CN103744436B - A kind of partial sphere high-precision attitude stabilising arrangement with one heart - Google Patents
A kind of partial sphere high-precision attitude stabilising arrangement with one heart Download PDFInfo
- Publication number
- CN103744436B CN103744436B CN201410000135.8A CN201410000135A CN103744436B CN 103744436 B CN103744436 B CN 103744436B CN 201410000135 A CN201410000135 A CN 201410000135A CN 103744436 B CN103744436 B CN 103744436B
- Authority
- CN
- China
- Prior art keywords
- sphere
- partial sphere
- partial
- support member
- concentric
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Expired - Fee Related
Links
- 230000003019 stabilising Effects 0.000 title description 4
- 230000033228 biological regulation Effects 0.000 claims abstract description 35
- 238000011105 stabilization Methods 0.000 claims abstract description 34
- 230000005291 magnetic Effects 0.000 claims description 12
- 230000015572 biosynthetic process Effects 0.000 claims description 3
- 230000000875 corresponding Effects 0.000 claims description 3
- 238000005755 formation reaction Methods 0.000 claims description 3
- 239000004744 fabric Substances 0.000 claims 1
- 230000001105 regulatory Effects 0.000 description 7
- 238000010586 diagram Methods 0.000 description 6
- 230000000694 effects Effects 0.000 description 4
- 230000003287 optical Effects 0.000 description 4
- 238000005259 measurement Methods 0.000 description 3
- 230000001133 acceleration Effects 0.000 description 2
- 230000005540 biological transmission Effects 0.000 description 2
- 239000000919 ceramic Substances 0.000 description 2
- 238000004891 communication Methods 0.000 description 2
- 238000010276 construction Methods 0.000 description 2
- ZKHQWZAMYRWXGA-KQYNXXCUSA-N Adenosine triphosphate Chemical compound C1=NC=2C(N)=NC=NC=2N1[C@@H]1O[C@H](COP(O)(=O)OP(O)(=O)OP(O)(O)=O)[C@@H](O)[C@H]1O ZKHQWZAMYRWXGA-KQYNXXCUSA-N 0.000 description 1
- 206010044565 Tremor Diseases 0.000 description 1
- 210000003954 Umbilical Cord Anatomy 0.000 description 1
- 230000001276 controlling effect Effects 0.000 description 1
- 230000002596 correlated Effects 0.000 description 1
- 238000006073 displacement reaction Methods 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 230000005484 gravity Effects 0.000 description 1
- 238000009434 installation Methods 0.000 description 1
- 238000002955 isolation Methods 0.000 description 1
- 238000005339 levitation Methods 0.000 description 1
- 230000005389 magnetism Effects 0.000 description 1
- 230000014759 maintenance of location Effects 0.000 description 1
- 239000000203 mixture Substances 0.000 description 1
- 239000000725 suspension Substances 0.000 description 1
Abstract
The present invention proposes a kind of partial sphere attitude stabilization device with one heart, and described attitude stabilization device includes: partial sphere support member with one heart；Tangentially regulate driver part, be used for producing the tangential driving force of sphere；For the connection member that described concentric partial sphere support member, described tangential regulation driver part are connected with supported objects；For the connection member that described concentric partial sphere support member, described tangential regulation driver part are connected with outside follow-up unit；The partial sphere of the most each described concentric partial sphere support member is total to sphere, and the centre of sphere being total to sphere overlaps with the barycenter of supported objects.The present invention can isolate the attitude disturbance of outer bound pair supported objects, and can revise small attitude error, the attitude stabilization of high-precision holding supported objects.
Description
Technical field
The present invention relates to a kind of attitude stabilization in mechano-electronic field support and adjusting means, specifically a kind of partial sphere with one heart
High-precision attitude stabilising arrangement.
Background technology
The field such as space astronomical observation, Laser communication in space needs optical viewer to possess high-precision inertial attitude, utilizes spacecraft platform
The relatively rough grade attitude provided, the attitude of essence level uses the modes such as double frame construction, mechanical arm, fast pendulum mirror to realizing more further
High-precision attitude regulation.
