CN108153345B - 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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- CN108153345B CN108153345B CN201711419365.8A CN201711419365A CN108153345B CN 108153345 B CN108153345 B CN 108153345B CN 201711419365 A CN201711419365 A CN 201711419365A CN 108153345 B CN108153345 B CN 108153345B
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- photoelectric nacelle
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- 238000000034 method Methods 0.000 title claims abstract description 17
- 238000006243 chemical reaction Methods 0.000 title claims abstract description 15
- 230000007246 mechanism Effects 0.000 claims abstract description 27
- 230000001133 acceleration Effects 0.000 claims abstract description 13
- 230000003044 adaptive effect Effects 0.000 claims abstract description 4
- 239000000758 substrate Substances 0.000 claims description 6
- 238000013016 damping Methods 0.000 claims description 4
- 230000000694 effects Effects 0.000 claims description 4
- 230000008602 contraction Effects 0.000 claims description 2
- 238000005259 measurement Methods 0.000 claims description 2
- 230000008450 motivation Effects 0.000 claims description 2
- 230000003313 weakening effect Effects 0.000 claims description 2
- 230000017525 heat dissipation Effects 0.000 claims 1
- 238000009335 monocropping Methods 0.000 claims 1
- 239000007787 solid Substances 0.000 claims 1
- 238000001914 filtration Methods 0.000 abstract 1
- 238000005516 engineering process Methods 0.000 description 5
- 238000003384 imaging method Methods 0.000 description 2
- 238000009434 installation Methods 0.000 description 2
- 230000005622 photoelectricity Effects 0.000 description 2
- 230000008878 coupling Effects 0.000 description 1
- 238000010168 coupling process Methods 0.000 description 1
- 238000005859 coupling reaction Methods 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 230000005611 electricity Effects 0.000 description 1
- 238000007667 floating Methods 0.000 description 1
- 230000006870 function Effects 0.000 description 1
- 230000002401 inhibitory effect Effects 0.000 description 1
- 230000004044 response Effects 0.000 description 1
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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- Engineering & Computer Science (AREA)
- 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 nacelles 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 carries out surely photoelectric nacelle as control；Wherein control method is Adaptive notch filtering method (Adaptive Disturbance Cancellation, abbreviation ADC method).The present invention effectively weakens its vibration amplitude by installing control device on the main vibration direction of photoelectric nacelle, demonstrates the photoelectric nacelle based on reaction force surely as the validity of control method, improves the image quality of photoelectric nacelle.
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, vibration interference suffered by the photoelectric nacelle that can be used for inhibiting Chu under vibration.
Background technique
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 vibration (propeller vibration, aerodynamic force and structural elasticity coupling generally existing on unmanned plane
Flutter etc. caused by closing) then greatly reduce the image quality of photoelectric nacelle.Although the servo-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
When state, servo-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.
Summary of the invention
The technical problem to be solved by the present invention is being mentioned aiming at the problem that servo-system " is crossed and pushed up " to photoelectric nacelle, which to compensate,
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 when cabin " cross and push up ", moreover it is possible to further weaken vibrational energy in the work of photoelectric nacelle servo-system,
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 top cover, outer cylinder and installation
Flange, the shell mechanism part and photoelectric nacelle are connected, and provide and are stably connected between actuation mechanism and photoelectric nacelle；Measurement member
Part is accelerometer, provides control input by measuring the vibration acceleration of photoelectric nacelle for ADC controller；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 controller output driving, to inhibit the vibration of photoelectric nacelle.
Wherein, the accelerometer is ICP piezoelectric accelerometer, 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 nacelles based on reaction force surely as control method, comprising the following steps:
The first step establishes floating photoelectric nacelle kinetic model under the conditions of disturbed, then according to claim one
Mode as control device is mounted on photoelectricity by the mounting hole of mounting flange to surely as control device assembles, finally surely hanging
On the controlled point of cabin；
Second step, for the disturbed condition design of photoelectric nacelle based on the steady as ADC controller of reaction force；
Third step realizes the photoelectric nacelle based on reaction force surely as control for 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 controller by design it is a pair of and its with frequency unit sinusoidal signal and unit cosine signal as substrate, 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 inhibits the vibration of photoelectric nacelle as control signal drive ram.
