CN112416023B - Inertial image stabilization control system based on angle measurement - Google Patents
Inertial image stabilization control system based on angle measurement Download PDFInfo
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- CN112416023B CN112416023B CN202011217432.XA CN202011217432A CN112416023B CN 112416023 B CN112416023 B CN 112416023B CN 202011217432 A CN202011217432 A CN 202011217432A CN 112416023 B CN112416023 B CN 112416023B
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- G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
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- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C1/00—Measuring angles
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- G—PHYSICS
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- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
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Abstract
The invention provides an inertial image stabilization control system based on angle measurement, which carries out angle measurement by respectively using grating rulers on a gyro stabilizing shaft and a scanning reflector shaft, and simultaneously cancels a mechanical steel belt speed reducer with the reduction ratio of 2:1, and replaces a traditional mechanical steel belt speed reducer rotating mechanism with a high-precision shafting rotating measurement mechanism to realize inertial image stabilization control so as to ensure that no mechanical transmission relation exists between a pitching gyro inertial stabilization loop and a scanning reflector position tracking loop, thereby eliminating the influence of shafting dynamic moment and shafting friction moment, improving the stability control precision of an image stabilization control mechanism, reducing the structural complexity of the mechanism, and reducing the volume and the weight of the mechanism.
Description
Technical Field
The invention relates to the technical field of automatic control, in particular to an inertial image stabilization control system based on angle measurement.
Background
The airborne infrared search tracking system generally adopts a scanning reflector to enlarge the search range and detect and track the target. In order to reduce the blurring of the infrared image caused by the vibration of the carrier and the change of the flight attitude, an inertia stable platform is required to be used for isolating the vibration of the carrier and the change of the flight attitude. Because the scanning reflector has the characteristic of reflecting a double angle of light in the pitching axial direction, the inertially stabilized platform usually adopts an inertially stabilized structure with an image stabilizing control mechanism.
The prior art image stabilization control mechanism typically has a gyroscopic stabilization axis and a scanning mirror axis in pitch. The gyro stabilizing shaft is provided with a torque motor which is used as a driving motor for pitching stabilization. The gyro stabilizing shaft and the scanning reflector shaft are reduced by a speed reduction ratio of 2: 1. mechanical steel belt speed reducer transmission. However, in the transmission process, the shafting is deviated by the pretightening force of the mechanical steel belt, so that the bearing balls do not stably move in the roller path, and a larger shafting friction torque is caused. And the nonlinear characteristic of the shafting friction torque can cause the low-speed rotation of the shafting to be unstable, thereby reducing the stability precision and ensuring the poor control quality of the system. Therefore, the image stabilization control mechanism in the prior art has the problems of poor control quality, large volume and heavy weight, and is difficult to meet the higher and higher requirements of an airborne photoelectric detection system.
Disclosure of Invention
Aiming at the problems of low stability control precision, complex mechanism structure, large mechanism volume and heavy weight of an image stabilization control mechanism in the prior art, the invention provides an inertial image stabilization control system based on angle measurement, which comprises a gyro angle measurement module, an angular displacement conversion module and a scanning reflector rotation control module; the gyro angle measuring module comprises a gyro feedback loop control unit and a gyro stable axis angle measuring unit; the gyro feedback loop control unit is used for performing feedback control on the rotation of the stable shaft of the pitching gyro; the gyro stabilizing shaft angle measuring unit is used for measuring the rotation angle of the pitching gyro stabilizing shaft; the angular displacement conversion module is used for generating a corresponding angular displacement instruction according to the rotation angle of the stable shaft of the pitching gyroscope; the scanning reflector rotation control module comprises a scanning reflector driving unit and a scanning reflector rotation angle measuring unit; the scanning reflector driving unit is used for driving the scanning reflector to rotate according to the angular displacement instruction; the scanning reflector rotation angle measuring unit is used for measuring the actual rotation angle of the scanning reflector; the scanning reflector driving unit is also used for carrying out feedback regulation on the rotating state of the scanning reflector according to the actual rotating angle of the scanning reflector; therefore, the inertial image stabilization control system based on angle measurement carries out angle measurement by respectively using grating rulers on the gyro stabilizing shaft and the scanning reflector shaft, simultaneously cancels the mechanical steel belt reducer with the reduction ratio of 2:1, and replaces the traditional mechanical steel belt reducer rotating mechanism with a high-precision shafting rotation measuring mechanism to realize inertial image stabilization control, so that no mechanical transmission relation exists between the pitching gyro inertial stabilization loop and the scanning reflector position tracking loop, thereby eliminating the influence of shafting disturbance torque and shafting friction torque, improving the stability control precision of the image stabilization control mechanism, reducing the structural complexity of the mechanism, and reducing the volume and the weight of the mechanism.
