CN109375654A - A kind of the opto-electric stabilization holder and its test method of teaching-oriented - Google Patents
A kind of the opto-electric stabilization holder and its test method of teaching-oriented Download PDFInfo
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- CN109375654A CN109375654A CN201811491510.8A CN201811491510A CN109375654A CN 109375654 A CN109375654 A CN 109375654A CN 201811491510 A CN201811491510 A CN 201811491510A CN 109375654 A CN109375654 A CN 109375654A
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D3/00—Control of position or direction
- G05D3/12—Control of position or direction using feedback
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Abstract
The opto-electric stabilization holder and its test method of teaching-oriented provided by the invention, it can impart knowledge to students for the stability of holder and required hardware foundation is provided, and the independently-powered design of 3-phase plug, it can carry out the teaching demonstration of the servo control algorithms such as Field orientable control, stable inertia control, speed and position control, after algorithm development is fixed on built-in industrial control machine, it may migrate to further deisgn product in embedded chip, facilitate teaching demonstration, improve demonstration efficiency.
Description
Technical field
The present invention relates to holder steady testing field, in particular to the opto-electric stabilization holder of a kind of teaching-oriented and its test
Method.
Background technique
Opto-electric stabilization holder is the optoelectronic device being mounted on the mobile vehicles such as aircraft, naval vessel, vehicle, can compensate for carrier
The optical axis caused by attitudes vibration shakes in motion process, guarantees the quality and observation effect of movement imaging.Existing opto-electric stabilization
Holder is usually all the design of embedded IC plate, and function solidification externally only has image output, operating mode control interface
Equal input/output interfaces, only can satisfy the use demand of user.On the other hand, opto-electric stabilization holder is SERVO CONTROL profession neck
The very typical research object in domain, but many undergraduate courses or postgraduate only have relevant books that can refer in course, practice
In lack a kind of instruments used for education that can be tested.
For the development for promoting photovoltaic industry, meet the actual demand of higher education practical teaching, there is an urgent need to one kind can
Realize the new product of teaching experiment.It as instructional device, needs to have: working principle can be demonstrated, kinds of experiments and survey can be carried out
Examination, small in size, light-weight, degree of opening is high, simple experiment, it is at low cost the features such as, be also used as the platform of new product development,
For research and development of products.It is more difficult for meeting these demands simultaneously.Chinese patent (application number 201710245898.2) is open
A kind of device for testing stable platform and test method towards experimental teaching needs to generate using the inclined base of process control
Attitude disturbance, system complexity are high, at high cost.It is used that Chinese patent (application number 201610545741.7) discloses a kind of microminiature
Property stabilized platform experiment teaching instrument, but system in view of transducer calibration, generate disturbing source etc., and devise scalable exhibition
The wing, two dimension disturbance base unit etc., and using three axle speed rate rotation table devices as stabilized platform, volume weight is difficult to control, and
And the electrical composition of control system is not addressed, without photoelectric imaging device, the teaching experiment that can be carried out is limited.
Summary of the invention
The embodiment of the invention provides the opto-electric stabilization holders and its test method of a kind of teaching-oriented, can be holder
Stability teaching provides required hardware foundation, and demonstrates a variety of servo control algorithms by embedded chip, and teaching is facilitated to drill
Show.
In a first aspect, the present invention provides a kind of opto-electric stabilization holder of teaching-oriented, comprising: alidade, integrated control electricity
Case and built-in industrial control machine, the alidade include at least one set of frame, servo motor, the motor of setting on said frame
Drive module, shaft-position encoder corresponding with the servo motor quantity, installation image capture module on said frame with
And the inertia measuring module for measuring described image acquisition module exercise data, the built-in industrial control machine have communication card
And image pick-up card, the built-in industrial control machine pass through the communication card and the integrated control electronic box, the motor driven
Module, described image acquisition module and inertia measuring module communication connection, the built-in industrial control machine utilize the figure
As the picture signal that described image acquisition module is shot is acquired processing by capture card.
Optionally, the frame includes holding bracket, the outer surface for holding bracket and frame being arranged in.
Optionally, the frame be equipped with the first electric interfaces, the motor drive module, the inertia measuring module with
And described image acquisition module is electrically connected with first electric interfaces respectively, first electric interfaces and the integrated control
Electronic box electrical connection.