The present invention has the advantages that
(1) present invention forms the actuation mechanism centered on voice coil motor, also has voice coil electric while structure is simple
The output linearity degree of machine is good, response is fast and high reliability；
(2) present invention can effectively press down in such a way that driving quality of assistance (actuator mover etc.) generates reaction force
The vibration interference that photoelectric nacelle processed is subject to, servo-system can not compensate asking for interference when especially solving photoelectric nacelle " cross and push up "
Topic.
Detailed description of the invention
Fig. 1 is a quarter cross-sectional view of the invention；
Fig. 2 is appearance axonometric drawing of the invention；
Fig. 3 is half-sectional installation diagram of the invention；
Fig. 4 is appearance top view of the invention；
Fig. 5 is ADC controller principle figure of the invention；
Fig. 6 is the control effect figure under the conditions of photoelectric nacelle is disturbed.
Appended drawing reference meaning in Fig. 1~5 are as follows: 1 is top cover, and 2 be outer cylinder, 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
A specific embodiment of the invention is described in further details with reference to the accompanying drawing.
As shown in Figs 1-4, the present invention is a kind of surely picture control device, including shell knot of the photoelectric nacelle based on reaction force
Structure part, measuring cell and actuation mechanism.Shell mechanism part includes top cover 1, outer cylinder 2 and mounting flange 3；Measuring cell is to add
Speedometer 4；Actuation mechanism includes spring 5, actuator mover mounting cylinder 6, actuator mover 7 and actuator stator 8.Actuator is dynamic
Son 7 is voice coil motor permanent magnet and actuator stator 8 is voice coil motor coil.
The upper end that top cover 1 is installed on outer cylinder 2 in shell mechanism part forms the guiding and spring connecting point of actuation mechanism；Outside
The lower end of cylinder 2 and mounting flange 3 are connected, and mounting flange 3 is connected by external mounting hole and photoelectric nacelle；The part is as actuation
The support 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 top cover 1, can measure the vibration acceleration of bracket, that is, photoelectric nacelle
Input signal as ADC controller.
5 one end of spring and top cover 1 are connected in actuation mechanism, and one end and actuator mover mounting cylinder 6 are connected and cover in actuation
6 external cylindrical surface of device mover mounting cylinder, actuator mover 7 are connected by bottom mounting apertures and actuator mover mounting cylinder 6 as auxiliary
Quality is helped, while actuator mover mounting cylinder 6 contacts and formed sliding pair with 2 inner cylinder face of outer cylinder, by the movement of actuation mechanism
Direction is constrained to the axial direction on cylindrical surface, while providing guide frame for spring；Actuator stator 8 and mounting flange 3 are connected；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 pass 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 ADC controller principle figure of the invention；Control method used in the present invention is the adaptive notch side ADC
Method, when photoelectric nacelle is under vibration environment, accelerometer can adopt its vibration acceleration is input to ADC controller；ADC control
Device processed by design it is a pair of and its with frequency unit sinusoidal signal and unit cosine signal as substrate, and with LMS algorithm to each
Substrate weight coefficient is adjusted, and fits and is used as control signal driving actuation with the thermal compensation signal of frequency, opposite sign with interference
Device improves the purpose of its image quality to reach the vibration amplitude for weakening photoelectric nacelle.
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), and 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 scope of protection of the present invention is not limited thereto, any
It is familiar with the people of the technology within the technical scope disclosed by the invention, it will be appreciated that the replacement or increase and decrease arrived should all be covered in this hair
Within bright scope, therefore, the scope of protection of the invention shall be subject to the scope of protection specified in the patent claim.