Since 21st century, widely used ATP device between the most numerous stars, in satellite-ground laser communication test, just
It is on the bidimensional turntable of double frameworks of optical system, is measured by the feedback of seed laser, utilize the fast closed loop control putting mirror
Realize launching or the exact coaxial sensing of receiving light path；The James of USA and Europe cooperation. weber space telescope (JWST), employing subtracts
The vibration of the structure that the mechanisms such as the momenttum wheel of the device that shakes isolation satellite platform cause, uses fast pendulum mirror mode to realize the stable control to sky district
System；In the proposal scheme of a segmented mirror in huge space telescope project in the future (ATLAST) of American planning, at it
There is the end of the mechanical arm of angle point precision, have employed the voice coil motor of three parallel starts to realize telescopical accurate sensing
Tilt.
These attitude regulating mechanisms control telescope by the motion of the high-precision motor in double frame construction or mechanical arm, or
Person utilizes the internal fast motion putting mirror of telescope light path so that it is targeted region.Point to realize relatively stable closed loop
Control, have the Each part part rigidity in apparatus above certain requirement, cost to be now embodied in two aspects: one
Aspect adds the load of actuation element, as being used as power of motor, piezoelectric ceramics or voice coil motor is strengthened further, and equal conditions
Under increase the power consumption of system；Still further aspect, the dither that the increase of rigidity makes spacecraft platform interior mechanism cause is done
Disturbing, it is possible to be applied to telescope part, this high frequency tremor forms interference, therefore above dress to the stability of the telescope optical axis
Put and generally also need to increase passive vibration damping link.
Summary of the invention
For solving above-mentioned technical problem present in prior art, it is stable that the present invention proposes a kind of partial sphere high-precision attitude with one heart
Device, this attitude stabilization device release rotation disturbance to supported object, utilize supported object attitude in inertial space to keep
Characteristic maintains basic poses, provides tangential driving force to compensate error term, it is achieved the high-precision attitude of supported object simultaneously.
The present invention proposes a kind of partial sphere attitude stabilization device with one heart, and described attitude stabilization device includes:
Partial sphere support member with one heart, the partial sphere of described concentric partial sphere support member is the partial sphere having thickness,
Including outer surface and inner surface；
Tangentially regulate driver part, be installed at described concentric partial sphere support member, be used for producing the tangential driving force of sphere；
Connection member 3, for by described concentric partial sphere support member, described tangential regulation driver part and supported objects
It is connected；
Connection member 4, for by described concentric partial sphere support member, described tangential regulation driver part and servo-actuated portion, outside
Part is connected；
Wherein, described concentric partial sphere support member, described tangential regulation driver part and described connection member 3 collectively constitute
A set of support equipment, described attitude stabilization device includes 3 sets or the above support equipment；The most each described concentric partial sphere
The outer surface of the partial sphere of support member is all total to sphere, is i.e. respectively positioned on the same space sphere, and each described concentric partial sphere is propped up
The inner surface of the partial sphere of support part part is all total to sphere, is i.e. respectively positioned on the same space sphere, and each described concentric partial sphere is propped up
The outer surface of the partial sphere of support part part and the centre of sphere of inner surface overlap, and this centre of sphere is referred to as described concentric partial sphere support member
The feature centre of sphere, and the feature centre of sphere of described concentric partial sphere support member overlaps with the barycenter of supported objects；Described attitude
Stabilising arrangement defines the spherical support relative to supported objects barycenter, rotates and drive structure.
Described concentric partial sphere attitude stabilization device, wherein,
The partial sphere of described concentric partial sphere support member also includes near the partial sphere 1.3 of described outer surface with near institute
State the partial sphere 1.2 of inner surface, and the partial sphere 1.3 of each described concentric partial sphere support member is all total to sphere, each institute
The partial sphere 1.2 stating concentric partial sphere support member is all total to sphere, and the centre of sphere of partial sphere 1.3 and partial sphere 1.2 is equal
Overlap with the feature centre of sphere of described concentric partial sphere support member；Described outer surface and described inner surface connect formation cavity；Office
Portion's sphere 1.3 and partial sphere 1.2 connect the intermediate layer constituted and are constrained in described cavity.
Described concentric partial sphere attitude stabilization device, wherein,
It is respectively provided with between described outer surface and described partial sphere 1.3 and between described inner surface and described partial sphere 1.2
Mutually exclusive permanent magnetic, the direction of described permanent magnetic is perpendicular to described outer surface and described inner surface.