Optionally, the integrated control electronic box mass commercial power interface, fuse, proof and electric leakage-proof safety module, AC-DC modulus turn
Change the mold block, control stick, band button, embedded controller and the second electric interfaces, second electric interfaces and described the
The electrical connection of one electric interfaces.
Optionally, the servo motor uses brushless motor, shaft-position encoder installation coaxial with the brushless motor.
Optionally, the alidade uses three axis, three frame, two axis, two frame or the four gimbaled structure of two axis.
Optionally, the motor drive module includes power circuit, embedded chip minimum system, logic circuit, PWM electricity
Drive circuit, current sampling circuit and operational amplification circuit, the output end of the motor drive module and servo electricity
Mechatronics, the output end of the motor drive module are electrically connected with the shaft-position encoder.
Optionally, Field orientable control algorithm built in the built-in industrial control machine, described in the built-in industrial control machine receives
The current feedback of the angle feed-back of shaft-position encoder and the motor drive module, and it is anti-to the angle using PARK inverse transformation
Feedback and the current feedback carry out processing output α, β voltage, and the motor drive module is generated according to α, β voltage
The rotation of servo motor described in PWM order-driven.
Optionally, the motor drive module program includes that the main interruption of ADC sampling and PERCOM peripheral communication are received and interrupted, and outside is logical
Letter receives the voltage value of the current-order from built-in industrial control machine and PARK inverse transformation, and ADC sampling is main to be interrupted by reading electricity
Stream feedback measured value and shaft-position encoder data, while sending data to built-in industrial control machine, when the built-in industrial control machine just
Field orientable control algorithm is being write, then is receiving the voltage value of PARK inverse transformation output, PWM instruction is being generated and controls the servo electricity
Machine rotation then receives current-order closed-loop control driving when the motor drive module is currently running Field orientable control algorithm
The servo motor rotation.
Second aspect, the present invention provide a kind of test method of the opto-electric stabilization holder of teaching-oriented, are applied to as above-mentioned
Teaching-oriented opto-electric stabilization holder, which comprises
Holder work will be stablized in the stable inertia working condition, by holding bracket with predetermined amplitude, different frequency
Shake simulation external interference；
Acquire the inertia angular velocity data ω of inertia measuring module in framegyro=[ωx,ωy,ωz] and each frame on
The coded data of shaft-position encoder and storage；
By the coupled relation between frame structure, equivalent gripping bracket inertia fortune is calculated using coded data is saved
Dynamic angular velocity signal ωdisturb=[ωxd,ωyd,ωzd]；
To hold the inertia angular velocity signal ω of bracketdisturb=[ωxd,ωyd,ωzd] it is used as exogenous disturbances data, frame
The inertial measurement component angular velocity signal ω of framegyro=[ωx,ωy,ωz] it is used as output data, Fourier transformation is respectively adopted
Spectrum analysis is done to input and output signal and obtains two spectrum curves；
Several points are equidistantly extracted in two spectrum curves, are calculated the ratio between output signal and input signal amplitude, will be counted
A percent data line obtains frequency characteristic of the inertia angular speed isolation in default frequency range.
As can be seen from the above technical solutions, the embodiment of the present invention has the advantage that
The opto-electric stabilization holder and its test method of teaching-oriented provided by the invention can impart knowledge to students for the stability of holder
Hardware foundation needed for providing, and the independently-powered design of 3-phase plug, can carry out Field orientable control, stable inertia control,
The teaching demonstration of the servo control algorithms such as speed and position control, after algorithm development is fixed on built-in industrial control machine, portable
The further deisgn product into embedded chip facilitates teaching demonstration, improves demonstration efficiency.
Detailed description of the invention
Fig. 1 is the composition schematic diagram of the opto-electric stabilization holder of teaching-oriented provided by the invention；
Fig. 2 is that three axis, three frame alidade example structure is shown in the opto-electric stabilization holder of teaching-oriented provided by the invention
It is intended to；
Fig. 3 is that two axis, two frame alidade example structure is shown in the opto-electric stabilization holder of teaching-oriented provided by the invention
It is intended to；
Fig. 4 is that two axis, four frame alidade example structure is shown in the opto-electric stabilization holder of teaching-oriented provided by the invention
It is intended to；
Fig. 5 is data content composition schematic diagram in the opto-electric stabilization holder of teaching-oriented provided by the invention；
Fig. 6 is motor drive module composition block diagram in the opto-electric stabilization holder of teaching-oriented provided by the invention；
Fig. 7 is motor drive module program flow diagram in the opto-electric stabilization holder of teaching-oriented provided by the invention；
Fig. 8 is integrated control electronic box composition schematic diagram in the opto-electric stabilization holder of teaching-oriented provided by the invention；
Fig. 9 is the embedded controller in the opto-electric stabilization holder of teaching-oriented provided by the invention in integrated control electronic box
Program flow diagram；
Figure 10 is built-in industrial control machine real-time program flow chart in the opto-electric stabilization holder of teaching-oriented provided by the invention.
