CN101794020B - Light beam precision pointing device based on resolution multiplied compliant mechanism - Google Patents
Light beam precision pointing device based on resolution multiplied compliant mechanism Download PDFInfo
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- CN101794020B CN101794020B CN2010101018998A CN201010101899A CN101794020B CN 101794020 B CN101794020 B CN 101794020B CN 2010101018998 A CN2010101018998 A CN 2010101018998A CN 201010101899 A CN201010101899 A CN 201010101899A CN 101794020 B CN101794020 B CN 101794020B
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Abstract
The invention discloses a light beam precision pointing device based on a resolution multiplied compliant mechanism, comprising a mirror bracket component, a driving mechanism and a control mechanism. The mirror bracket component is connected with the driving mechanism through the resolution multiplied compliant mechanism, the resolution multiplied compliant mechanism comprises a base and a flexible hinge fixed on the base and the mirror bracket component is fixed at the top of the flexible hinge; the driving mechanism comprises two drive motors used for pushing the flexible hinge and fixed on the base and the two drive motors are symmetrically arranged at two sides of the lower part of the flexible hinge. The invention has the advantages of compact structure, convenient processing, simple assembling, no friction loss, no movement clearance, no need for lubrication, high locating precision, network control, simple and convenient use, high reliability, strong adaptability and wide application range.
Description
Technical field
The present invention relates to the laser communication field, be specifically related to a kind of light beam precision pointing device based on resolution multiplied compliant mechanism.
Background technology
Radio optical communication system is also referred to as " Free Space Optics " communication system, utilize light beam (for example laser) as the optical communication signal, do not need between terminal, to lay transmission cable or optical cable, data or information are encoded and are modulated on the very little arrow beam of light of a beam divergence angle, be transferred to receiver by free space from transmitter then, by receiver the light beam that receives being mediated obtains raw data or information again.The principle of work of radio optical communication system itself has guaranteed that system has higher data security and confidentiality, but require must be aligned with each other between the transmitter of arrow beam of light and the receiver, the beam direction angle that the mechanical shaking of transmitter and receptacle and atmospheric disturbance cause changes all will influence the traffic channel quality.And light beam precision pointing device is as the critical component of radio optical communication system, and its function is aligned with each other, compensates the beam jitter that above all kinds of disturbance causes for guaranteeing between transmitter and the receiver, guarantees the stable of system communication channel.
Traditional light beam precision pointing device is called fast mirror again, two-dimentional turntable based on the DC servo motor driving, moment of inertia is big, bearing friction and gap are difficult to eliminate, make the bandwidth and the precision of system be difficult to improve, and the bearing on the turntable need lubricate, and lubricant pollutes eyeglass easily, and this structure is difficult to adapt to the request for utilization under the mal-conditions such as low temperature, vacuum, intense radiation;
Announced a kind of light beam precision pointing device design among the U.S. Pat 2003/0197910A1.The characteristics of its each several part are: the universal joint supporting plane catoptron that adopts inner and outer ring to form, voice coil motor drives, and has designed based on photronic photoelectrical position sensor.This invention has improved the performance of traditional design driver and sensor, make system bandwidth significantly improve, but the internal and external frame of universal joint all can increase system's moment of inertia, and the friction of bearing and lubrication problem all less than solving, have limited its bandwidth, precision and reliability simultaneously;
The fast mirror of announcing in the Chinese patent 200810197662.7 has proposed a kind of resiliency supported design of novelty, has fundamentally eliminated the additional rotation inertia of inner and outer ring design in the traditional design.The kinematic pair that resiliency supported constitutes does not slide relatively, and friction and gap not need not to lubricate, and have reached higher precision and closed-loop control bandwidth.But, it is not handled voice coil motor drive systems motion noise and resolution, therefore do not reduce the displacement resolution of voice coil motor drive systems motion noise, raising voice coil motor, therefore its bearing accuracy directly will be subjected to the restriction of voice coil motor drive systems motion noise and resolution, and zero stability and temperature stability are relatively poor.
Summary of the invention
The technical problem to be solved in the present invention just is: at the shortcoming of above-mentioned prior art, but the invention provides a kind of compact conformation, easy to process, assembling is simple, no frictional dissipation, no movement clearance, need not to lubricate, the network control of bearing accuracy height, easy to use, reliability is high, adaptability is strong, applied range is based on the light beam precision pointing device of resolution multiplied compliant mechanism.