Described concentric partial sphere attitude stabilization device, wherein,
Described sphere the most at least includes orthogonal both direction.
Described concentric partial sphere attitude stabilization device, wherein,
Described tangential regulation driver part includes partial sphere 2.1 and partial sphere 2.2；
Partial sphere 2.1 sphere, the partial sphere of each described tangential regulation driver part altogether of each described tangential regulation driver part
2.2 altogether spheres, and the centre of sphere of described partial sphere 2.1 and described partial sphere 2.2 correspondence overlaps, this centre of sphere be described tangentially
The feature centre of sphere of regulation driver part, the feature centre of sphere of described tangential regulation driver part and described concentric partial sphere support member
The feature centre of sphere overlap；
Described tangential regulation driver part includes being positioned in partial sphere 2.1 and partial sphere 2.2 in the most orthogonal both direction
The contactless linear electric motors of upper layout, the sphere phase at the driving direction of described contactless linear electric motors and its position
Cut.
Described concentric partial sphere attitude stabilization device, wherein,
Described tangential regulation driver part is disturbed for the attitude of the supported objects that compensation causes due to the existence of error in actual motion
Dynamic, thus keep the attitude stabilization of supported objects.
Described concentric partial sphere attitude stabilization device, wherein,
Described outside follow-up unit is kept by the motion of the described concentric partial sphere support member of servo-actuated guarantee to supported objects
In the range of stroke.
Accompanying drawing explanation
Fig. 1 is the structural representation of the present invention concentric partial sphere attitude stabilization device；
Fig. 2 is the structural profile schematic diagram of the present invention concentric partial sphere attitude stabilization device；
Fig. 3 is the present invention concentric partial sphere support member and tangential regulation driver part structural profile schematic diagram；
Fig. 4 is the schematic diagram of an embodiment of the present invention concentric partial sphere attitude stabilization device.
Detailed description of the invention
Below in conjunction with the accompanying drawing of the present invention, technical scheme is clearly and completely described.
Fig. 1 is the structural representation of the present invention concentric partial sphere attitude stabilization device.Wherein 1 is concentric partial sphere supporting part
Part, 2 for tangentially to regulate driver part, and 3 is the connection member between concentric partial sphere support member and supported objects, and 4 for using
In the connection member of each concentric partial sphere support member of connection, connection member 4 is additionally operable to each concentric partial sphere support member
Being connected with outside follow-up unit, 5 is supported objects, and 6 is outside follow-up unit.Concentric partial sphere attitude in Fig. 1 is steady
Determine device to define the spherical support relative to supported objects barycenter, rotate and drive structure.
In Fig. 1, the partial sphere of each concentric partial sphere support member 1 is the partial sphere having thickness, including outer surface and interior
Surface.The outer surface of the partial sphere of each spherical support parts 1 is all total to sphere, and the outer surface of the most each partial sphere is respectively positioned on same
On the sphere of space.The inner surface of the partial sphere of each spherical support parts 1 is all total to sphere, the equal position of inner surface of the most each partial sphere
On the same space sphere.The outer surface of each partial sphere and the centre of sphere of inner surface overlap, and this centre of sphere is referred to as concentric partial sphere
The feature centre of sphere of support member 1, and the feature centre of sphere of concentric partial sphere support member 1 is high-precision with the barycenter of supported objects 5
Degree overlaps.Between each concentric partial sphere support member 1, there is certain spacing.
It is fitted with tangentially regulating driver part 2 at each concentric partial sphere support member 1 in Fig. 1, tangentially regulates driving
Parts 2 are used for producing the tangential driving force of sphere, and described sphere the most at least includes orthogonal both direction.
Connection member 3 in Fig. 1 is for by concentric partial sphere support member 1, tangential regulation driver part 2 and supported object
Body 5 is connected；Connection member 4 is for by servo-actuated with outside to concentric partial sphere support member 1, tangentially regulation driver part 2
Parts 6 are connected.
Fig. 1 show schematically three groups of concentric partial sphere support members 1, but be not limited to three groups.The present invention is not to same
In heart partial sphere support member, the size of partial sphere particularly limits, and sphere size adds with supported object quality, disturbance
Speed etc. are correlated with, and can design appropriately sized partial sphere according to practical situation.