Specific embodiment
In order to enable those skilled in the art to better understand the solution of the present invention, below in conjunction in the embodiment of the present invention
Attached drawing, technical scheme in the embodiment of the invention is clearly and completely described, it is clear that described embodiment is only
The embodiment of a part of the invention, instead of all the embodiments.Based on the embodiments of the present invention, ordinary skill people
The model that the present invention protects all should belong in member's every other embodiment obtained without making creative work
It encloses.
Description and claims of this specification and term " first ", " second ", " third ", " in above-mentioned attached drawing
Four " etc. be to be used to distinguish similar objects, without being used to describe a particular order or precedence order.It should be understood that using in this way
Data be interchangeable under appropriate circumstances, so that the embodiments described herein can be in addition to illustrating herein or describing
Sequence other than appearance is implemented.In addition, term " includes " and " having " and their any deformation, it is intended that covering is non-exclusive
Include, for example, the process, method, system, product or equipment for containing a series of steps or units are not necessarily limited to clearly arrange
Those of out step or unit, but may include be not clearly listed or it is solid for these process, methods, product or equipment
The other step or units having.
As shown in connection with fig. 1, the present invention provides a kind of opto-electric stabilization holder 100 of teaching-oriented, comprising: alidade 101, collection
At control electronic box and built-in industrial control machine, the alidade includes at least one set of frame, the servo of setting on said frame
Motor, motor drive module, shaft-position encoder corresponding with the servo motor quantity, the image of installation on said frame are adopted
Collection module and the inertia measuring module for measuring described image acquisition module exercise data, the built-in industrial control machine have
Communication card and image pick-up card, the built-in industrial control machine pass through the communication card and the integrated control electronic box, described
Motor drive module, described image acquisition module and inertia measuring module communication connection, the built-in industrial control machine benefit
The picture signal that described image acquisition module is shot is acquired processing with described image capture card.
Frame includes holding bracket, and the outer surface for holding bracket and frame being arranged in holds bracket for experimenter
Hand-held to be shaken, so that frame generates attitude disturbance, the image and data inside holder are connected with built-in industrial control machine.It is integrated
There are the operating devices such as control stick, button for experimenter's operation on control electronic box, controls and stablize holder work.Experimenter exists
Program is write on built-in industrial control machine carries out the courses of instruction such as teaching demonstration or control theory practice.
Optionally, the frame be equipped with the first electric interfaces, the motor drive module, the inertia measuring module with
And described image acquisition module is electrically connected with first electric interfaces respectively, first electric interfaces and the integrated control
Electronic box electrical connection.
Optionally, the servo motor uses brushless motor, shaft-position encoder installation coaxial with the brushless motor.
In conjunction with shown in Fig. 2,3 or 4, the alidade 101 is four gimbaled using three axis, three frame, two axis, two frame or two axis
Structure, three axis, three frame includes that azimuth axis, orientation driving brushless motor, orientation frame, inertia measuring module, image are adopted in Fig. 2
Collect module, pitching drives brushless motor, pitch axis, pitching frame.Roll frame, roll driving brushless motor and roll axis,
Two axis, two frame includes inertia measuring module, image capture module, azimuth axis, alidade and pitch axis in Fig. 3, two in Fig. 4
Four frame of axis includes exterior orientation driving brushless motor, inner orientation axis, exterior orientation axis, alidade, inner orientation driving brushless motor, is used to
Property measurement module, image capture module, outer pitch axis, outer pitching driving brushless motor, interior pitch axis and interior pitching drive nothing
Which kind of structure no matter brush motor use for selecting which kind of frame that can flexibly carry out according to experiment demand, turns in each frame
There are a brushless motor, a motor drive module and a shaft-position encoder on moving axis.Inertial Measurement Unit and video camera
Module is all mounted in inner frame, acquires inertial attitude information and image information respectively.
