CN104503473B - Inertial stabilization controller - Google Patents
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- CN104503473B CN104503473B CN201410659221.XA CN201410659221A CN104503473B CN 104503473 B CN104503473 B CN 104503473B CN 201410659221 A CN201410659221 A CN 201410659221A CN 104503473 B CN104503473 B CN 104503473B
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Abstract
The invention discloses an inertial stabilization controller. The inertial stabilization controller comprises a main control module, an orientation motor driving module, a pitching motor driving module, a roll motor driving module, a rate gyro acquisition module, an angular position acquisition module, a data storage module, a serial port expansion module, a management control module, an inertial navigation module and a secondary power source module. The inertial stabilization controller integrates functions of driving, acquisition, storage, communication and synchronization into one body and greatly ameliorates a problem of single function of an inertial stabilization controller in the prior art. The inertial stabilization controller can eliminate influence of high carrier aircraft and low frequency disturbance on pendular or tracking imaging systems, is applicable to a single-axis, two-axis or three-axis inertial stabilization platform, has a wide application scope and is successfully applied to multiple models of aviation optical remote sensors.
Description
Technical field
The present invention relates to a kind of multiaxis multifunction high-precision stable inertia controller, belong to aviation optical remote sensing technology neck
Domain.
Background technology
In air remote sensing field, imaging system suffers from external disturbance, such as wind speed, vibration of aircraft etc., all can lead
Image quality is caused to substantially reduce.For ensureing image stabilization in inertial space, a kind of universal stable inertia controller is proposed.
Using rock-steady structure uniaxially or biaxially more than conventional controller, that is, along simultaneously orthogonal two rotations mutually orthogonal with the optical axis
Degree of freedom controls optical axis motion, and keeps optic central extract, but this two axis stable platform have ignored the disturbance of the 3rd axis of orientation,
Can be only applied to external environmental interference little, less demanding to image quality in the case of, if under rugged environment, to imaging
Prescription is higher, and we necessarily require three axis of orientations stable in inertial space.Current motor controller is more ripe, but right
In air remote sensing field, the motor driver of inertial space is also immature, especially for multiaxis, multisensor, multi-functional driving
Device is less, and still there is problems in that (1) is different according to the requirement of index, the executor of selection, sensor and quantity etc. is not all true
Fixed, need the drive modules different for disparity items configuration and acquisition module；(2) versatility and inheritance poor it is impossible to and
It is digital or analog for holding sensor, is unfavorable for the replacing of sensor.
Content of the invention
The technology solve problem of the present invention is: overcomes the deficiencies in the prior art, provides a kind of stable inertia controller, realizes
Stable inertia controls it is adaptable to multiaxis, multi-functional, high-precision control system, has stronger versatility.
The technical solution of the present invention is: a kind of stable inertia controller, and described stable inertia controller is mounted in load
On body, for controlling stablizing of inertial platform on carrier；Drive including main control module, azimuth-drive motor drive module, pitching motor
Module, roll motor drive module, rate gyroscope acquisition module, Angle Position acquisition module, data memory module, serial ports expansion mould
Block, management control module, inertial navigation module and secondary power supply module；
Inertial navigation module gathers the course angle that carrier is with respect to inertial space, and exports to main control module；
Management control module receives, before carrier operation, the carrier flight-path angle that host computer sets, in carrier running
Collection carrier is with respect to the actual flight path angle of inertial space, and both flight-path angles are all exported to master by serial ports expansion module
Control module；
Angle Position acquisition module gathers inertial platform azimuth axis and carrier azimuth axis, inertia in carrier running respectively
Angle between platform pitch axis and carrier pitch axis, inertial platform roll axle and carrier roll axle, and by the folder collecting
Angle exports to main control module after carrying out angle to digital conversion；
Rate gyroscope module gathers azimuth axis, pitch axis and the roll axle phase of inertial platform in carrier running respectively
For the angular speed of inertial space, and exported to main control module by serial ports expansion module；
Data memory module is used for storing azimuth-drive motor drive module, pitching motor drive module and roll Motor drive mould
The control parameter of block, reads in system initialization for main control module；
Main control module is according to carrier with respect to the course angle of inertial space, flight-path angle, inertial platform azimuth axis and carrier side
Angle between angle between the axle of position, inertial platform pitch axis and carrier pitch axis and inertial platform roll axle and carrier horizontal stroke
Angle calcu-lation between roller bearing obtains the position angle signal that each axle of inertial platform is with respect to inertial space, association rate gyro
Each axle of the inertial platform that module collects, with respect to the angular speed of inertial space, obtains inertial platform azimuth axis, pitch axis
With the pulse control signal of roll axle, and by the pulse control signal of inertial platform azimuth axis, pitch axis and roll axle and from
The control parameter that data memory module reads exports respectively to azimuth-drive motor drive module, pitching motor drive module and roll electricity
Machine drive module；Carrier flight-path angle that described flight-path angle sets for host computer or carrier are with respect to the actual flight path of inertial space
Angle；
Azimuth-drive motor drive module, pitching motor drive module and roll motor drive module are respectively according to the arteries and veins receiving
Rush control signal and control parameter produce azimuth-drive motor control instruction, pitching motor control instruction and roll motor control instruction,
For driving inertial platform upper position motor, pitching motor and the rotation of roll motor, thus realizing the stable control to inertial platform
System；
The voltage that secondary power supply module provides to external power source is changed, respectively main control module, rate gyroscope collection
Module, Angle Position acquisition module, azimuth-drive motor drive module, pitching motor drive module and roll motor drive module are powered.