Claims (1)
1. a kind of photoelectric nacelle based on reaction force is surely as control device, it is characterised in that: including shell mechanism part, measurement
Element and actuation mechanism, shell mechanism part include top cover (1), outer cylinder (2) and mounting flange (3)；Measuring cell is acceleration
It counts (4)；Actuation mechanism includes spring (5), actuator mover mounting cylinder (6), actuator mover (7) and actuator stator (8), is made
Dynamic device mover (7) are voice coil motor permanent magnet and actuator stator (8) is voice coil motor coil；
The upper end that top cover (1) is installed on outer cylinder (2) in shell mechanism part forms the guiding and spring connecting point of actuation mechanism；Outside
The lower end and mounting flange (3) of cylinder (2) are connected, and mounting flange (3) is connected by external mounting hole and photoelectric nacelle；Make the part
For the support of actuator, effect of contraction can be played to the direction of motion of actuation mechanism；
Measuring cell, that is, accelerometer (4) is installed on the inside of top cover (1), can measure the vibration acceleration of bracket, that is, photoelectric nacelle
Input signal as ADC controller；
Spring (5) one end and top cover (1) are connected in actuation mechanism, and one end, which is connected and covers with actuator mover mounting cylinder (6), to be made
Dynamic device mover mounting cylinder (6) external cylindrical surface, actuator mover (7) are solid by bottom mounting apertures and actuator mover mounting cylinder (6)
Continuous cropping is quality of assistance, while actuator mover mounting cylinder (6) contacts and formed sliding pair with outer cylinder (2) inner cylinder face, will make
The direction of motion of motivation structure is constrained to the axial direction on cylindrical surface, while providing guide frame for spring；Actuator stator (8) and peace
Flange (3) are filled to be connected；Actuation mechanism is present apparatus core, is moved by ADC controller output driving actuator mover (7),
The reaction force of generation then passes through actuator stator (8) and mounting flange (3) acts on photoelectric nacelle, and passes through actuator mover
(7) structural damping of the electromagnetic damping between actuator stator (8) and spring (5) converts vibrational energy into heat dissipation
Fall, to inhibit the vibration of photoelectric nacelle；
Control method used in the device is adaptive notch ADC method, when photoelectric nacelle is under vibration environment, acceleration
Meter can adopt its vibration acceleration is input to ADC controller；ADC controller passes through design a pair and it believes with the unit sine of frequency
Number and unit cosine signal each substrate weight coefficient is adjusted as substrate, and with LMS algorithm, fit with interference with frequently,
The thermal compensation signal of opposite sign is improved as control signal drive ram with reaching the vibration amplitude for weakening photoelectric nacelle
The purpose of its image quality.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
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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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| 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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| Publication Number | Publication Date |
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| CN108153345A CN108153345A (en) | 2018-06-12 |
| CN108153345B true CN108153345B (en) | 2019-04-12 |
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| 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 |
| CN110739808B (en) * | 2019-10-23 | 2021-07-20 | 西安工程大学 | Conveniently-integrated micro electromagnetic actuator 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 |
| CN105843270A (en) * | 2016-03-31 | 2016-08-10 | 南京航空航天大学 | Helicopter multi-frequency vibration active control method |
| CN106681386A (en) * | 2017-01-04 | 2017-05-17 | 华南理工大学 | Active vibration control device for automobile seat rail |
Family Cites Families (3)
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| 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 |
| JP5878137B2 (en) * | 2013-02-14 | 2016-03-08 | 日立Ｇｅニュークリア・エナジー株式会社 | High-order vibration damping device |
| CN106286666B (en) * | 2016-10-08 | 2019-06-04 | 中国船舶重工集团公司第七一九研究所 | Reluctance type electromagnetism active vibration absorber |
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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 |
| CN105843270A (en) * | 2016-03-31 | 2016-08-10 | 南京航空航天大学 | Helicopter multi-frequency vibration active control method |
| CN106681386A (en) * | 2017-01-04 | 2017-05-17 | 华南理工大学 | Active vibration control device for automobile seat rail |
Non-Patent Citations (1)
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| 基于音圈式Stewart平台的零刚度卫星;许域菲;《上海航天》;20170430;第34卷;第52-60页 |
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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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