CN108153345A - Photoelectric nacelle based on reaction force is surely as control device and control method - Google Patents
Photoelectric nacelle based on reaction force is surely as control device and control method Download PDFInfo
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- CN108153345A CN108153345A CN201711419365.8A CN201711419365A CN108153345A CN 108153345 A CN108153345 A CN 108153345A CN 201711419365 A CN201711419365 A CN 201711419365A CN 108153345 A CN108153345 A CN 108153345A
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- 238000006243 chemical reaction Methods 0.000 title claims abstract description 20
- 238000000034 method Methods 0.000 title claims abstract description 16
- 230000007246 mechanism Effects 0.000 claims abstract description 25
- 230000001133 acceleration Effects 0.000 claims abstract description 12
- 239000000758 substrate Substances 0.000 claims description 6
- 230000005622 photoelectricity Effects 0.000 claims description 3
- 238000007667 floating Methods 0.000 claims description 2
- 230000003044 adaptive effect Effects 0.000 abstract description 3
- 238000009434 installation Methods 0.000 abstract description 3
- 230000003313 weakening effect Effects 0.000 abstract description 2
- 238000001914 filtration Methods 0.000 abstract 1
- 238000005516 engineering process Methods 0.000 description 6
- 230000000694 effects Effects 0.000 description 3
- 238000013016 damping Methods 0.000 description 2
- 230000005611 electricity Effects 0.000 description 2
- 238000003384 imaging method Methods 0.000 description 2
- 230000008901 benefit Effects 0.000 description 1
- 230000015572 biosynthetic process Effects 0.000 description 1
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Classifications
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D19/00—Control of mechanical oscillations, e.g. of amplitude, of frequency, of phase
- G05D19/02—Control of mechanical oscillations, e.g. of amplitude, of frequency, of phase characterised by the use of electric means
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64D—EQUIPMENT FOR FITTING IN OR TO AIRCRAFT; FLIGHT SUITS; PARACHUTES; ARRANGEMENT OR MOUNTING OF POWER PLANTS OR PROPULSION TRANSMISSIONS IN AIRCRAFT
- B64D47/00—Equipment not otherwise provided for
- B64D47/08—Arrangements of cameras
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- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Automation & Control Theory (AREA)
- Aviation & Aerospace Engineering (AREA)
- Wind Motors (AREA)
Abstract
The invention discloses a kind of photoelectric nacelle based on reaction force surely as control device and control method, including a set of actuation mechanism, sensor and control method；Sensor is responsible for acquiring the acceleration of photoelectric nacelle under vibration environment；Acceleration calculates required control force by real-time embedded control system；Control force signal is output to actuation mechanism via D/A and photoelectric nacelle is carried out surely as control；Wherein control method is Adaptive notch filtering method (Adaptive Disturbance Cancellation, abbreviation ADC method).The present invention demonstrates the photoelectric nacelle based on reaction force surely as the validity of control method, improves the image quality of photoelectric nacelle by effectively weakening its vibration amplitude in the photoelectric nacelle master installation control device on direction that shakes.
Description
Technical field
The invention belongs to the vibration control fields of aircraft, and in particular to a kind of steady picture of photoelectric nacelle based on reaction force
Control device and control method, available for the vibration interference suffered by the photoelectric nacelle at inhibition under vibration.
Background technology
Image acquisition technology is investigative technique most-often used on scounting aeroplane, and photoelectric nacelle is as scounting aeroplane
The realization carrier of image acquisition technology, is used widely on unmanned plane, and imaging precision then directly affects nobody and detects
The examining machine of the task reaches quality.However on unmanned plane generally existing vibration (propeller vibration, aerodynamic force and structural elasticity coupling
Flutter caused by conjunction etc.) then greatly reduce the image quality of photoelectric nacelle.Although the servo-drive system of photoelectric nacelle and its number
Word surely can compensate the vibration interference of most cases as technology, but when photoelectric nacelle " cross and push up ", i.e., camera is in straight down
During state, servo-drive system is difficult to realize its compensation function, then needs to input the vibration to photoelectric nacelle by external energy at this time
Interference is inhibited, therefore design is for the steady as control device has certain engineering realistic meaning of photoelectric nacelle thus.