Described main control module obtains the implementation of the pulse control signal of inertial platform azimuth axis, pitch axis and roll axle
For:
(2.1) carrier is made the poor carrier that obtains with respect to used with respect to the course angle of inertial space with flight-path angle by main control module
The yaw angle in property space；
(2.2) yaw angle obtaining step (2.1) is decomposed into carrier azimuth axis, pitch axis and roll axle with respect to inertia
The yaw angle in space；
(2.3) respectively each axle of carrier that step (2.2) obtains is adopted with Angle Position with respect to the yaw angle of inertial space
Angle between the inertial platform axle corresponding to carrier that collection module collects is made difference and is obtained each axle of inertial platform with respect to used
The position angle signal in property space；
(2.4) the position angle signal derivation obtaining step (2.3) obtains each axle of inertial platform with respect to inertia sky
Between angular speed value；
(2.5) according to each axle of inertial platform in step (2.4) with respect to the angular speed value of inertial space and speed top
Each axle of the inertial platform that spiral shell module collects with respect to the angular speed of inertial space, obtain each axle of inertial platform with respect to
The angular speed offset of inertial space；
(2.6) the angular speed offset that main control module obtains according to step (2.5), is obtained by lead-lag control algolithm
The pulse control signal of inertial platform azimuth axis, pitch axis and roll axle.
Described stable inertia controller is fixedly mounted on carrier by inertial navigation module, and inertial navigation mould after installation
The x-axis of block points to carrier driver's cabin, y-axis vertical carrier, z-axis perpendicular to the ground.
Described main control module includes two-way communication interface, and wherein one tunnel is communicated with inertial navigation module, and another road is standby；Main
Control module is passed through the extension of serial ports expansion module simultaneously and is obtained four road communication interfaces, and wherein one tunnel is led to management control module
News, another three tunnels and rate gyroscope acquisition module are communicated.
Described azimuth-drive motor drive module, pitching motor drive module and roll motor drive module are all using chip
L6205 realizes, and can drive voltage range be the direct current generator of 2.8a in 8v～52v, electric current, including direct current torque motor, directly
Stream voice coil motor, DC servo motor and DC stepper motor.
Described Angle Position acquisition module compatible multi-channel rotary transformer and photoelectric code disk.
Described rate gyroscope module compatibility a/d conversion and numeric string mouth both of which.
Compared with the prior art, the invention has the advantages that:
(1) current stable inertia controller is only applicable to numeral or simulation input, communication interface be limited, single function, this
The main control module of controller extends the interface of main control module by serial ports expansion module, simultaneously Angle Position acquisition module and speed
Gyro acquisition module all extends interface, has that compatibility is strong, and interface is many, the features such as good stability, is applicable to sweep type, refers to
To formula and the multiple imaging system of tracking mode；
(2) traditional stability controller adopts a controller to drive a motor, will finally by a management circuit
Each controller is connected, and this controller can simultaneously drive three direct current generators by three kinds of drive modules, gather three road corners simultaneously
Put and angular rate information, can achieve the function that three axles control；
(3) present invention adopts motor drive module, achievable voltage range 8v～52v, the unidirectional current of continuous current 2.8a
Machine, wherein direct current generator include torque motor, voice coil motor, servomotor and motor.With current stable inertia controller
Compare, driving power is big, applicable wide range of motors；
(4) interface of rate gyroscope module compatible analog voltage of the present invention and digital communication, Angle Position acquisition module is compatible
Multichannel revolver and photoelectric code disk signal, compared with current stable inertia controller, have stronger universal performance.