In order to solve the problems of the technologies described above, the technical solution used in the present invention is:
A kind of light beam precision pointing device based on resolution multiplied compliant mechanism, comprise component of frames, driving mechanism and control gear, it is characterized in that: described component of frames links to each other with driving mechanism by resolution multiplied compliant mechanism, described resolution multiplied compliant mechanism comprises base and is fixed in flexible hinge on the base, described component of frames is fixed in the top of flexible hinge, described driving mechanism comprises that two are fixed in the drive motor that is used for promoting flexible hinge on the base, and described two drive motor are symmetrically arranged in the both sides of flexible hinge below.
As a further improvement on the present invention:
The output terminal of described drive motor links to each other with flexible hinge by resolution multiplied lever, described resolution multiplied lever comprises lever crossbeam, displacement input end hinge, fulcrum hinge and displacement output stage hinge, one end of described lever crossbeam links to each other with the output terminal of drive motor by displacement input end hinge, the fulcrum hinged support is passed through on base in the stage casing of described lever crossbeam, the other end of described lever crossbeam links to each other with the bottom surface of flexible hinge by displacement output stage hinge, and the fulcrum hinge arrives the distance of displacement output stage hinge on the described lever crossbeam greater than the fulcrum hinge to the distance of displacement input end hinge.
One side of described drive motor output terminal is provided with parallel conductive to compliant mechanism, and described parallel conductive comprises that to compliant mechanism one group of be installed in drive motor output terminal and base that is parallel to each other surrounds reed in the cavity.
Be equiped with the rotary angle transmitter that is used for gathering the component of frames angular signal on the described component of frames, described rotary angle transmitter links to each other with control gear.
Described rotary angle transmitter is a difference induction formula rotary angle transmitter, and described rotary angle transmitter comprises coil unit that keeps motionless and the armature that rotates with component of frames, and described armature is fixed on the component of frames.
Described control gear comprises signal condition unit, A/D converting unit, dsp controller, D/A converting unit, power amplification unit and power conversion unit, the differential variation signal of two magnetic circuits that described rotary angle transmitter collects is converted to the voltage signal of simulation behind the signal condition unit, the voltage signal of simulation inputs to dsp controller after being converted to the digital quantity of representing actual position value through the A/D converting unit, and the execution signal that generates after dsp controller is handled is transported to the input end of drive motor successively by D/A converting unit, power amplification unit.
Described dsp controller links to each other with host computer by network adapter.
Described component of frames is installed in the upper shell, described driving mechanism, control gear and resolution multiplied compliant mechanism all are installed in the lower house, described upper shell and lower house are individually fixed on the pedestal, offer bar-shaped trough on the described pedestal, the top of described flexible hinge is passed the stripe shape groove and is linked to each other with component of frames.
Described flexible hinge is positive circular flexible hinge.
Described drive motor is a voice coil motor.
Compared with prior art, advantage of the present invention just is:
1, the present invention combines catoptron supporting mechanism, guiding mechanism, shift transformation gear train together by resolution multiplied compliant mechanism, compact conformation, and no frictional dissipation, no movement clearance need not to lubricate, and bearing accuracy obviously improves under the identical cost;
2, the present invention is by transmitting straight-line displacement by the resolution multiplied lever that has flexible hinge between voice coil motor and output stage, and output terminal is bigger to the distance of catoptron supporting flexible hinge axis than the axis of voice coil motor to the distance of catoptron supporting flexible hinge axis with resolution multiplied lever tie point, therefore by double displacement decay, improved the Motion Resolution rate of voice coil motor driven unit, compare angular resolution with the fast mirror device that existing voice coil motor drives and significantly improve, can obviously weaken the voice coil motor high dither that the driving circuit noise causes;
3, the present invention is provided with parallel conductive to compliant mechanism in the output terminal side of drive motor, guarantees that the displacement of output does not deflect and play, can effectively improve the stability of voice coil motor output displacement.Parallel conductive is the big flexibility flexible hinge of thin reed structure to the flexible hinge of compliant mechanism and resolution multiplied lever, and the connecting portion at the two ends of thin reed is equipped with the transition chamfering, can prevent that thin reed stress is concentrated, can effectively improve the performance of big flexibility flexible hinge, improve displacement transmitted precision.