Invention content
The technical problem to be solved by the present invention is to：The problem of servo-drive system can not compensate " is crossed and pushed up " for photoelectric nacelle, is carried
For a kind of steady picture control device and method of photoelectric nacelle based on reaction force, it is easily achieved, can not only be hung in photoelectricity in engineering
Vibration interference is inhibited during cabin " cross and push up ", moreover it is possible to further weaken vibrational energy when photoelectric nacelle servo-drive system works,
Collaboration improves the imaging precision and quality of photoelectric nacelle.
The present invention solve above-mentioned technical problem the technical solution adopted is that：A kind of steady picture of photoelectric nacelle based on reaction force
Control device, including shell mechanism part, measuring cell and actuation mechanism；Shell mechanism part includes head cover, outer barrel and installation
Flange, the shell mechanism part are connected with photoelectric nacelle, provide and be stably connected between actuation mechanism and photoelectric nacelle；Measure member
Part is accelerometer, and control input is provided for ADC controllers by the vibration acceleration for measuring photoelectric nacelle；Actuation mechanism includes
Spring, actuator mover mounting cylinder, actuator mover and actuator stator, wherein actuator mover mounting cylinder and actuator mover
Quality of assistance is formed, control force is generated by ADC controllers output driving, to inhibit the vibration of photoelectric nacelle.
Wherein, the accelerometer be ICP piezoelectric accelerometers, model PCB 333B30.
Wherein, the actuator in the actuation mechanism is voice coil motor, and voice coil motor is by a permanent magnet and a line
Circle composition, actuator mover is voice coil motor permanent magnet and actuator stator is voice coil motor coil, model LA14-17-
000A。
The present invention also provides a kind of photoelectric nacelle based on reaction force surely as control method, include the following steps：
The first step establishes the floating photoelectric nacelle kinetic model under the conditions of disturbed, then according to claim one
Mode, finally will be surely as control device is hung by the mounting hole of mounting flange mounted on photoelectricity to surely as control device assembles
On the controlled point of cabin；
Second step is steady as ADC controllers based on reaction force for the disturbed condition design of photoelectric nacelle；
Third walks, and realizes the photoelectric nacelle based on reaction force surely as control using the vibration acceleration of photoelectric nacelle as input
System.
Wherein, when photoelectric nacelle is under vibration environment, accelerometer can adopt its vibration acceleration be input to ADC control
Device processed；ADC controllers are used as substrate by designing a pair of with its unit sinusoidal signal and unit cosine signal with frequency, and with
Each substrate weight coefficient is adjusted in LMS (Least Mean Square filter) algorithm, fits same frequently, positive and negative with interference
Number opposite thermal compensation signal is as control signal drive ram to inhibit the vibration of photoelectric nacelle.
The advantage of the invention is that：
(1) present invention forms the actuation mechanism centered on voice coil motor, also has voice coil electricity while simple in structure
The output linearity degree of machine is good, response is fast and high reliability；
(2) present invention can effectively be pressed down by way of quality of assistance (actuator mover etc.) is driven to generate reaction force
The vibration interference that photoelectric nacelle processed is subject to, servo-drive system can not compensate asking for interference when especially solving photoelectric nacelle " cross and push up "
Topic.
Description of the drawings
Fig. 1 is a quarter sectional view of the present invention；
Fig. 2 is the appearance axonometric drawing of the present invention；
Fig. 3 is the half-sectional installation diagram of the present invention；
Fig. 4 is the appearance vertical view of the present invention；
Fig. 5 is the ADC controller principle figures of the present invention；
Fig. 6 is the control effect figure under the conditions of photoelectric nacelle is disturbed.
Reference numeral meaning is in Fig. 1~5：1 is head cover, and 2 be outer barrel, and 3 be mounting flange, and 4 be accelerometer, and 5 be bullet
Spring, 6 be actuator mover mounting cylinder, and 7 be actuator mover, and 8 be actuator stator.
Specific embodiment
The specific embodiment of the present invention is described in further details below in conjunction with the accompanying drawings.
As shown in Figs 1-4, the present invention is a kind of photoelectric nacelle based on reaction force surely picture control device, including shell knot
Structure part, measuring cell and actuation mechanism.Shell mechanism part includes head cover 1, outer barrel 2 and mounting flange 3；Measuring cell is adds
Speedometer 4；Actuation mechanism includes spring 5, actuator mover mounting cylinder 6, actuator mover 7 and actuator stator 8.Actuator is moved
Son 7 is voice coil motor permanent magnet and actuator stator 8 is voice coil motor coil.