Brief description
Fig. 1 is present system block diagram；
Fig. 2 is the control realization block diagram of main control module.
Specific embodiment
Below in conjunction with the accompanying drawings the specific embodiment of the present invention is further described in detail:
Stable inertia controller and inertial platform are all mounted on carrier, and stable inertia controller is used for controlling and is used on carrier
Mild-natured stablize.Fig. 1 is the system block diagram of stable inertia controller of the present invention, drives mould including main control module, azimuth-drive motor
Block, pitching motor drive module, roll motor drive module, rate gyroscope acquisition module, Angle Position acquisition module, e2Prom number
According to memory module, serial ports expansion module, management control module, inertial navigation module and secondary power supply module.
Inertial navigation module is fixedly connected on carrier by four installing ports, and install after inertial navigation module x-axis
Point to carrier driver's cabin, y-axis vertical carrier, z-axis perpendicular to the ground.Inertial navigation module gathers the boat that carrier is with respect to inertial space
To angle, and export to main control module.
Management control module receives, before carrier operation, the carrier flight-path angle that host computer sets, and in carrier running
Middle collection carrier with respect to inertial space actual flight path angle, and by both flight-path angles all by serial ports expansion module export to
Main control module.
The compatible chip h2s44 resolving rotary transformer of the Angle Position acquisition module and a/d of resolve photoelectric code disk 14
Chip ad9240, gathers inertial platform azimuth axis and carrier azimuth axis, inertial platform pitch axis in carrier running respectively
Angle and carrier pitch axis, inertial platform roll axle and carrier roll axle between, and by the angle collecting carry out shaft angle-
Export to main control module after numeral conversion.
A/d chip ad9240 and digital rs422 communication interface that rate gyroscope module is compatible 14, run in carrier
During gather azimuth axis, the pitch axis and roll axle angular speed with respect to inertial space of inertial platform respectively, and by string
Mouth expansion module exports to main control module.
Data memory module passes through e2Prom realizes, for storing azimuth-drive motor drive module, pitching motor drive module
With the control parameter of roll motor drive module, supply main control module to read control parameter during system initialization and drive three spindle motors.
Main control module passes through serial ports expansion module tl16c554 and conformance with standard rs-422 electric interfaces agreement
Am26ls31/32 interface chip obtains 4 road rs422 communication interfaces of extension, and main control module possesses two-way communication interface in itself, and one
Road is communicated with inertial navigation module, and another road is as standby；Four road communication interfaces of extension, a road is carried out with management control module
Communication, another three tunnels receive digital rate gyroscope signal.
Main control module is according to carrier with respect to the course angle of inertial space, flight-path angle, inertial platform azimuth axis and carrier side
Angle between angle between the axle of position, inertial platform pitch axis and carrier pitch axis and inertial platform roll axle and carrier horizontal stroke
Angle calcu-lation between roller bearing obtains the position angle signal that each axle of inertial platform is with respect to inertial space, association rate gyro
Each axle of the inertial platform that module collects, with respect to the angular speed of inertial space, obtains inertial platform azimuth axis, pitch axis
With the pulse control signal of roll axle, and by the pulse control signal of inertial platform azimuth axis, pitch axis and roll axle and from
e2The control parameter that prom reads exports respectively to azimuth-drive motor drive module, pitching motor drive module and roll Motor drive
Module；Carrier flight-path angle that described flight-path angle sets for host computer or carrier are with respect to the actual flight path angle of inertial space.