4, rotary angle transmitter adopts difference induction formula rotary angle transmitter among the present invention, than reflective or light shading type photoelectric sensor, has higher zero stability and temperature stability; Compare with capacitive transducer, have higher temperature stability and compact simple and direct subsequent process circuit; Than current vortex sensor commonly used, then have compact conformation, advantage that measurement stability is high, therefore can effectively improve accurate location to component of frames.Therefore in addition, the single piece that resolution multiplied compliant mechanism of the present invention forms for the line cutting processing has easy to processly, assembles simple advantage.
Description of drawings
Fig. 1 is the structural representation of the embodiment of the invention;
Fig. 2 is the blast structural representation of the embodiment of the invention;
Fig. 3 is the resolution multiplied compliant mechanism package assembly synoptic diagram of the embodiment of the invention;
Fig. 4 is the resolution multiplied compliant mechanism principle of work synoptic diagram of the embodiment of the invention;
Fig. 5 is the principle of work synoptic diagram of the rotary angle transmitter of the embodiment of the invention;
Fig. 6 is the system framework synoptic diagram of the control module of the embodiment of the invention.
Embodiment
Below with reference to the drawings and specific embodiments the present invention is described in further details.
As depicted in figs. 1 and 2, the present invention is based on the light beam precision pointing device of resolution multiplied compliant mechanism, comprise component of frames 12, driving mechanism and control gear 6, component of frames 12 links to each other with driving mechanism by resolution multiplied compliant mechanism 3, resolution multiplied compliant mechanism 3 comprises base 35 and is fixed in flexible hinge 33 on the base 35, component of frames 12 is fixed in the top of flexible hinge 33, driving mechanism comprises that two are fixed in the both sides that 4, two drive motor 4 of drive motor that are used for promoting flexible hinge 33 on the base 35 are symmetrically arranged in flexible hinge 33 belows.
In the present embodiment, component of frames 12 is made up of plane mirror 1 and mirror holder 2, wherein the main body of mirror holder 2 is a hollow circular ring, circle ring center is the cruciform reinforcement, and the inner ring of annulus upper surface processes the groove that is complementary with plane mirror 1, and plane mirror 1 places in the groove, by the Centering Clamping of uniform 3 the elasticity paws of groove excircle, point glue is reinforced, and mirror holder 2 adopts the mode of screw connection, register pin location to be fixed in the upper surface of output stage 31 by its reinforcement.Component of frames 12 is installed in the upper shell 71, driving mechanism, control gear 6 and resolution multiplied compliant mechanism 3 all are installed in the lower house 72, upper shell 71 and lower house 72 are individually fixed on the pedestal 7, offer bar-shaped trough 701 on the pedestal 7, the top of flexible hinge 33 is passed stripe shape groove 701 and is linked to each other with component of frames 12.
As shown in Figure 3 and Figure 4, resolution multiplied compliant mechanism 3 is formed by a block of metal line of material cutting processing, and with flexible hinge 33 is the center left-right symmetric, flexible hinge 33 is supported on the base 35, drive motor 4 adopts voice coil motor, the stator 41 of voice coil motor respectively by bolt in base 35, the mover of voice coil motor respectively with the bottom surface of flexible hinge 33 bonding.The function of resolution multiplied compliant mechanism 3 is:
1, supports component of frames 12, constitute elasticity gyration pair;
2, ratio is dwindled the straight-line displacement of voice coil motor output, and decay voice coil motor motion noise improves the Motion Resolution rate;
3, it is converted to the gyration of the initial point O on flexible hinge 33 with the voice coil motor rectilinear motion;
4, support guide voice coil motor mover avoids it to rotate.