The present invention concentric partial sphere attitude stabilization device be given in Fig. 1, wherein, the feature of concentric partial sphere support member
The centre of sphere overlaps with the barycenter of supported objects, and support member is that pure sphere tangentially slides, and radial force does not produce rotating torque, tangentially
Perturbed force can discharge after support member completely, and the attitude disturbance of outer bound pair supported objects is eliminated.Partial sphere supports with one heart
Parts realize on same sphere so that the active force of each strong point is all by the barycenter of supported objects, thus outside avoiding
The motion of the portion's follow-up unit impact on supported objects attitude.
Fig. 2 is the structural profile schematic diagram of the present invention concentric partial sphere attitude stabilization device, gives concentric partial sphere high-precision
The overall section of degree attitude stabilization device, shows the internal structure of one of them spherical support parts 1.In Fig. 2 visible inside it
All spheres are all total to the centre of sphere, the feature centre of sphere of this centre of sphere the most concentric partial sphere support member 1, and this centre of sphere and supported objects
The barycenter G of 5 overlaps in three dimensions high accuracy.
Fig. 3 is the present invention concentric partial sphere support member and tangential regulation driver part structural profile schematic diagram, and Fig. 3 shows
Spherical support parts 1 and tangential partial enlargement section view B regulating driver part 2.The partial sphere of spherical support parts 1 in Fig. 3
Face includes relative to supported object 5 partial sphere 1.1 from the near to the remote, partial sphere 1.2, partial sphere 1.3, partial sphere
1.4, wherein partial sphere 1.1 and partial sphere 1.2 are a pair partial sphere, and partial sphere 1.3 and partial sphere 1.4 are another
A pair partial sphere.These partial sphere of each spherical support parts 1 corresponding sphere, the most each spherical support portion altogether respectively
The partial sphere 1.1 of part 1 is positioned on the same space sphere B1, and the partial sphere 1.2 of each spherical support parts 1 is positioned at same
On the sphere B2 of space, the partial sphere 1.3 of each spherical support parts 1 is positioned on the same space sphere B3, and each sphere props up
The partial sphere 1.4 of support part part 1 is positioned on the same space sphere B4.Partial sphere 1.1, partial sphere 1.2, partial sphere
1.3, partial sphere 1.4 centre of sphere, i.e. space sphere B1, B2, B3 and B4 all altogether centre of sphere, the most concentric partial sphere of this centre of sphere altogether
The feature centre of sphere of support member 1, and the barycenter G high accuracy of this centre of sphere and supported objects 5 overlaps.Partial sphere 1.1 drawn game
Portion's sphere 1.4 connection formation cavity, partial sphere 1.2 and partial sphere 1.3 connect the intermediate layer constituted and are constrained on described
In cavity.Between every pair of partial sphere of each spherical support parts 1, i.e. partial sphere 1.1 and partial sphere 1.2 forms
Partial sphere between, partial sphere 1.3 and partial sphere 1.4 composition partial sphere between, arrange mutually exclusive
Permanent magnetic, the direction of these permanent magnetics is perpendicular to partial sphere, and the gap of every pair of partial sphere is the least, about submillimeter level.
When partial sphere to 1.1 and 1.2 close to each other time, due to the existence of strong mutual exclusion permanent magnetic, spherical support parts 1 are by connecting
Parts 3 provided the pulling force of barycenter for supported objects 5, when partial sphere to 1.3 and 1.4 close to each other time, due to strong mutually
The existence of permanent magnetic, spherical support parts 1 is scolded to provide the thrust of barycenter for supported objects 5 by connection member 3.According to
The characteristic of magnetic field force, it is provided that the biggest active force in minimum displacement.Due to the institute transmitted by spherical support parts 1
There is active force all by the barycenter of supported objects 5, so this active force only can produce translatory acceleration to supported objects 5,
Rotation acceleration will not be produced, thus do not interfere with the attitude of supported objects 5.Owing to using permanent magnet, spherical support parts
1 is passive device, does not has power consumption.Owing to using cordless, so the high frequency vibrating transmitted by outside follow-up unit 6
Dynamic will be isolated, supported objects will not be interfered.