Head cover 1 is installed on the guiding and spring connecting point of the upper end formation actuation mechanism of outer barrel 2 in shell mechanism part；Outside
The lower end of cylinder 2 is connected with mounting flange 3, and mounting flange 3 is connected by external mounting hole with photoelectric nacelle；The part is as start
The bearing of device can play effect of contraction to the direction of motion of actuation mechanism.
Measuring cell, that is, accelerometer 4 is installed on the inside of head cover 1, can measure the vibration acceleration of stent, that is, photoelectric nacelle
Input signal as ADC controllers.
5 one end of spring is connected with head cover 1 in actuation mechanism, and one end is connected with actuator mover mounting cylinder 6 and is sleeved on start
6 external cylindrical surface of device mover mounting cylinder, actuator mover 7 be connected by bottom mounting apertures and actuator mover mounting cylinder 6 be used as it is auxiliary
Quality is helped, while actuator mover mounting cylinder 6 contacts with 2 inner cylinder face of outer barrel and forms sliding pair, by the movement of actuation mechanism
Direction is constrained to the axial direction on cylindrical surface, while provides guide frame for spring；Actuator stator 8 is connected with mounting flange 3；Make
Motivation structure is present apparatus core, is moved by ADC controller output driving actuator mover 7, the reaction force of generation then leads to
It crosses actuator stator 8 and mounting flange 3 acts on photoelectric nacelle, and passes through the electricity between actuator mover 7 and actuator stator 8
Magnetic damping and the structural damping of spring 5 convert vibrational energy into heat and dissipate, to inhibit the vibration of photoelectric nacelle.
Fig. 5 is the ADC controller principle figures of the present invention；Control method used in the present invention is adaptive notch ADC side
Method, when photoelectric nacelle is under vibration environment, accelerometer can adopt its vibration acceleration is input to ADC controllers；ADC is controlled
Device processed is used as substrate, and with LMS algorithm to each by designing a pair of and its unit sinusoidal signal and unit cosine signal with frequency
Substrate weight coefficient is adjusted, and fits and is used as control signal driving start with the thermal compensation signal of frequency, opposite sign with interference
Device to reach the vibration amplitude for weakening photoelectric nacelle, improves the purpose of its image quality.
Fig. 6 is the control effect figure under the conditions of photoelectric nacelle is disturbed, and the longitudinal axis is photoelectric nacelle acceleration (unit：M/s^2),
Horizontal axis is time (unit：S), control device adds control in 1s, it can be seen that the acceleration of photoelectric nacelle is decayed rapidly.
Technology is not disclosed in detail and belongs to common sense well known to those skilled in the art by the present invention.
The above description is merely a specific embodiment, but protection scope of the present invention is not limited thereto, any
Be familiar with the people of the technology disclosed herein technical scope in, it will be appreciated that the replacement or increase and decrease arrived should all be covered in this hair
Within bright scope, therefore, protection scope of the present invention should be subject to the protection domain of claims.
Claims (5)
1. a kind of photoelectric nacelle based on reaction force is surely as control device, it is characterised in that：Including shell mechanism part, measure
Element and actuation mechanism；Shell mechanism part include head cover (1), outer barrel (2) and mounting flange (3), the shell mechanism part with
Photoelectric nacelle is connected, and provides and is stably connected between actuation mechanism and photoelectric nacelle；Measuring cell is accelerometer (4), is passed through
The vibration acceleration for measuring photoelectric nacelle provides control input for ADC controllers；Actuation mechanism includes spring (5), actuator is moved
Sub- mounting cylinder (6), actuator mover (7) and actuator stator (8), wherein actuator mover mounting cylinder are formed with actuator mover
Quality of assistance generates control force, to inhibit the vibration of photoelectric nacelle by ADC controllers output driving.
2. the photoelectric nacelle according to claim 1 based on reaction force is surely as control device, it is characterised in that：Described
Accelerometer be ICP piezoelectric accelerometers, model PCB 333B30.
3. the photoelectric nacelle according to claim 1 based on reaction force is surely as control device, it is characterised in that：Described
Actuator in actuation mechanism is voice coil motor, and voice coil motor is made of a permanent magnet and a coil, actuator mover (7)
It is voice coil motor coil for voice coil motor permanent magnet and actuator stator (8), model LA14-17-000A.