In the present invention, in order to realize that the rectilinear motion of voice coil motor output is carried out convergent-divergent, the mover of voice coil motor links to each other with the bottom surface of flexible hinge 33 by resolution multiplied lever 34 respectively, resolution multiplied lever 34 is supported on the base 35, resolution multiplied lever 34 comprises lever crossbeam 341, displacement input end hinge 342, fulcrum hinge 343 and displacement output stage hinge 344, one end of described lever crossbeam 341 links to each other with the output terminal of drive motor by displacement input end hinge 342, the stage casing of described lever crossbeam 341 is supported on the base 35 by fulcrum hinge 343, the other end of described lever crossbeam 341 links to each other with the bottom surface of flexible hinge 33 by displacement output stage hinge 344, and fulcrum hinge 343 arrives the distance of displacement output stage hinge 344 on the described lever crossbeam 341 greater than fulcrum hinge 343 to the distance of displacement input end hinge 342.It is essentially resolution multiplied lever 34 displacement and dwindles mechanism, it changes the laggard line output of less displacement by producing bigger displacement from the long end of the arm of force into from the short side of the arm of force, the displacement of input is dwindled, thereby can be improved the Motion Resolution rate, suppress the purpose of dither noise.Displacement input end hinge 342, fulcrum hinge 343 and displacement output stage hinge 344 all adopt big flexibility flexible hinge to realize, its main body is thin reed, connecting portion at the two ends that approach reed is provided with knuckle, its cross sectional shape is the corner fillet type, the middle part is thin reed structure, the two ends junction is led fillet, and corner fillet hence obtains one's name.Displacement input end hinge 342, fulcrum hinge 343 and displacement output stage hinge 344 rely on the crooked relative deflection that realizes being bonded structure of the thin reed in middle part, compare with the just round and oval flexible hinge of tradition, flexible significantly enhancing, can realize wide-angle deflection, two ends are led the stress that fillet can reduce in the processing and are concentrated.The arm of force L1 of an end that links to each other with flexible hinge 33 on the resolution multiplied lever 34 is longer than the arm of force L2 of an end that links to each other with the voice coil motor output terminal, so displacement gain L2/L1, in the present embodiment, L1=3L2, therefore after the displacement of voice coil motor output was changed through resolution multiplied lever 34, its displacement decayed to 1/3 of original displacement.The output terminal of voice coil motor and resolution multiplied lever 34 tie points to flexible hinge 33 axis apart from M than big to flexible hinge 33 axis of the axis of voice coil motor apart from N.Because the restriction of voice coil motor mover diameter dimension, the equivalent displacement application point of the axis of voice coil motor can only act on the midline position of the end of output terminal to flexible hinge 33 axis, and when voice coil motor linked to each other with resolution multiplied lever 34, its equivalent displacement application point had been transferred to the end of output stage both sides.When the identical equivalent straight-line displacement Δ l of voice coil motor input, plane mirror 1 around the X-axis deflection angle respectively with θ
A, θ
BExpression has following relation: θ respectively under then above two kinds of situations
A=Δ l/N, θ
B=Δ l/M, convolution can get: θ
B/ θ
ATherefore=M/N ≈ 1/2 moves by the outer of equivalent displacement application point, can obtain the displacement decay about 2 times.Therefore, in the present embodiment, resolution multiplied compliant mechanism 3 exports component of frames 12 to after the displacement of voice coil motor input can being decayed to original 1/6 after above-mentioned twice unique decay.
For the rectilinear motion transmission effect that guarantees described resolution multiplied lever 34, to make displacement output be the transmission of strict Y direction straight line, one side of drive motor 4 output terminals is provided with parallel conductive to compliant mechanism 321, and parallel conductive comprises that to compliant mechanism 321 one group of be installed in drive motor 4 output terminals and base 35 that is parallel to each other surrounds reed in the cavity.Parallel conductive is made up of two thin reeds that are parallel to each other to compliant mechanism 321, two thin reed one ends link to each other with base 35, the other end links to each other with the side of drive motor 4 output terminals, and the connecting portion at thin reed two ends also is provided with the transition chamfering that is used to prevent that stress from concentrating.
As shown in Figure 5, rotary angle transmitter 5 is a difference induction formula rotary angle transmitter, and rotary angle transmitter 5 is made of coil unit 52 and armature 51, and armature 51 is fixed on the mirror holder 2, can follow mirror holder 2 and rotate together, and 52 of coil units are fixed on the pedestal 7.The two ends of coil unit 52 are respectively equipped with two groups of coils, are respectively first coil groups 521 and 522, two groups of coils of second coil groups and form air gap A and air gap B respectively and between the armature 51, and two groups of coils constitute two magnetic circuits with air gap A and air gap B, armature 51 respectively.When armature 51 rotates with mirror holder 2, air gap A and air gap B become big respectively or diminish, thereby cause two magnetic circuits at two groups of coil places to change respectively, produce the difference induction signal of two magnetic circuits, 6 difference induction signals according to two magnetic circuits of rotary angle transmitter 5 inputs of control gear obtain plane mirror 1 actual deflection angle.