The invention provides an inertial image stabilization control system based on angle measurement, which is characterized by comprising a gyro angle measurement module, an angular displacement conversion module and a scanning reflector rotation control module; wherein,
the gyro angle measuring module comprises a gyro feedback loop control unit and a gyro stable axis angle measuring unit; wherein,
the gyro feedback loop control unit is used for performing feedback control on the rotation of the stable shaft of the pitching gyro;
the gyro stabilizing shaft angle measuring unit is used for measuring the rotation angle of the pitching gyro stabilizing shaft;
the angular displacement conversion module is used for generating a corresponding angular displacement instruction according to the rotation angle of the stable shaft of the pitching gyroscope;
the scanning reflector rotation control module comprises a scanning reflector driving unit and a scanning reflector rotation angle measuring unit; wherein,
the scanning reflector driving unit is used for driving the scanning reflector to rotate according to the angular displacement instruction;
the scanning reflector rotation angle measuring unit is used for measuring the actual rotation angle of the scanning reflector;
the scanning reflector driving unit is also used for carrying out feedback regulation on the rotation state of the scanning reflector according to the actual rotation angle of the scanning reflector;
further, the gyro feedback loop control unit comprises a pitching gyro, a gyro stabilizing shaft driving motor and a gyro stabilizing loop correction and motor power amplifier; wherein,
the top stabilizing shaft penetrates through the pitching top, and one end of the top stabilizing shaft is provided with the top stabilizing shaft driving motor;
the gyro stabilizing shaft driving motor is used for driving the gyro stabilizing shaft to rotate;
the gyro stabilizing loop correcting and motor power amplifier is used for signal connection of the pitching gyro and the gyro stabilizing shaft driving motor, so that the gyro stabilizing loop correcting and motor power amplifier, the pitching gyro and the gyro stabilizing shaft driving motor form a pitching inertial stabilizing loop;
further, the gyro stabilization loop correction and motor power amplifier is used for acquiring angular motion information of the pitching gyro, amplifying and correcting the angular motion information, generating a corresponding motor drive correction signal and transmitting the corresponding motor drive correction signal to the gyro stabilization axis drive motor;
the gyro stabilizing driving motor is used for driving the gyro stabilizing shaft to rotate according to the motor driving correction signal, so that the gyro stabilizing shaft drives the pitching gyro to rotate;
further, the gyro stabilizing shaft angle measuring unit is disposed on the other end of the gyro stabilizing shaft;
the gyro stable axis angle measuring unit comprises a first measuring belt wheel, a second measuring belt wheel, a first measuring steel belt, a first grating ruler and a first grating reader; wherein,
the first measuring belt wheel and the second measuring belt wheel are arranged oppositely at intervals, and the second measuring belt wheel is connected with the other end of the gyro stabilizing shaft;
the first measuring belt wheel is connected with the second measuring belt wheel through the first measuring steel belt;
the first grating ruler is arranged on one side of the first measuring steel belt;
the first grating ruler is also provided with the first grating reader, the first grating reader and the first grating ruler are matched to measure the linear displacement of the first measuring steel belt, and the linear displacement is converted into the rotation angle of the pitching gyroscope stable shaft;
further, the angular displacement conversion module comprises an angular displacement converter, and the angular displacement converter is used for converting the rotation angle of the stable shaft of the pitching gyroscope into a target rotation angle of the scanning reflector according to a preset proportionality coefficient, namely the target rotation angle of the scanning reflector is equal to the rotation angle of the stable shaft of the pitching gyroscope and the preset proportionality coefficient, so as to generate the angular displacement instruction;
furthermore, the scanning reflector driving unit comprises a scanning reflector, a scanning reflector shaft driving motor and a scanning reflector position tracking correction and motor power amplifier; wherein,
the scanning reflector shaft penetrates through the scanning reflector, and one end of the scanning reflector shaft is provided with the scanning reflector shaft driving motor;
the scanning reflector position tracking correction and motor power amplifier is in signal connection with the angular displacement conversion module and is used for indicating the scanning reflector shaft to drive the motor to operate according to the angular displacement instruction;
the scanning mirror shaft driving motor is used for driving the scanning mirror shaft to rotate, so that the scanning mirror shaft drives the scanning mirror to rotate by corresponding angular displacement;
further, the scanning mirror rotation angle measuring unit is arranged at the other end of the scanning mirror shaft;