A kind of preferred implementation that concentric partial sphere support member is the present invention shown in Fig. 3, realization rate therein is not
It is construed as limiting the invention.Such as, the partial sphere of the concentric partial sphere support member of the present invention also can be only monolayer local
Sphere, uses the fixing connected mode that this area is conventional, if with one heart partial sphere support member possess described by Fig. 1 basic
Feature, can solve corresponding technical problem.
In figure 3, also partial sphere 2.1 and partial sphere 2.2, they are the local tangentially regulating driver part 2 correspondence
Sphere, each partial sphere 2.1 tangentially regulating driver part 2 is total to sphere, and each tangentially regulates the partial sphere of driver part 2
Face 2.2 sphere altogether, and the centre of sphere coincidence of partial sphere 2.1 and partial sphere 2.2 correspondence, this centre of sphere is for tangentially regulating drive division
The feature centre of sphere of part 2, and with the same centre of sphere of partial sphere 1.1,1.2,1.3,1.4.Partial sphere 2.1 and partial sphere 2.2
Constituting a pair partial sphere, partial sphere is the least to the gap of 2.1 and 2.2, about submillimeter level.In partial sphere pair
On 2.1 and 2.2, the most orthogonal both direction is arranged contactless linear electric motors, the driving of contactless linear electric motors
Sphere at direction and its position is tangent so that the intermediate layer that partial sphere 1.2 and partial sphere 1.3 are formed along with
Partial sphere 1.1 and the tangent direction motion of partial sphere 1.4, for compensating owing to the existence of error in actual motion causes
The attitude disturbance of supported objects 5.The rotation of space object has three degree of freedom, typically can regard two as and point to and a revolution.
The partial sphere contactless linear electric motors to arranging on 2.1 and 2.2, can compensate for the sensing of both direction and around the revolution of body
Motion, thus the supported objects 5 rotation error on three degree of freedom can be realized and compensate.Due to tangential regulation driver part 2
Active force tangent with partial sphere, and the radius of partial sphere is programmable relatively large, so that regulation driver part 2 can
Realize high accuracy, low power consumption, so being very beneficial for engineer applied.Owing to tangential regulation driver part 2 uses contactless office
Portion's sphere realizes 2.1 and 2.2, thus avoids micro-vibration transmission that contact is likely to result in, and can isolate from outside servo-actuated equally
The dither of parts 6 transmission, will not interfere supported objects.
Fig. 4 is the schematic diagram of an embodiment of the present invention concentric partial sphere attitude stabilization device.This embodiment illustrates that one
On individual spacecraft 7, being connected to the multi-joint of signal or the outside follow-up unit 6 of universal joint, outside follow-up unit 6 passes through
Connection member 4 realizes the connection with concentric partial sphere support member 1, and the other end of concentric partial sphere support member 1 passes through
Connection member 3 links together with supported objects 5, and supported object here can be looking in the distance of space observation or target following
The load of the high-precision requirement such as mirror or antenna.
Its operation principle is:
The nearly all medium, high frequency being isolated spacecraft by concentric partial sphere support member 1 is vibrated, the fortune of suspension tracking mechanism
Dynamic scope also need not be very big, only have the magnitude of several millimeters for each start point, it is only necessary to extremely low power consumption, with regard to can compensate all outside
The error that portion's environmental disturbances causes.
Utilize concentric partial sphere support member 1 can realize the relative of high accuracy, the inertial attitude of high stability or low dynamic characteristic
Moving target model-following control, realizes higher precision and the application of degree of stability attitude further.Utilize the attitude measurement number of aircraft 7
The attitude data of measurement and the angle measurement data of outside follow-up unit 6, outside follow-up unit 6 energy according to, supported objects 5
Enough compensate the residual error that aircraft platforms itself exists, it is achieved the tracing control to supported objects 5.
The direct perturbation action of supported objects 5 is only and connects umbilical cord active force and moment by outside follow-up unit 6；Supported
The basic external environment condition power suffered by aircraft 7 of object 5 (such as telescope) and moment are identical, and these environmental activities are the faintest,
Mainly comprising the aerodynamic drag that the free molecule flow region of earth high level rarefied atmosphere causes, the moment of disturbance comprises gravity gradient power
Aerodynamic moment caused by square, aerodynamic malalignment and more weak optical pressure active force and moment.