As shown in Figure 6, control gear 6 is made of signal condition unit 61, A/D converting unit 62, dsp controller 63, D/A converting unit 64, power amplification unit 65 and power conversion unit 67.Behind the differential variation signal of two magnetic circuits of rotary angle transmitter 5 inputs, at first signal condition unit 61 is with the voltage signal of conversion of signals for simulation, and the voltage signal of simulation inputs to dsp controller 63 after being converted to the digital quantity of representing actual position value through A/D converting unit 62.In the present embodiment, control gear 6 is designed to a node on the network, and control gear 6 obtains target location instruction by network, so control gear 6 also comprises network adapter 66, and network adapter 66 is the CAN bus interface in the present embodiment.Dsp controller 63 is after obtaining the target location instruction by network adapter 66, obtain plane mirror 1 deflection angle by rotary angle transmitter 5, then physical location and target location are compared, controlled departure, dsp controller 63 outputs control signals to D/A converting unit 64 according to departure relatively then, D/A converting unit 64 is converted to analog voltage signal with control signal and exports power amplification unit 65 later on to, then by two voice coil motors of power amplification unit 65 synchronous tandem drives, two voice coil motors one push away one and draw, export a couple that acts on output stage 31 two ends, this couple promotes component of frames 12 and rotates after resolution multiplied compliant mechanism 3 amplifies, thereby plane mirror 1 is turned to the target location.Power conversion unit 67 is wide voltage-type DC-DC translation circuit, can adapt to the input of 18～36V direct supply, after the input power supply carried out filtering and isolate, various straight, interchange secondary power supply that being transformed to control circuit needs are the control circuit power supply, this power conversion unit Electro Magnetic Compatibility is good, the AC noise that the power-supply filter of design produces in the time of can effectively absorbing fast mirror work is reduced to minimum with it to the influence that power source bus produces.In the present embodiment, dsp controller 63 uses the TMS320F2000 series of American TI Company, has the peripheral configuration towards Control and Optimization, dominant frequency 100MHz; Network adapter 66 is selected the 3.3V CAN bus transceiver chip SN65HVD230 of American TI Company, communication speed 1Mbps for use; A/D converting unit 62 adopts 12 of American TI Company resolution, four-way, serial data output AD conversion chip TLC2574; D/A converting unit 64 adopts 12 of U.S. BB company resolution, four-way, serial data output AD conversion chip DAC7614; Power amplification unit 65 is selected the pwm power amplifier SA56 of APEX company for use, and above-mentioned detailed circuit diagram can be not described in detail in this with reference to the instructions of relevant chip.
The above only is one embodiment of the present invention, and protection scope of the present invention also not only is confined to the foregoing description, and all technical schemes that belongs under the thinking of the present invention all belong to protection scope of the present invention.Should be pointed out that for those skilled in the art in the some improvements and modifications that do not break away under the principle of the invention prerequisite, these improvements and modifications also should be considered as protection scope of the present invention.
Claims (9)
1. light beam precision pointing device based on resolution multiplied compliant mechanism, comprise component of frames (12), driving mechanism and control gear (6), it is characterized in that: described component of frames (12) links to each other with driving mechanism by resolution multiplied compliant mechanism (3), described resolution multiplied compliant mechanism (3) comprises base (35) and is fixed in flexible hinge (33) on the base (35), described component of frames (12) is fixed in the top of flexible hinge (33), described driving mechanism comprises that two are fixed in the drive motor (4) that is used for promoting flexible hinge (33) on the base (35), and described two drive motor (4) are symmetrically arranged in the both sides of flexible hinge (33) below; The output terminal of described drive motor links to each other with flexible hinge (33) by resolution multiplied lever (34), described resolution multiplied lever (34) comprises lever crossbeam (341), displacement input end hinge (342), fulcrum hinge (343) and displacement output stage hinge (344), one end of described lever crossbeam (341) links to each other by the output terminal of displacement input end hinge (342) with drive motor (4), the stage casing of described lever crossbeam (341) is supported on the base (35) by fulcrum hinge (343), the other end of described lever crossbeam (341) links to each other by the bottom surface of displacement output stage hinge (344) with flexible hinge (33), and described lever crossbeam (341) is gone up fulcrum hinge (343) arrives displacement output stage hinge (344) greater than fulcrum hinge (343) to the distance of displacement input end hinge (342) distance.