the scanning reflector rotation angle measuring unit comprises a third measuring belt wheel, a fourth measuring belt wheel, a second measuring steel belt, a second grating ruler and a second grating reader; wherein,
the third measuring belt wheel and the fourth measuring belt wheel are oppositely arranged at intervals, and the fourth measuring belt wheel is connected with the other end of the scanning reflector shaft;
the third measuring belt wheel and the fourth measuring belt wheel are connected through the second measuring steel belt;
the second grating ruler is arranged on one side of the second measuring steel belt;
the second grating ruler is also provided with the second grating reader, the second grating reader and the second grating ruler are matched to measure the linear displacement of the second measuring steel belt, and the linear displacement is converted into the actual rotation angle of the scanning reflector;
furthermore, the second grating reader is also in signal connection with the scanning reflector position tracking correction and motor power amplifier;
the scanning reflector position tracking correction and motor power amplifier is also used for correcting the work of a scanning reflector shaft driving motor by using the error between the actual rotating angle of the scanning reflector and the angular displacement of the angular displacement instruction, so that the rotating state of the scanning reflector is subjected to feedback adjustment;
further, the first grating reader or the second grating reader is a non-contact optical reader; the first grating reader is used for projecting a laser beam to the surface of the first grating ruler, determining the linear displacement of the first measuring steel belt according to the scribed line scanning counting condition of the laser beam on the surface of the first grating ruler, and obtaining the rotation angle of the pitching gyroscope stable shaft according to the linear displacement and the radius of the first measuring belt wheel or the second measuring belt wheel;
or,
the second grating reader is used for projecting a laser beam to the surface of the second grating ruler, determining the linear displacement of the second measuring steel belt according to the scribed line scanning counting condition of the laser beam on the surface of the second grating ruler, and obtaining the actual rotation angle of the scanning reflector according to the linear displacement and the radius of the third measuring belt wheel or the fourth measuring belt wheel;
further, a first steel belt pressing plate and a second steel belt pressing plate are respectively and fixedly arranged on the first measuring belt wheel and the second measuring belt wheel in the position areas in contact with the first measuring steel belt, so that the first measuring steel belt is prevented from slipping in the running process;
or,
and a third steel belt pressing plate and a fourth steel belt pressing plate are respectively and fixedly arranged in the position areas of the third measuring belt wheel and the fourth measuring belt wheel, which are in contact with the second measuring steel belt, so that the second measuring steel belt is prevented from slipping in the running process.
Compared with the prior art, the inertial image stabilization control system based on angle measurement comprises a gyro angle measurement module, an angular displacement conversion module and a scanning reflector rotation control module; the gyro angle measuring module comprises a gyro feedback loop control unit and a gyro stable axis angle measuring unit; the gyro feedback loop control unit is used for performing feedback control on the rotation of the stable shaft of the pitching gyro; the gyro stabilizing shaft angle measuring unit is used for measuring the rotation angle of the pitching gyro stabilizing shaft; the angular displacement conversion module is used for generating a corresponding angular displacement instruction according to the rotation angle of the stable shaft of the pitching gyroscope; the scanning reflector rotation control module comprises a scanning reflector driving unit and a scanning reflector rotation angle measuring unit; the scanning reflector driving unit is used for driving the scanning reflector to rotate according to the angular displacement instruction; the scanning reflector rotation angle measuring unit is used for measuring the actual rotation angle of the scanning reflector; the scanning reflector driving unit is also used for carrying out feedback regulation on the rotating state of the scanning reflector according to the actual rotating angle of the scanning reflector; therefore, the inertial image stabilization control system based on angle measurement carries out angle measurement by respectively using grating rulers on the gyro stabilizing shaft and the scanning reflector shaft, simultaneously cancels the mechanical steel belt reducer with the reduction ratio of 2:1, and replaces the traditional mechanical steel belt reducer rotating mechanism with a high-precision shafting rotation measuring mechanism to realize inertial image stabilization control, so that no mechanical transmission relation exists between the pitching gyro inertial stabilization loop and the scanning reflector position tracking loop, thereby eliminating the influence of shafting disturbance torque and shafting friction torque, improving the stability control precision of the image stabilization control mechanism, reducing the structural complexity of the mechanism, and reducing the volume and the weight of the mechanism.
