读存储介质 (Control method of holder, aircraft and computer-readable storage medium ) 是由 刘帅 王映知 李兵 于 2018-06-29 设计创作，主要内容包括：一种云台(100)的控制方法、云台(100)、飞行器(1000)和计算机可读存储介质(2000)，该控制方法包括：(012)获取云台(100)的转轴结构(10)在当前时刻的第一姿态；(014)获取转轴结构(10)的参考姿态；(016)根据第一姿态与参考姿态控制转轴结构(10)以预设的运动参数将第一姿态调整为参考姿态。该云台(100)用于执行该控制方法，该飞行器(1000)包括该云台(100)，该计算机可读存储介质(2000)存储有可被处理器(20)执行该控制方法的计算机程序。(A control method of a pan-tilt (100), an aircraft (1000) and a computer-readable storage medium (2000), the control method comprising: (012) acquiring a first posture of a rotating shaft structure (10) of a holder (100) at the current moment; (014) acquiring a reference attitude of the rotating shaft structure (10); (016) and controlling the rotating shaft structure (10) to adjust the first posture into a reference posture according to the first posture and the reference posture by using preset motion parameters. The cradle head (100) is used for executing the control method, the aircraft (1000) comprises the cradle head (100), and the computer-readable storage medium (2000) stores a computer program which can be executed by the processor (20) for executing the control method.)