Several frame structures no matter are used, a brushless motor is respectively arranged on each rotation frame, the frame is driven to rotate.Institute
Shaft-position encoder is stated with the brushless motor using coaxial mounting means, the corner of brushless motor is directly measured, using absolute type
Shaft-position encoder detects rotational travel.The motor drive module can pass through host computer procedure using DSP or ARM as core
Work is set in open current loop or current closed-loop mode, drives brushless motor rotation.The Inertial Measurement Unit real-time measurement is taken the photograph
The inertia angular speed and angle posture of camera module.The camara module is mounted on inside the alidade, has SDI high definition figure
As output interface, image can be shot and receive extraneous instruction progress zoom.
As shown in connection with fig. 8, the integrated control electronic box mass commercial power interface 801, fuse 802, proof and electric leakage-proof safety module
803, AC-DC module 804, control stick 805, band button 806, embedded controller 807 and the second electric interfaces 808, institute
The second electric interfaces 808 are stated to be electrically connected with first electric interfaces, integrated control electronic box using overcurrent and it is earth leakage protective solely
Verticalization power-supply service, it is only necessary to which an external three-phase alternating current plug facilitates teaching demonstration.Integrated control electronic box is on the one hand negative
Entire opto-electric stabilization holder 100 and the power supply task of itself are blamed, control stick instruction on the other hand can be acquired, it is anti-by electric interfaces
It is fed in built-in industrial control machine 809.Each described can individually be responsible for the power supply task an of gimbal axis with button.
Communication card is housed inside the built-in industrial control machine 809, the spindle motor drive module, described used can be received
Property the data that issue of measuring unit, the camara module and the integrated control electronic box, and motion control amount and control are referred to
Order is sent to the motor drive module.Described image capture card is also mounted inside the built-in industrial control machine, is used for institute
The picture signal that camara module takes is stated to acquire and show.
Optionally, the motor drive module includes power circuit, embedded chip minimum system, logic circuit, PWM electricity
Drive circuit, current sampling circuit and operational amplification circuit, the output end of the motor drive module and servo electricity
Mechatronics, the output end of the motor drive module are electrically connected with the shaft-position encoder.
Optionally, Field orientable control algorithm built in the built-in industrial control machine realizes Field orientable control, stable inertia
Control and the stable experiment such as holder speed and position control.Stable inertia is tested, the real time control algorithms being capable of basis
Experimental data calculates the isolation that the optical axis shakes, and carries out quantitative analysis, the built-in industrial control machine to the validity of control algolithm
The angle feed-back of the shaft-position encoder and the current feedback of the motor drive module are received, and using PARK inverse transformation to institute
It states angle feed-back and the current feedback carries out processing output α, β voltage, the motor drive module is according to α, β voltage
Amount generates the rotation of servo motor described in PWM order-driven.
As shown in figure 5, the data for stablizing holder to built-in industrial control machine mainly include inertia measuring module and motor driven
Module, wherein the data content of Inertial Measurement Unit is according to its protocol analysis, motor drive module to built-in industrial control machine
Data mainly include shaft-position encoder coded data and current feedback amount, can be respectively as speed, position control and magnetic field
The feedback quantity of oriented control.The data content of built-in industrial control machine to brushless motor driver module mainly includes current-order, electricity
Open-closed-loop mark is flowed, α, β voltage of motor enabler flags and PARK inverse transformation output, such Field orientable control algorithm can be with
It is write on built-in industrial control machine, after program Solidification, this partial content can be cured to the embedding of brushless motor driver module
Enter in formula chip.The data content of integrated control electronic box to built-in industrial control machine is mainly the control instruction of control stick, for pair
Stablize holder and carries out speed and position control.
Optionally, the motor drive module program includes that the main interruption of ADC sampling and PERCOM peripheral communication are received and interrupted, and outside is logical
Letter receives the voltage value of the current-order from built-in industrial control machine and PARK inverse transformation, and ADC sampling is main to be interrupted by reading electricity
Stream feedback measured value and shaft-position encoder data, while sending data to built-in industrial control machine, when the built-in industrial control machine just
Field orientable control algorithm is being write, then is receiving the voltage value of PARK inverse transformation output, PWM instruction is being generated and controls the servo electricity
Machine rotation then receives current-order closed-loop control driving when the motor drive module is currently running Field orientable control algorithm
The servo motor rotation.