The pulse control signal specific implementation obtaining inertial platform azimuth axis, pitch axis and roll axle is:
(1) carrier is obtained carrier with respect to inertia with respect to the course angle of inertial space with flight-path angle work difference by main control module
The yaw angle in space；
(2) yaw angle obtaining step (1) is decomposed into carrier azimuth axis, pitch axis and roll axle with respect to inertial space
Yaw angle；
(3) respectively each axle of carrier that step (2) obtains is gathered mould with respect to the yaw angle of inertial space with Angle Position
Angle between the inertial platform that block collects axle corresponding to carrier is made difference and is obtained each axle of inertial platform with respect to inertia sky
Between position angle signal；
(4) the position angle signal derivation obtaining step (3) obtains each axle of inertial platform with respect to inertial space
Angular speed value；
(5) according to each axle of inertial platform in step (4) with respect to the angular speed value of inertial space and rate gyroscope mould
Each axle of the inertial platform that block collects, with respect to the angular speed of inertial space, obtains each axle of inertial platform with respect to inertia
The angular speed offset in space；
(6) the angular speed offset that main control module obtains according to step (5), obtains inertia by lead-lag control algolithm
The pulse control signal of platform azimuth axis, pitch axis and roll axle.
Azimuth-drive motor drive module, pitching motor drive module and roll motor drive module are according to the pulse control receiving
Signal processed drives inertial platform upper position motor, pitching motor and the rotation of roll motor respectively, thus realizing to inertial platform
Stability contorting；
The voltage that secondary power supply module provides to external power source is changed, respectively main control module, rate gyroscope collection
Module, Angle Position acquisition module, azimuth-drive motor drive module, pitching motor drive module and roll motor drive module are powered.
Secondary power supply module, after conversion, provides the voltage of 3.3v and 1.8v for main control module, provides for rate gyroscope acquisition module
The voltage of 5v, provides the voltage of 12v for Angle Position acquisition module, provides the voltage of 8v～52v for motor drive module.
Motor drive module adopt chip l6205 realize, can drive voltage range between 8v～52v, continuous current
The direct current generator (direct current torque motor, direct current voice coil motor, DC servo motor and DC stepper motor) of 2.8a；Rate gyroscope
Acquisition module compatibility a/d conversion and numeric string mouth both of which；Angle Position acquisition module compatible multi-channel rotary transformer and light
Code disc；Data memory module can achieve the store function of 1m data；Communication interface includes 1 road rs232 and 4 road rs422, can divide
Shi Xian not be with inertial navigation module, rate gyroscope acquisition module and management control module.
Main control module through-rate gyroscope modules of the present invention and Angle Position acquisition module complete angular speed and angle signal
Collection；Next, receive management control module and inertial navigation module command signal, and the key in control parameter and communication joined
Number is stored in e2In prom；Finally, the parameter of main control module collection, controls direct current generator, shape by DC motor Driver module
Become complete close loop control circuit, realize stable inertia control function.
The present invention meets air remote sensing field and is suitable for three axle stable inertias compatible with digital and simulation input, possesses general
Property.Mainly solve the impact to image quality for the carrier aircraft high and low frequency disturbance.This controller is applied to the used of single shaft, two axles or three axles
Property stabilized platform, the Multifunctional imaging (command request according to management control module such as achievable sweep type, directional type and tracking mode
Realize above-mentioned sweeping, point and track towards function), inertia control essence is greatly improved as rate detector part using rate gyroscope
Degree.
Fig. 2 is the control block diagram of main control module, due in carrier aircraft flight course, by the shadow of environmental condition and other factors
Ring it is impossible to remain smooth flight.During taking photo by plane, following the tracks of, image quality is had a huge impact, it is proposed that adopting
Control mode with the many frameworks of multiaxis.First pass through Airborne Inertial navigation module and obtain attitude information, by management control module
Obtain command information, and by the two information as echo signal, using the angle information of Angle Position acquisition module reception as feedback
Angle, above- mentioned information is made the difference and obtains angular error signal；Secondly, angular error signal corrects through the position ring in main control module
Link obtains the input signal of speed ring after processing, through-rate gyro reads inertial space angle rate signal, will the two information
Make the difference and obtain rate error signal；Finally, after speed error signal is processed through the speed ring correction link in main control chip
The signal obtaining, by reading the control parameter of storage in memory module, is calculated by the control algolithm of lead-lag, output
Pwm signal is to power amplifier, and then controlled motor rotation, realizes the function such as taking photo by plane or follow the tracks of.
Apply the present invention to sweep type stabilized platform, wide visual field information can be obtained in effective time and have as moving benefit
The function of repaying.