Additional features and advantages of the invention will be set forth in the description which follows, and in part will be obvious from the description, or may be learned by practice of the invention. The objectives and other advantages of the invention will be realized and attained by the structure particularly pointed out in the written description and claims hereof as well as the appended drawings.
The technical solution of the present invention is further described in detail by the accompanying drawings and embodiments.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, it is obvious that the drawings in the following description are only some embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to the drawings without creative efforts.
Fig. 1 is a schematic structural diagram of an inertial image stabilization control system based on angle measurement provided by the present invention.
Fig. 2 is a schematic structural diagram of a gyro stable axis angle measurement unit or a scanning mirror rotation angle measurement unit in the inertial image stabilization control system based on angle measurement provided by the present invention.
Fig. 3 is a schematic working flow diagram of the inertial image stabilization control system based on angle measurement provided by the present invention.
Fig. 4 is a schematic diagram of beam deflection of a scanning mirror in the inertial image stabilization control system based on angle measurement provided by the present invention.
Reference numerals: 1. a gyroscopic stabilization axis; 2. a pitching gyroscope; 3. a gyro stabilizing shaft driving motor; 4. a gyro stabilization loop correction and motor power amplifier; 5. a first measuring pulley; 6. a second measuring pulley; 7. a first measuring steel strip; 8. a first grating scale; 9. a first grating reader; 10. a first steel belt pressing plate; 11. a second steel belt pressing plate; 12. scanning the mirror axis; 13. a scanning mirror shaft drive motor; 14. a scanning mirror; 15. a third measuring pulley; 16. a fourth measuring pulley; 17. a second measuring steel strip; 18. a second grating scale; 19. a second grating reader; 20. a third steel belt pressing plate; 21. a fourth steel belt pressing plate; 22. an angular displacement transducer; 23. the position of the scanning reflector tracks and corrects and the power amplifier of the motor.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
Fig. 1 is a schematic structural diagram of an inertial image stabilization control system based on angle measurement according to an embodiment of the present invention. The inertial image stabilization control system based on angle measurement comprises a gyro angle measurement module, an angular displacement conversion module and a scanning reflector rotation control module; wherein,
the gyro angle measuring module comprises a gyro feedback loop control unit and a gyro stable axis 1 angle measuring unit; wherein,
the gyro feedback loop control unit is used for carrying out feedback control on the rotation of the pitching gyro stabilizing shaft 1;
the gyro stabilizing shaft angle measuring unit is used for measuring the rotation angle of the pitching gyro stabilizing shaft 1;
the angular displacement conversion module is used for generating a corresponding angular displacement instruction according to the rotation angle of the stable shaft 1 of the pitching gyroscope;
the scanning reflector rotation control module comprises a scanning reflector driving unit and a scanning reflector rotation angle measuring unit; wherein,
the scanning reflector driving unit is used for driving the scanning reflector 14 to rotate according to the angular displacement instruction;
the scanning mirror rotation angle measuring unit is used for measuring the actual rotation angle of the scanning mirror 14;
the scanning mirror driving unit is also used for performing feedback adjustment on the rotation state of the scanning mirror 14 according to the actual rotation angle of the scanning mirror 14.