After Field orientable control algorithm development is mature, this step can be cured to the embedded of brushless motor driver module
In chip, current-order, Open-closed-loop mark and motor enabler flags are only received.
It is measured with the coaxial mounted shaft-position encoder of brushless motor and relatively rotates angle, is fed back by electric interfaces to embedding
Enter in formula industrial personal computer, the control for speed ring and position ring.
As shown in fig. 7, the motor drive module program includes that the main interruption of ADC sampling and PERCOM peripheral communication are received and interrupted,
PERCOM peripheral communication receives the voltage value of the current-order from built-in industrial control machine and PARK inverse transformation, and main interrupt reads electricity by AD
Stream feedback measured value reads shaft-position encoder data by communication interface, while sending data to built-in industrial control machine.If
Field orientable control algorithm is write on built-in industrial control machine, then receives the voltage value of PARK inverse transformation output, generates PWM control electricity
Machine rotation；If running Field orientable control algorithm in the embedded chip of drive module, current-order closed loop control is received
System driving brushless motor rotation, the working method of open loop or closed loop can be arranged by program, may also set up whether motor enables.
The integrated control electronic box program reads simulation in master timer interruption after initialization as shown in Figure 9
The voltage value of control stick sends data to built-in industrial control machine.
The built-in industrial control machine is clamped by image acquisition board receives the image information for stablizing holder, passes through data communication
Board and stablizes holder and integrated control electronic box and carry out data exchange.Real-time control journey can be write on built-in industrial control machine
Sequence realizes the motion control for stablizing holder, the task that the monitoring of operation data and image are shown.If production will be developed further
Algorithm in built-in industrial control machine can be then transplanted in embedded chip by product.
As shown in Figure 10, built-in industrial control machine real-time program process mainly includes the main interruption of timer, with integrated control electricity
Case communication disruption, the communication disruption of the communication disruption of Inertial Measurement Unit and multiple motor drive modules.It is received in main interruption
The control instruction that host computer and integrated control electronic box are sent, plans the operating mode for stablizing holder, for the motor of each frame
Drive module plans speed and position command, in conjunction with stablizing each sensing data in holder, operation closed loop control algorithm and
Field orientable control algorithm transmits data to each motor drive module, recycles and executes by above-mentioned process, may be implemented to stablize
The different operating mode such as holder stable inertia, speed control, position control.
The opto-electric stabilization holder of teaching-oriented provided by the invention, can imparting knowledge to students for the stability of holder, it is required hard to provide
Part basis, and the independently-powered design of 3-phase plug can carry out Field orientable control, stable inertia control, speed and position control
The teaching demonstration of the servo control algorithms such as system may migrate to embedded chip after algorithm development is fixed on built-in industrial control machine
In further deisgn product, facilitate teaching demonstration, improve demonstration efficiency.
The present invention can carry out the experiment of brushless motor Field orientable control, video camera inertia according to above-mentioned specific embodiment
Holder speed and position control experiment etc. are stablized in stability contorting experiment.Stable inertia is tested, the real time control algorithms energy
It is enough that the isolation that the optical axis shakes is calculated according to experimental data, quantitative analysis is carried out to the validity of control algolithm.Correspondingly, this hair
A kind of test method of the bright opto-electric stabilization holder that teaching-oriented is provided, the opto-electric stabilization cloud applied to such as above-mentioned teaching-oriented
Platform, which comprises
Holder work will be stablized in the stable inertia working condition, by holding bracket with predetermined amplitude, different frequency
Shake simulation external interference；
Acquire the inertia angular velocity data ω of inertia measuring module in framegyro=[ωx,ωy,ωz] and each frame on
The coded data and storage, acquisition data of shaft-position encoder are counted preferably over 10 times of the sampling period, if the sampling period is
1Khz preferably saves the data point of 10K or more；
By the coupled relation between frame structure, equivalent gripping bracket inertia fortune is calculated using coded data is saved
Dynamic angular velocity signal ωdisturb=[ωxd,ωyd,ωzd]；
To hold the inertia angular velocity signal ω of bracketdisturb=[ωxd,ωyd,ωzd] it is used as exogenous disturbances data, frame
The inertial measurement component angular velocity signal ω of framegyro=[ωx,ωy,ωz] it is used as output data, Fourier transformation is respectively adopted
Spectrum analysis is done to input and output signal and obtains two spectrum curves；
Several points are equidistantly extracted in two spectrum curves, are calculated the ratio between output signal and input signal amplitude, will be counted
A percent data line obtains frequency characteristic of the inertia angular speed isolation in default frequency range.