4. a kind of photoelectric nacelle based on reaction force is surely as control method, it is characterised in that：Include the following steps：
The first step establishes the floating photoelectric nacelle kinetic model under the conditions of disturbed, then in the way of claim 1 pair
Surely as control device is assembled, finally will photoelectric nacelle be surely mounted on by the mounting hole of mounting flange (3) as control device
On controlled point；
Second step is steady as ADC controllers based on reaction force for the disturbed condition design of photoelectric nacelle；
Third walks, and realizes the photoelectric nacelle based on reaction force surely as control using the vibration acceleration of photoelectric nacelle as input.
5. the photoelectric nacelle according to claim 4 based on reaction force is surely as control method, it is characterised in that：Work as photoelectricity
When gondola is under vibration environment, accelerometer can adopt its vibration acceleration is input to ADC controllers；ADC controllers pass through
Design is a pair of and its unit sinusoidal signal and unit cosine signal with frequency is as substrate, and with LMS (Least Mean
Square filter) each substrate weight coefficient is adjusted in algorithm, and it fits and believes with interference with the compensation of frequency, opposite sign
Number as control signal drive ram to inhibit the vibration of photoelectric nacelle.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201711419365.8A CN108153345B (en) | 2017-12-25 | 2017-12-25 | Photoelectric nacelle based on reaction force is surely as control device and control method |
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| CN201711419365.8A CN108153345B (en) | 2017-12-25 | 2017-12-25 | Photoelectric nacelle based on reaction force is surely as control device and control method |
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| CN108153345A true CN108153345A (en) | 2018-06-12 |
| CN108153345B CN108153345B (en) | 2019-04-12 |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110371309A (en) * | 2019-07-10 | 2019-10-25 | 深圳市世纪南方科技有限公司 | A kind of damping device and unmanned plane |
| CN110739808A (en) * | 2019-10-23 | 2020-01-31 | 西安工程大学 | miniature electromagnetic actuator convenient for integration and driving method thereof |
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| CN101609341A (en) * | 2008-06-18 | 2009-12-23 | 中国科学院自动化研究所 | A kind of active vibration isolation control platform |
| CN201600231U (en) * | 2010-01-27 | 2010-10-06 | 中国人民解放军国防科学技术大学 | Angular vibration test table based on flexible hinge mechanism |
| US20140229020A1 (en) * | 2013-02-14 | 2014-08-14 | Hitachi-Ge Nuclear Energy, Ltd. | Higher-Order Vibration Control Device |
| CN105843270A (en) * | 2016-03-31 | 2016-08-10 | 南京航空航天大学 | Helicopter multi-frequency vibration active control method |
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2017
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| CN101609341A (en) * | 2008-06-18 | 2009-12-23 | 中国科学院自动化研究所 | A kind of active vibration isolation control platform |
| CN201600231U (en) * | 2010-01-27 | 2010-10-06 | 中国人民解放军国防科学技术大学 | Angular vibration test table based on flexible hinge mechanism |
| US20140229020A1 (en) * | 2013-02-14 | 2014-08-14 | Hitachi-Ge Nuclear Energy, Ltd. | Higher-Order Vibration Control Device |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110371309A (en) * | 2019-07-10 | 2019-10-25 | 深圳市世纪南方科技有限公司 | A kind of damping device and unmanned plane |
| CN110739808A (en) * | 2019-10-23 | 2020-01-31 | 西安工程大学 | miniature electromagnetic actuator convenient for integration and driving method thereof |
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| CN108153345B (en) | 2019-04-12 |
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Effective date of registration: 20201127 Address after: Unit 905, unit 4, 9 / F, building 2, FengHao East Road, Haidian District, Beijing 100094 Patentee after: BEIJING WEIFEN HANGYU TECHNOLOGY Co.,Ltd. Address before: 100191 Haidian District, Xueyuan Road, No. 37, Patentee before: BEIHANG University |
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Effective date of registration: 20210119 Address after: 100080 No. 1107d-2, 11th floor, No. 8 caihefang Road, Haidian District, Beijing Patentee after: BEIJING HANGYU ZHENKONG TECHNOLOGY Co.,Ltd. Address before: Unit 905, unit 4, 9 / F, building 2, FengHao East Road, Haidian District, Beijing 100094 Patentee before: BEIJING WEIFEN HANGYU TECHNOLOGY Co.,Ltd. |
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