The beneficial effects of the above technical scheme are: the inertial image stabilization control system based on angle measurement carries out angle measurement by respectively using a grating ruler on a gyro stabilizing shaft and a scanning reflector shaft, and simultaneously cancels a mechanical steel belt reducer with the reduction ratio of 2:1, the system takes half of the angular displacement of the gyro stabilizing shaft as an angular displacement instruction of the scanning reflector shaft, so that a scanning mirror position tracking loop always tracks the instruction to carry out scanning mirror rotation control, and realizes the mechanical transmission relation of 2:1 in an electrical control mode, namely the system replaces a traditional mechanical steel belt reducer rotating mechanism with a high-precision shaft system rotation measuring mechanism to realize the inertial image stabilization control, so that no mechanical transmission relation exists between a pitching gyro inertial stabilization loop and the scanning reflector position tracking loop, and the gyro pitching inertial stabilization loop can be placed at any position of an inertial image stabilization platform after the original mechanical steel belt reducer is cancelled, in addition, the size and the weight of the image stabilization control system are reduced, the design difficulty of the image stabilization control system is reduced, and in addition, a gyro pitching inertia stabilization loop is not influenced by a friction path from a scanning reflector shaft and a disturbance torque from the movement of a base in the image stabilization control system any more, so that the stabilization precision of a gyro stabilization shaft is improved, and the stabilization control precision of an image stabilization control mechanism is improved.
Preferably, the gyro feedback loop control unit comprises a pitching gyro 2, a gyro stabilizing shaft 1, a gyro stabilizing shaft driving motor 3 and a gyro stabilizing loop correction and motor power amplifier 4; wherein,
the top stabilizing shaft 1 penetrates through the pitching top 2, and one end of the top stabilizing shaft 1 is provided with a driving motor of the top stabilizing shaft 1;
the gyro stabilizing shaft driving motor 3 is used for driving the gyro stabilizing shaft 1 to rotate, so that the gyro stabilizing shaft 1 drives the pitching gyro 2 to rotate;
the gyro stabilizing loop correcting and motor power amplifier 4 is used for signal connection of the pitching gyro 2 and the gyro stabilizing shaft driving motor 3, so that the gyro stabilizing loop correcting and motor power amplifier 4, the pitching gyro 2 and the gyro stabilizing shaft driving motor 3 form a pitching inertial stabilizing loop.
Preferably, the gyro stabilizing loop correction and motor power amplifier 4 is configured to acquire angular motion information of the pitching gyro 2, amplify and correct the angular motion information, generate a corresponding motor driving correction signal, and transmit the corresponding motor driving correction signal to the gyro stabilizing axis driving motor 3;
the gyro stabilizing drive motor is used for driving the gyro stabilizing shaft 1 to rotate according to the motor drive correction signal.
Referring to fig. 3, in the gyro feedback loop control unit, the pitch gyro may include, but is not limited to, a gyro moment device, a gyro rotor, and an angle converter, the gyro stabilizing shaft is disposed on the pitch gyro, the gyro stabilizing loop calibration and motor power amplifier is used for signal connection of the pitch gyro and the gyro stabilizing shaft driving motor, thereby forming a pitch gyro inertially stabilized loop, in the pitch gyro inertially stabilized loop, the pitch gyro measures angular motion of a gyro shaft relative to an inertial space, a signal from the pitch gyro is corrected and amplified by the gyro stabilizing loop calibration and motor power amplifier and then transmitted to the gyro stabilizing shaft driving motor, and the gyro stabilizing shaft driving motor then drives the gyro stabilizing shaft to rotate, thereby establishing a corresponding inertially stabilized reference.
Preferably, the gyro stabilization axis angle measuring unit is provided on the other end of the gyro stabilization axis 1;
the gyro stable axis angle measuring unit comprises a first measuring belt wheel 5, a second measuring belt wheel 6, a first measuring steel belt 7, a first grating ruler 8 and a first grating reader 9; wherein,
the first measuring belt wheel 5 and the second measuring belt wheel 6 are oppositely arranged at intervals, and the second measuring belt wheel 6 is connected with the other end of the gyro stabilizing shaft 1;
the first measuring belt wheel 5 and the second measuring belt wheel 6 are connected through the first measuring steel belt 7;
the first grating ruler 8 is arranged on one side of the first measuring steel belt 7;
the first grating ruler 8 is further provided with the first grating reader 9, the first grating reader 9 and the first grating ruler 8 are matched to measure the linear displacement of the first measuring steel belt 7, and the linear displacement is converted into the rotation angle of the pitching gyroscope stabilizing shaft 1.