Utilize the tangential regulation driver part 2 of each installation of concentric partial sphere support member 1, it is only necessary to consume the least
Electrical power, it is possible to overcome the external disturbance moment of above more low frequency, the control comparing external vibration Active Compensation is put on mirror soon
Rotation control moment, these power effects are the faintest, owing to utilizing concentric partial sphere support member 1 to be non-contacting permanent magnetism
Structure, its reliability compare fast pendulum mirror etc. actively control used by executive component such as piezoelectric ceramics, high-power voice coil motor etc. more
Reliably, service life is the most permanent.
In the case of aircraft platforms moves, relative supported objects 5 industry of follow-up unit 6 may produce relative motion, with one heart
Each centre position that may deviate stroke of partial sphere support member 1, needs outside follow-up unit 6 pursuit movement, with
Meet the constraint of concentric partial sphere support member 1 stroke.The effect of radial magnetic field in partial sphere, the magnetic force of generation points to quilt
Support the barycenter direction of object 5, under conditions of little deviation, act on the moment in supported objects 5 the least, substantially zeroed,
Therefore, it is possible to supported objects 5 produces phorogenesis, the most the rotation on supported objects 5 does not produces impact, reduces
Disturbance to supported objects 5 attitude.
In order to realize longer gesture stability, on the one hand need to offset outside weak effect, further need exist for offsetting the long-term drift caused
Moving the tangential translation at application point to accumulate, prevent the situation that stroke transfinites, outside follower 6 should be done pursuit movement, make
Obtain the motion of concentric partial sphere attitude stabilization device less than its stroke.
The invention have the advantages that
1. the present invention makes full use of supported object attitude retention performance in inertial space and maintains basic poses, it is only necessary to residue by mistake
Difference item compensates regulation, and degree of regulation is greatly improved, and regulation power consumption is greatly lowered.
2. the present invention concentric partial sphere support member feature centre of sphere overlaps with supported objects barycenter, and support member is that pure sphere is cut
To slip, radial force does not produce rotating torque, and tangential perturbed force can discharge after support member completely, outer bound pair supported objects
Attitude disturbance be eliminated.
3. the present invention tangential driver part feature centre of sphere overlaps with supported objects barycenter high accuracy, and attitude regulation drive efficiency is high,
Multiple tangential driver parts can synthesize the rotation of either direction unspecified angle in the range of stroke, and between drive mechanism, functional redundancy is the most standby,
Reliability is high.
Support member the most of the present invention uses magnetic levitation mode, and tangential motion is without natural damping, and dither is had buffer action.
5. during supported objects attitude is carried out regulating in high precision by the present invention, it is only necessary to outside follow-up unit does in the range of stroke
Angleonly tracking, tracking accuracy significantly reduces with controlling bandwidth requirement.
Claims (7)
1. a concentric partial sphere attitude stabilization device, described attitude stabilization device includes:
Partial sphere support member with one heart, the partial sphere of described concentric partial sphere support member is the partial sphere having thickness, including
Outer surface and inner surface；
Tangentially regulate driver part, be installed at described concentric partial sphere support member, be used for producing the tangential driving force of sphere；
First connection member, for by described concentric partial sphere support member, described tangential regulation driver part and supported objects phase
Connect；
Second connection member, for by described concentric partial sphere support member, described tangential regulation driver part and outside follow-up unit
It is connected；
Wherein, described concentric partial sphere support member, described tangential regulation driver part and described first connection member collectively constitute one
Set support equipment, described attitude stabilization device includes 3 sets or the above support equipment；The most each described concentric partial sphere is propped up
The outer surface of the partial sphere of support part part is all total to sphere, is i.e. respectively positioned on the same space sphere, and each described concentric partial sphere supports
The inner surface of the partial sphere of parts is all total to sphere, is i.e. respectively positioned on the same space sphere, and each described concentric partial sphere supports
The outer surface of the partial sphere of parts and the centre of sphere of inner surface overlap, and this centre of sphere is referred to as described concentric partial sphere support member
The feature centre of sphere, and the feature centre of sphere of described concentric partial sphere support member overlaps with the barycenter of supported objects；Described attitude is steady
Determine device to define the spherical support relative to supported objects barycenter, rotate and drive structure.