The present invention integrates driving, gathers, stores, communicating, and has a following function:
(1) there is multi-channel data acquisition function: by serial port extended chip tl16c554, by original 2 tunnel communication serial ports
Expand to 6 tunnels, the communication modes such as rs422 and rs232 can be adopted, with the communication such as host computer, management and control circuit or data acquisition module；
(2) there is multi-axle motor and simultaneously drive function: two-axis synchronization control be can achieve for sweeping imaging system, for two
Axle or three axle gondolas can achieve most three axle Synchronization Control；
(3) there is multifunctional inertia stability contorting:, up to 5 ‰, video tracking precision can for sweeping imaging system scanning accuracy
Reach 15 μ rad, track precision is up to 20 μ rad；
(4) can drive voltage range be 8v～52v, the direct current generator of continuous current 2.8a, including direct current torque motor, directly
Stream voice coil motor, DC servo motor and DC stepper motor control；
(5) angle position signal, compatible multi-channel rotary transformer and photoelectric code disk signal can be gathered；
(6) can acquisition rate gyro signal, compatible with digital and simulation output.
The controller of the present invention is realized inertial space by acquisition rate gyro information and is stablized, such that it is able to eliminate due to carrying
The impact to the system such as sweeping or tracking imaging for the machine high and low frequency disturbance；By gathering between inertial platform axle corresponding to carrier
Angle information, achievable angleonly tracking；Consider the triaxiality of aircraft disturbance, the drive control of single shaft or two axles all can lead to top
Problem (axle lost efficacy), it is proposed that being controlled using most three axles, but the inertia being simultaneously applicable to single shaft, two axles or three axles is steady
Fixed platform.
The content not being described in detail in description of the invention belongs to the known technology of professional and technical personnel in the field.
Claims (7)
1. a kind of stable inertia controller, described stable inertia controller is mounted on carrier, for controlling inertia on carrier to put down
The stablizing of platform；It is characterized in that: include main control module, azimuth-drive motor drive module, pitching motor drive module, the drive of roll motor
Dynamic model block, rate gyroscope acquisition module, Angle Position acquisition module, data memory module, serial ports expansion module, management control mould
Block, inertial navigation module and secondary power supply module；
Inertial navigation module gathers the course angle that carrier is with respect to inertial space, and exports to main control module；
Management control module receives, before carrier operation, the carrier flight-path angle that host computer sets, and gathers in carrier running
Carrier is with respect to the actual flight path angle of inertial space, and both flight-path angles are all exported to master control mould by serial ports expansion module
Block；
Angle Position acquisition module gathers inertial platform azimuth axis and carrier azimuth axis, inertial platform in carrier running respectively
Angle between pitch axis and carrier pitch axis, inertial platform roll axle and carrier roll axle, and the angle collecting is entered
Export to main control module after row angle to digital conversion；
Rate gyroscope acquisition module gathers azimuth axis, pitch axis and the roll axle phase of inertial platform in carrier running respectively
For the angular speed of inertial space, and exported to main control module by serial ports expansion module；
Data memory module is used for storing azimuth-drive motor drive module, pitching motor drive module and roll motor drive module
Control parameter, reads in system initialization for main control module；
Main control module is according to carrier with respect to the course angle of inertial space, flight-path angle, inertial platform azimuth axis and carrier azimuth axis
Between angle, the angle between inertial platform pitch axis and carrier pitch axis and inertial platform roll axle and carrier roll axle
Between angle calcu-lation obtain the angle signal that each axle of inertial platform is with respect to inertial space, association rate gyro acquisition module
Each axle of the inertial platform collecting, with respect to the angular speed of inertial space, obtains inertial platform azimuth axis, pitch axis and horizontal stroke
The pulse control signal of roller bearing, and by the pulse control signal of inertial platform azimuth axis, pitch axis and roll axle and from data
The control parameter of azimuth-drive motor drive module, pitching motor drive module and roll motor drive module that memory module reads is divided
Do not export to azimuth-drive motor drive module, pitching motor drive module and roll motor drive module；Described flight-path angle is upper
Machine set carrier flight-path angle or carrier with respect to inertial space actual flight path angle；
Azimuth-drive motor drive module, pitching motor drive module and roll motor drive module are respectively according to the pulse control receiving
Signal processed and control parameter produce azimuth-drive motor control instruction, pitching motor control instruction and roll motor control instruction, are used for
Drive inertial platform upper position motor, pitching motor and the rotation of roll motor, thus realizing the stability contorting to inertial platform；
The voltage that secondary power supply module provides to external power source is changed, respectively main control module, rate gyroscope acquisition module,
Angle Position acquisition module, azimuth-drive motor drive module, pitching motor drive module and roll motor drive module are powered.