The beneficial effects of the above technical scheme are: because the gyro stabilizing shaft is connected with the second measuring belt wheel, when the gyro stabilizing shaft rotates, the second measuring belt wheel can synchronously rotate, and the first measuring belt wheel is connected with the second measuring belt wheel through the first measuring steel belt, namely the first measuring belt wheel, the second measuring belt wheel and the first measuring steel belt jointly form a roller/conveyor belt structure, at the moment, the first measuring steel belt can correspondingly generate linear displacement under the action of the second measuring belt wheel and drives the first measuring belt wheel to synchronously rotate, so that the first grating ruler arranged on the first measuring steel belt also generates corresponding linear displacement, the linear displacement of the first measuring steel belt can be directly obtained by calculating the linear displacement of the first grating ruler, and finally the angular displacement of the gyro stabilizing shaft can be obtained by corresponding conversion, and the linear displacement of the first measuring steel belt can be measured by the grating ruler, the measurement accuracy and sensitivity of the linear displacement amount can be improved, and the measurement difficulty of the linear displacement amount can be reduced.
Preferably, the angular displacement conversion module includes an angular displacement converter 22, and the angular displacement converter 22 is configured to convert the rotation angle of the pitch gyro stabilization axis into the target rotation angle of the scan mirror 14 according to a preset scaling factor, that is, the target rotation angle of the scan mirror is equal to the rotation angle of the pitch gyro stabilization axis x the preset scaling factor, so as to generate the angular displacement instruction.
Continuing to refer to fig. 3, the angular displacement converter is used as a connection medium between the pitch gyro inertia stabilization loop and the scanning mirror position tracking loop, the angular displacement converter is used for converting the rotation angle of the gyro stabilization shaft detected by the pitch gyro inertia stabilization loop, namely the angular displacement, into an angular displacement instruction for the scanning mirror position tracking loop according to a preset proportionality coefficient, according to the reduction ratio of a mechanical steel belt reducer in the prior art of 2:1, the preset proportionality coefficient can be selected to be 0.5, namely the target rotation angle of the scanning mirror is 0.5 of the rotation angle of the pitch gyro stabilization shaft, so that the angular displacement of the gyro stabilization shaft is always twice of the angular displacement of the scanning mirror shaft, and therefore, the transmission relation that the angular displacement ratio from the gyro stabilization shaft to the scanning mirror shaft is 2:1 is realized, and thus, the gyro stabilization shaft to the scanning mirror shaft can be realized without mechanical transmission conversion And electrified transmission relation transformation.
Preferably, the scanning mirror driving unit comprises a scanning mirror 14, a scanning mirror shaft 12, a scanning mirror 14 shaft driving motor 13 and a scanning mirror position tracking correction and motor power amplifier 23; wherein,
the scanning mirror shaft 12 is disposed through the scanning mirror 14, and one end of the scanning mirror shaft 12 is provided with the scanning mirror shaft driving motor 13;
the scanning mirror position tracking correction and motor power amplifier 23 is in signal connection with the angular displacement conversion module and is used for indicating the scanning mirror shaft driving motor 13 to operate according to the angular displacement instruction;
the scanning mirror shaft driving motor 13 is used for driving the scanning mirror shaft 12 to rotate, so that the scanning mirror shaft 12 drives the scanning mirror 14 to rotate by corresponding angular displacement.
The beneficial effects of the above technical scheme are: when the position tracking correction and motor power amplifier of the scanning reflector receives the angular displacement command, the angular displacement command is corrected and amplified, the scanning reflector shaft driving motor correspondingly drives the scanning reflector shaft to rotate according to the corrected and amplified angular displacement command and drives the scanning reflector to synchronously rotate, and under the action of the angular displacement command, the scanning reflector shaft always rotates at an angular displacement which is half of the angular displacement of the gyroscope stabilizing shaft, so that the scanning reflector is decelerated and rotated.