2. partial sphere attitude stabilization device with one heart as claimed in claim 1, wherein,
The partial sphere of described concentric partial sphere support member also includes near the partial sphere of described outer surface with near described inner surface
Partial sphere, and the partial sphere of the close described outer surface of each described concentric partial sphere support member all be total to sphere, each institute
The partial sphere of the close described inner surface stating concentric partial sphere support member is all total to sphere, near the partial sphere of described outer surface
Face and the centre of sphere all feature centre ofs sphere with described concentric partial sphere support member near the partial sphere of described inner surface overlap；Institute
State outer surface and described inner surface connects formation cavity；Partial sphere near described outer surface and the local near described inner surface
Sphere connects the intermediate layer constituted and is constrained in described cavity.
3. partial sphere attitude stabilization device with one heart as claimed in claim 2, wherein,
Between described outer surface and the described partial sphere near described outer surface and described inner surface and described near described inner surface
Partial sphere between be respectively provided with mutually exclusive permanent magnetic, the direction of described permanent magnetic is perpendicular to described outer surface and described interior table
Face.
4. partial sphere attitude stabilization device with one heart as claimed in claim 1, wherein,
Described sphere the most at least includes orthogonal both direction.
5. the concentric partial sphere attitude stabilization device as described in claim 1-3 is arbitrary, wherein,
Described tangential regulation driver part includes the first partial sphere and the second partial sphere；
First partial sphere of each described tangential regulation driver part sphere, the second partial sphere of each described tangential regulation driver part altogether
The centre of sphere that sphere, and described first partial sphere altogether is corresponding with described second partial sphere overlaps, and this centre of sphere is described tangential regulation
The feature centre of sphere of driver part, the spy of the feature centre of sphere of described tangential regulation driver part and described concentric partial sphere support member
Levy the centre of sphere to overlap；
Described tangential regulation driver part includes being positioned in the first partial sphere and the second partial sphere cloth in the most orthogonal both direction
The contactless linear electric motors put, the sphere at the driving direction of described contactless linear electric motors and its position is tangent.
6. partial sphere attitude stabilization device with one heart as claimed in claim 1, wherein,
The attitude disturbance of the supported objects that described tangential regulation driver part causes due to the existence of error in actual motion for compensation,
Thus keep the attitude stabilization of supported objects.
7. partial sphere attitude stabilization device with one heart as claimed in claim 1, wherein,
Described outside follow-up unit keeps being expert at by the motion of concentric partial sphere support member described to the servo-actuated guarantee of supported objects
In the range of journey.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201410000135.8A CN103744436B (en) | 2014-01-02 | A kind of partial sphere high-precision attitude stabilising arrangement with one heart |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201410000135.8A CN103744436B (en) | 2014-01-02 | A kind of partial sphere high-precision attitude stabilising arrangement with one heart |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN103744436A CN103744436A (en) | 2014-04-23 |
| CN103744436B true CN103744436B (en) | 2016-11-30 |
Family
ID=
Citations (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPS6085446A (en) * | 1983-10-17 | 1985-05-14 | Asahi Optical Co Ltd | Object lens driving device of optical information recording and reproducing device |
| US4766584A (en) * | 1984-02-08 | 1988-08-23 | Sharp Kabushiki Kaisha | Three-dimensional driving arrangement |
| CN101123098A (en) * | 2006-08-08 | 2008-02-13 | Tdk株式会社 | Objective-lens driving apparatus and optical pickup and optical recording and reproducing apparatus for using same |
| CN102486250A (en) * | 2010-12-03 | 2012-06-06 | 西安金和光学科技有限公司 | Attitude adjustment platform with six degrees of freedom |
| CN102792190A (en) * | 2010-01-15 | 2012-11-21 | 淡水河谷公司 | Stabilization system for sensors on moving platforms |