Because therefore the frequency range of manpower shaking is all in 10Hz hereinafter, equidistantly extract number in two obtained spectrum curves
It is a, calculate the ratio between output signal and input signal amplitude, by several percent data lines can be obtained inertia angular speed every
From frequency characteristic of the degree in 0-10Hz frequency range.
Quantitative analysis is done to stable inertia effect using the frequency characteristic of above method analysis speed isolation.
The test method of the opto-electric stabilization holder of teaching-oriented provided by the invention can mention for the stability teaching of holder
For required hardware foundation, and the independently-powered design of 3-phase plug, Field orientable control, stable inertia control, speed can be carried out
The teaching demonstration of the servo control algorithms such as degree and position control may migrate to after algorithm development is fixed on built-in industrial control machine
Further deisgn product in embedded chip facilitates teaching demonstration, improves demonstration efficiency.
It is apparent to those skilled in the art that for convenience and simplicity of description, the system of foregoing description,
The specific work process of device and unit, can refer to corresponding processes in the foregoing method embodiment, and details are not described herein.
In several embodiments provided herein, it should be understood that disclosed system, device and method can be with
It realizes by another way.For example, the apparatus embodiments described above are merely exemplary, for example, the unit
It divides, only a kind of logical function partition, there may be another division manner in actual implementation, such as multiple units or components
It can be combined or can be integrated into another system, or some features can be ignored or not executed.Another point, it is shown or
The mutual coupling, direct-coupling or communication connection discussed can be through some interfaces, the indirect coupling of device or unit
It closes or communicates to connect, can be electrical property, mechanical or other forms.
The unit as illustrated by the separation member may or may not be physically separated, aobvious as unit
The component shown may or may not be physical unit, it can and it is in one place, or may be distributed over multiple
In network unit.It can select some or all of unit therein according to the actual needs to realize the mesh of this embodiment scheme
's.
It, can also be in addition, the functional units in various embodiments of the present invention may be integrated into one processing unit
It is that each unit physically exists alone, can also be integrated in one unit with two or more units.Above-mentioned integrated list
Member both can take the form of hardware realization, can also realize in the form of software functional units.
Those of ordinary skill in the art will appreciate that all or part of the steps in the various methods of above-described embodiment is can
It is completed with instructing relevant hardware by program, which can be stored in a computer readable storage medium, storage
Medium may include: read-only memory (ROM, Read Only Memory), random access memory (RAM, RandomAccess
Memory), disk or CD etc..
The opto-electric stabilization holder and its test method of a kind of teaching-oriented provided by the present invention have been carried out in detail above
It introduces, for those of ordinary skill in the art, thought according to an embodiment of the present invention, in specific embodiment and application range
Upper there will be changes, in conclusion the contents of this specification are not to be construed as limiting the invention.
Claims (10)
1. a kind of opto-electric stabilization holder of teaching-oriented characterized by comprising alidade, integrated control electronic box and insertion
Formula industrial personal computer, the alidade include at least one set of frame, setting servo motor on said frame, motor drive module,
Shaft-position encoder corresponding with the servo motor quantity, installation image capture module on said frame and for measuring
The inertia measuring module of described image acquisition module exercise data, the built-in industrial control machine have communication card and Image Acquisition
Card, the built-in industrial control machine pass through the communication card and the integrated control electronic box, the motor drive module, the figure
As acquisition module and inertia measuring module communication connection, the built-in industrial control machine utilize described image capture card by institute
The picture signal for stating image capture module shooting is acquired processing.
2. the opto-electric stabilization holder of teaching-oriented according to claim 1, which is characterized in that the frame includes holding branch
Frame, the outer surface for holding bracket and frame being set.
3. the opto-electric stabilization holder of teaching-oriented according to claim 1, which is characterized in that the frame is equipped with first
Electric interfaces, the motor drive module, the inertia measuring module and described image acquisition module are respectively with described first
Electric interfaces electrical connection, first electric interfaces are electrically connected with the integrated control electronic box.
4. the opto-electric stabilization holder of teaching-oriented according to claim 1, which is characterized in that the integrated control electronic box packet
Block commercial power interface, fuse, proof and electric leakage-proof safety module, AC-DC analog-to-digital conversion module, control stick, band button, embedded Control
Device and the second electric interfaces, second electric interfaces are electrically connected with first electric interfaces.