Preferably, the scanning mirror rotation angle measuring unit is provided on the other end of the scanning mirror shaft 12;
the scanning reflector rotation angle measuring unit comprises a third measuring belt wheel 15, a fourth measuring belt wheel 16, a second measuring steel belt 17, a second grating ruler 18 and a second grating reader 19; wherein,
the third measuring belt wheel 15 and the fourth measuring belt wheel 16 are oppositely arranged at intervals, and the fourth measuring belt wheel 16 is connected with the other end of the scanning mirror shaft 12;
the third measuring belt wheel 15 and the fourth measuring belt wheel 16 are connected through the second measuring steel belt 17;
the second grating ruler 18 is arranged on one side of the second measuring steel belt 17;
the second grating scale 18 is further provided with the second grating reader 19, and the second grating reader 19 and the second grating scale 18 cooperate to measure the linear displacement of the second measuring steel belt 17, and convert the linear displacement into the actual rotation angle of the scanning mirror 14.
The beneficial effects of the above technical scheme are: because the scanning reflector shaft is connected with the fourth measuring belt wheel, when the scanning reflector shaft rotates, the fourth measuring belt wheel can synchronously rotate, and the third measuring belt wheel and the fourth measuring belt wheel are connected through the second measuring steel belt, namely the third measuring belt wheel, the fourth measuring belt wheel and the second measuring steel belt jointly form a roller/conveyor belt structure, at the moment, the second measuring steel belt can correspondingly generate linear displacement under the action of the fourth measuring belt wheel and drive the third measuring belt wheel to synchronously rotate, so that the second grating ruler arranged on the second measuring steel belt also generates corresponding linear displacement, the linear displacement of the second measuring steel belt can be directly obtained by calculating the linear displacement of the second grating ruler, and finally the angular displacement of the scanning reflector shaft can be obtained by corresponding calculation, the linear displacement of the second measuring steel belt is measured through the grating ruler, so that the measuring precision and sensitivity of the linear displacement can be improved, and the measuring difficulty of the linear displacement can be reduced.
Preferably, the second grating reader 19 is also in signal connection with the scan mirror position tracking correction and motor power amplifier 23;
the scan mirror position tracking correction and motor power amplifier 23 is also used for correcting the operation of the scan mirror shaft driving motor 13 by an error between the actual rotation angle of the scan mirror 14 and the angular displacement of the angular displacement command, so that the rotation state of the scan mirror 14 is feedback-adjusted.
Continuing to refer to fig. 3, in the scanning mirror position tracking loop, after the second grating reader of the scanning mirror rotation angle measuring unit determines the actual rotation angle of the scanning mirror, the scanning mirror position tracking correction and motor power amplifier may determine the angle error between the actual rotation angle and the angular displacement value of the angular displacement command, and the angle error may be used to drive the scanning mirror shaft driving motor to operate after being corrected and amplified, and by forming such a feedback adjusting loop, the angle error is gradually reduced to a value close to zero, so that the angular displacement of the scanning mirror and the angular displacement in the angular displacement command are kept consistent.
Preferably, the first grating reader 9 or the second grating reader 19 is a contactless optical reader; the first grating reader 9 is configured to project a laser beam to the surface of the first grating ruler 8, determine a linear displacement of the first measuring steel belt 7 according to a reticle scanning counting condition of the laser beam on the surface of the first grating ruler 8, and obtain a rotation angle of the pitch gyro stable shaft 1 according to the linear displacement and a pulley radius of the first measuring pulley 5 or the second measuring pulley 6;
or,
the second grating reader 19 is configured to project a laser beam onto the surface of the second grating ruler 18, determine a linear displacement of the second measuring steel belt 17 according to a reticle scanning count condition of the laser beam on the surface of the second grating ruler 18, and obtain an actual rotation angle of the scanning mirror 14 according to the linear displacement and a pulley radius of the third measuring pulley 15 or the fourth measuring pulley 16.