| CN102818569A (en) * | 2012-09-03 | 2012-12-12 | 北京航空航天大学 | Five-freedom-degree initiative magnetic-suspension inertially stabilized platform |
| CN103217156A (en) * | 2013-03-19 | 2013-07-24 | 北京航空航天大学 | Azimuth drive support system structure of inertially stabilized platform |
| CN103217774A (en) * | 2013-04-28 | 2013-07-24 | 哈尔滨工业大学 | High-flux large-aperture high-precision wedge-shaped lens focusing device and five degrees-of-freedom adjustment method |
| CN203799270U (en) * | 2014-01-02 | 2014-08-27 | 中国科学院空间应用工程与技术中心 | Concentric partial spherical surface high precision posture stabilizer |
Patent Citations (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPS6085446A (en) * | 1983-10-17 | 1985-05-14 | Asahi Optical Co Ltd | Object lens driving device of optical information recording and reproducing device |
| US4766584A (en) * | 1984-02-08 | 1988-08-23 | Sharp Kabushiki Kaisha | Three-dimensional driving arrangement |
| CN101123098A (en) * | 2006-08-08 | 2008-02-13 | Tdk株式会社 | Objective-lens driving apparatus and optical pickup and optical recording and reproducing apparatus for using same |
| CN102792190A (en) * | 2010-01-15 | 2012-11-21 | 淡水河谷公司 | Stabilization system for sensors on moving platforms |
| CN102486250A (en) * | 2010-12-03 | 2012-06-06 | 西安金和光学科技有限公司 | Attitude adjustment platform with six degrees of freedom |
| CN102818569A (en) * | 2012-09-03 | 2012-12-12 | 北京航空航天大学 | Five-freedom-degree initiative magnetic-suspension inertially stabilized platform |
| CN103217156A (en) * | 2013-03-19 | 2013-07-24 | 北京航空航天大学 | Azimuth drive support system structure of inertially stabilized platform |
| CN103217774A (en) * | 2013-04-28 | 2013-07-24 | 哈尔滨工业大学 | High-flux large-aperture high-precision wedge-shaped lens focusing device and five degrees-of-freedom adjustment method |
| CN203799270U (en) * | 2014-01-02 | 2014-08-27 | 中国科学院空间应用工程与技术中心 | Concentric partial spherical surface high precision posture stabilizer |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| US4033541A (en) | Torque rejection soft mounted platform | |
| US9765925B2 (en) | Platform stabilization system | |
| Rue | Precision stabilization systems | |
| Kim et al. | Automatic mass balancing of air-bearing-based three-axis rotational spacecraft simulator | |
| CN106467175B (en) | Double five-degree-of-freedom air floatation master-slave type non-contact double-super satellite ground principle verification system | |
| CN106364699A (en) | Master-slave mode non-contact double superior satellite ground principle verification system | |
| Zhuchong et al. | Inertially stabilized platform for airborne remote sensing using magnetic bearings | |
| CN108036801A (en) | Optical axis stable inertia reference data device | |
| US10337663B2 (en) | Two-degree-of-freedom rotation control device and application system | |
| CN112506211B (en) | Non-dragging control method and system for separated satellite platform for future gravitational field measurement | |
| CN105501454A (en) | Mini-sized pod | |
| US20210376446A1 (en) | Apparatuses for mounting an antenna assembly | |
| CN103744436B (en) | A kind of partial sphere high-precision attitude stabilising arrangement with one heart | |
| RU2423658C2 (en) | Method of controlling and stabilising mobile carrier, integrated system, device for turning antenna reflector in two mutually-perpendicular planes and device for actuating differential aerodynamic controllers for realising said method | |
| CN112607055A (en) | Multistage double-super no-drag control method and system in gravitational wave detection displacement mode | |
| Wen et al. | Coupling analysis and cross-feedback control of three-axis inertially stabilized platform with an active magnetic bearing system | |
| CN203799270U (en) | Concentric partial spherical surface high precision posture stabilizer | |
| Kuiper et al. | High-bandwidth and compact fine steering mirror development for laser communications | |
| CN103217156A (en) | Azimuth drive support system structure of inertially stabilized platform | |
| Chaudhary et al. | Fast steering mirror for optical fine pointing applications: A review paper applications: A review paper | |
| CN103744436A (en) | High-precision attitude stabilization device of concentrically local spherical surface | |
| JP2010285057A (en) | Spacecraft motion simulator | |
| CN111442171B (en) | Inner rotor Lorentz inertial stabilization platform | |
| EP2871507B1 (en) | Beam steering mirror device | |
| CN112937920A (en) | Multi-redundancy satellite intelligent attitude control assembly and working method thereof |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20161130 Termination date: 20210102 |