2. according to the described light beam precision pointing device of claim 1 based on resolution multiplied compliant mechanism, it is characterized in that: a side of described drive motor (4) output terminal is provided with parallel conductive to compliant mechanism (321), and described parallel conductive comprises that to compliant mechanism (321) one group of be installed in drive motor (4) output terminal and base (35) that is parallel to each other surrounds reed in the cavity.
3. the light beam precision pointing device based on resolution multiplied compliant mechanism according to claim 1 and 2, it is characterized in that: be equiped with the rotary angle transmitter (5) that is used for gathering component of frames (12) angular signal on the described component of frames (12), described rotary angle transmitter (5) links to each other with control gear (6).
4. the light beam precision pointing device based on resolution multiplied compliant mechanism according to claim 3, it is characterized in that: described rotary angle transmitter (5) is a difference induction formula rotary angle transmitter, described rotary angle transmitter (5) comprises coil unit (52) that keeps motionless and the armature (51) that rotates with component of frames (12), and described armature (51) is fixed on the component of frames (12).
5. the light beam precision pointing device based on resolution multiplied compliant mechanism according to claim 4, it is characterized in that: described control gear (6) comprises signal condition unit (61), A/D converting unit (62), dsp controller (63), D/A converting unit (64), power amplification unit (65) and power conversion unit (67), the differential variation signal of two magnetic circuits that described rotary angle transmitter (5) collects is converted to the voltage signal of simulation after signal condition unit (61), the voltage signal of simulation inputs to dsp controller (63) after being converted to the digital quantity of representing actual position value through A/D converting unit (62), and the execution signal that generates after dsp controller (63) is handled is successively by D/A converting unit (64), power amplification unit (65) is transported to the input end of drive motor (4).
6. the light beam precision pointing device based on resolution multiplied compliant mechanism according to claim 5 is characterized in that: described dsp controller (63) links to each other with host computer by network adapter (66).
7. the light beam precision pointing device based on resolution multiplied compliant mechanism according to claim 1 and 2, it is characterized in that: described component of frames (12) is installed in the upper shell (71), described driving mechanism, control gear (6) and resolution multiplied compliant mechanism (3) all are installed in the lower house (72), described upper shell (71) and lower house (72) are individually fixed on the pedestal (7), offer bar-shaped trough (701) on the described pedestal (7), the top of described flexible hinge (33) is passed stripe shape groove (701) and is linked to each other with component of frames (12).
8. the light beam precision pointing device based on resolution multiplied compliant mechanism according to claim 1 and 2 is characterized in that: described flexible hinge (33) is positive circular flexible hinge.
9. the light beam precision pointing device based on resolution multiplied compliant mechanism according to claim 1 and 2 is characterized in that: described drive motor (4) is a voice coil motor.
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| CN103018879B (en) * | 2012-12-19 | 2015-02-11 | 哈尔滨工业大学 | High-precision large-caliber electric reflecting mirror frame based on orthogonal axis |
| CN103281018A (en) * | 2013-05-27 | 2013-09-04 | 中国科学院光电技术研究所 | Control system for driving fast steering mirror |
| CN103823302B (en) * | 2014-03-03 | 2015-12-30 | 重庆大学 | One dimension rapid control reflector |
| CN104777608A (en) * | 2015-03-26 | 2015-07-15 | 中国人民解放军国防科学技术大学 | Large-diameter precise light beam pointing device |
| CN106597459B (en) * | 2016-11-30 | 2019-04-30 | 中国人民解放军陆军炮兵防空兵学院 | Laser Active denial system |
| CN109683308A (en) * | 2019-02-01 | 2019-04-26 | 西安知微传感技术有限公司 | A kind of electromagnetic drive galvanometer reducing oscillating motion |
| CN110095860B (en) * | 2019-04-29 | 2021-05-25 | 汕头大学 | Two-stage composite large-stroke high-precision quick reflector |
| CN114321630B (en) * | 2021-12-29 | 2023-06-13 | 湖北三江航天红阳机电有限公司 | Motion converter and optical reflection system |
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