2. a kind of stable inertia controller according to claim 1 it is characterised in that: described main control module obtain inertia put down
The implementation of the pulse control signal of platform azimuth axis, pitch axis and roll axle comprises the steps of:
(2.1) carrier is made the poor carrier that obtains with respect to inertia sky with respect to the course angle of inertial space with flight-path angle by main control module
Between yaw angle；
(2.2) yaw angle obtaining step (2.1) is decomposed into carrier azimuth axis, pitch axis and roll axle with respect to inertial space
Yaw angle；
(2.3) respectively each axle of carrier that step (2.2) obtains is gathered mould with respect to the yaw angle of inertial space with Angle Position
Angle between the inertial platform that block collects axle corresponding to carrier is made difference and is obtained each axle of inertial platform with respect to inertia sky
Between angle signal；
(2.4) the angle signal derivation obtaining step (2.3) obtains the angle speed that each axle of inertial platform is with respect to inertial space
Rate value；
(2.5) adopted with respect to the angular speed value of inertial space and rate gyroscope according to each axle of inertial platform in step (2.4)
Collection each axle of inertial platform of collecting of module with respect to the angular speed of inertial space, obtain each axle of inertial platform with respect to
The angular speed offset of inertial space；
(2.6) the angular speed offset that main control module obtains according to step (2.5), obtains inertia by lead-lag control algolithm
The pulse control signal of platform azimuth axis, pitch axis and roll axle.
3. a kind of stable inertia controller according to claim 1 it is characterised in that: described stable inertia controller passes through
Inertial navigation module is fixedly mounted on carrier, and after installation, the x-axis sensing carrier driver's cabin of inertial navigation module, y-axis are vertical
Carrier, z-axis are perpendicular to the ground.
4. a kind of stable inertia controller according to claim 1 it is characterised in that: described main control module include two-way lead to
Communication interface, wherein one tunnel is communicated with inertial navigation module, and another road is standby；Main control module is extended by serial ports expansion module simultaneously
Obtain four road communication interfaces, wherein one tunnel is communicated with management control module, and another three tunnels and rate gyroscope acquisition module are carried out
Communication.
5. a kind of stable inertia controller according to claim 1 it is characterised in that: described azimuth-drive motor drive module,
Pitching motor drive module and roll motor drive module are all realized using chip l6205, can drive voltage range 8v～
52v, electric current are the direct current generator of 2.8a, including direct current torque motor, direct current voice coil motor, DC servo motor and direct current stepping
Motor.
6. a kind of stable inertia controller according to claim 1 it is characterised in that: described Angle Position acquisition module is compatible
Multichannel revolver and photoelectric code disk.
7. a kind of stable inertia controller according to claim 1 it is characterised in that: described rate gyroscope acquisition module and
Hold a/d conversion and numeric string mouth both of which.
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| CN105045018B (en) * | 2015-07-30 | 2017-09-01 | 极翼机器人(上海)有限公司 | Head |
| CN106855418A (en) * | 2015-12-08 | 2017-06-16 | 中国航空工业第六八研究所 | A kind of method for suppressing inertia flight path amendment angle noise |
| CN105607658B (en) * | 2016-03-31 | 2018-06-05 | 西北工业大学 | A kind of airborne photoelectric platform, which is stablized, is directed toward control method |
| CN106896820B (en) * | 2017-02-27 | 2020-05-29 | 北京星网卫通科技开发有限公司 | Inertially stabilized platform |
| CN107607128B (en) * | 2017-08-31 | 2021-06-08 | 天津航天中为数据系统科技有限公司 | Method for compensating aiming line precision of two-axis two-frame stable platform |
| CN112416023B (en) * | 2020-11-04 | 2022-05-17 | 上海莘汭驱动技术有限公司 | Inertial image stabilization control system based on angle measurement |
| CN114488955B (en) * | 2021-12-27 | 2023-07-04 | 北京遥测技术研究所 | Multi-shaft driving control device |
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