5. the opto-electric stabilization holder of teaching-oriented according to claim 1, which is characterized in that the servo motor uses nothing
Brush motor, shaft-position encoder installation coaxial with the brushless motor.
6. the opto-electric stabilization holder of teaching-oriented according to claim 1, which is characterized in that the alidade uses three axis
Three frames, two axis, two frame or the four gimbaled structure of two axis.
7. the opto-electric stabilization holder of teaching-oriented according to claim 1, which is characterized in that the motor drive module packet
Power circuit, embedded chip minimum system, logic circuit, PWM motor-drive circuit, current sampling circuit and operation is included to put
Big circuit, the output end of the motor drive module are electrically connected with the servo motor, the output end of the motor drive module
It is electrically connected with the shaft-position encoder.
8. the opto-electric stabilization holder of teaching-oriented according to claim 1, which is characterized in that in the built-in industrial control machine
Set Field orientable control algorithm, the built-in industrial control machine receive the shaft-position encoder angle feed-back and the motor driven
The current feedback of module, and processing output α, β electricity is carried out to the angle feed-back and the current feedback using PARK inverse transformation
Pressure amount, motor drive module servo motor rotation according to α, β voltage generation PWM order-driven.
9. the opto-electric stabilization holder of teaching-oriented according to claim 8, which is characterized in that the motor drive module journey
Sequence includes that the main interruption of ADC sampling and PERCOM peripheral communication are received and interrupted, and PERCOM peripheral communication receives the current-order from built-in industrial control machine
With the voltage value of PARK inverse transformation, ADC sampling is main to be interrupted by reading current feedback measured value and shaft-position encoder data, simultaneously
Data are sent to built-in industrial control machine, when the built-in industrial control machine is writing Field orientable control algorithm, then receive PARK
The voltage value of inverse transformation output generates PWM instruction and controls the servo motor rotation, when the motor drive module is currently running
Field orientable control algorithm then receives current-order closed-loop control and drives the servo motor rotation.
10. a kind of test method of the opto-electric stabilization holder of teaching-oriented, which is characterized in that be applied to as in claim 1 to 9
The opto-electric stabilization holder of described in any item teaching-orienteds, which comprises
Holder work will be stablized in stable inertia working condition, by holding bracket with predetermined amplitude, the shaking of different frequency
Simulate external interference；
Acquire the inertia angular velocity data ω of inertia measuring module in framegyro=[ωx,ωy,ωz] and each frame on shaft angle
The coded data of encoder and storage；
By the coupled relation between frame structure, equivalent gripping bracket inertia motion angle is calculated using coded data is saved
Speed signal ωdisturb=[ωxd,ωyd,ωzd]；
To hold the inertia angular velocity signal ω of bracketdisturb=[ωxd,ωyd,ωzd] exogenous disturbances data are used as, frame is used to
Property measuring cell angular velocity signal ωgyro=[ωx,ωy,ωz] it is used as output data, Fourier transform pairs input is respectively adopted
Spectrum analysis, which is done, with output signal obtains two spectrum curves；
Several points are equidistantly extracted in two spectrum curves, the ratio between output signal and input signal amplitude are calculated, by several hundred
Divide and obtains frequency characteristic of the inertia angular speed isolation in default frequency range than data bus connection.
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811491510.8A CN109375654A (en) | 2018-12-07 | 2018-12-07 | A kind of the opto-electric stabilization holder and its test method of teaching-oriented |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811491510.8A CN109375654A (en) | 2018-12-07 | 2018-12-07 | A kind of the opto-electric stabilization holder and its test method of teaching-oriented |
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| Publication Number | Publication Date |
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| CN109375654A true CN109375654A (en) | 2019-02-22 |
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| CN201811491510.8A Pending CN109375654A (en) | 2018-12-07 | 2018-12-07 | A kind of the opto-electric stabilization holder and its test method of teaching-oriented |
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| CN113093818A (en) * | 2021-04-20 | 2021-07-09 | 中国科学院西安光学精密机械研究所 | Stable platform servo control system |
| CN114384941A (en) * | 2022-01-13 | 2022-04-22 | 中北大学南通智能光机电研究院 | Similar carrier posture cooperation system based on OPENMV |
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