The beneficial effects of the above technical scheme are: the first grating reader or the second grating reader is set as a non-contact optical reader, because the beam diameter of the laser beam is very small and the minimum grating groove interval on the surface of the grating ruler can reach the magnitude of 10nm, when the non-contact optical reader projects the laser beam to the surface of the corresponding grating ruler and the grating ruler moves along with the corresponding measuring steel belt, the non-contact optical reader correspondingly outputs a pulse when the laser beam sweeps over one groove, the counter counts the total number of the pulses output by the non-contact optical reader to obtain a linear displacement value of the measuring steel belt, and then the linear displacement value is positioned at the radius r of the corresponding measuring belt wheel, so that the rotation angle of the stable shaft of the pitch gyro or the actual rotation angle of the scanning reflector can be obtained, for example, when the radius r of the measuring belt wheel is 2cm, the interval between the grating ruler and the reticle is 20nm, the measuring resolution of the corresponding rotation angle can reach 1 mu rad (about equivalent to 0.2 "), and the angular displacement measuring mode has obvious improvement on the angle measuring resolution and precision compared with a rotary transformer or an optoelectronic code disc with the same size.
Preferably, the first measuring pulley 5 and the second measuring pulley 6 are fixedly provided with a first steel belt pressing plate 10 and a second steel belt pressing plate 11, respectively, at the position areas contacting with the first measuring steel belt 7, so as to prevent the first measuring steel belt 7 from slipping during operation;
or,
the third measuring pulley 15 and the fourth measuring pulley 16 are fixedly provided with a third steel belt pressing plate 20 and a fourth steel belt pressing plate 21, respectively, at positions in contact with the second measuring steel belt 17, thereby preventing the second measuring steel belt 17 from slipping during operation.
Referring to fig. 2, since the measuring steel belt is used to contact with two measuring pulleys to form a roller/conveyor belt structure, when the area where the measuring steel belt contacts with the measuring pulleys slips or is unstable, the normal linear displacement of the measuring steel belt can be affected or the linear displacement of the measuring steel belt can be stopped, and a steel belt pressing plate is fixedly arranged in the area where the measuring steel belt contacts with the measuring pulleys, the slipping or instability of the measuring steel belt in the operation process can be effectively prevented, optionally, the steel belt pressing plate can be fixed in the area where the measuring pulley contacts with the measuring steel belt through screws, and the rotation range of the measuring ruler can be at least 50 degrees, so that the grating ruler can be ensured to always operate between the two measuring pulleys.
Fig. 4 is a schematic diagram of beam deflection of a scanning mirror in the inertial image stabilization control system based on angle measurement according to the present invention. When the angular disturbance of the image stabilizing mechanism base relative to the inertial space in the pitching direction is theta, the gyro stabilizing shaft can rotate relative to the image stabilizing mechanism base by theta to keep the gyro stabilizing shaft stable relative to the inertial space; because the angular displacement between the gyro stabilizing shaft and the scanning reflector is in a transmission relation of 2:1, the scanning reflector shaft can rotate relative to the image stabilizing mechanism base by an angle of theta/2; the scanning reflector has the characteristic of reflecting light twice in the pitch axis direction. The direction of the aiming line of the image stabilizing system in the pitching direction in the inertial space is unchanged, so that the image seen through the scanning reflector cannot be changed in the pitching direction, and the inertial image stabilization is realized.
From the content of the above embodiment, the inertial image stabilization control system based on angle measurement includes a gyro angle measurement module, an angular displacement conversion module and a scanning mirror rotation control module; the gyro angle measuring module comprises a gyro feedback loop control unit and a gyro stable axis angle measuring unit; the gyro feedback loop control unit is used for performing feedback control on the rotation of the stable shaft of the pitching gyro; the gyro stabilizing shaft angle measuring unit is used for measuring the rotation angle of the pitching gyro stabilizing shaft; the angular displacement conversion module is used for generating a corresponding angular displacement instruction according to the rotation angle of the stable shaft of the pitching gyroscope; the scanning reflector rotation control module comprises a scanning reflector driving unit and a scanning reflector rotation angle measuring unit; the scanning reflector driving unit is used for driving the scanning reflector to rotate according to the angular displacement instruction; the scanning reflector rotation angle measuring unit is used for measuring the actual rotation angle of the scanning reflector; the scanning reflector driving unit is also used for carrying out feedback regulation on the rotating state of the scanning reflector according to the actual rotating angle of the scanning reflector; therefore, the inertial image stabilization control system based on angle measurement carries out angle measurement by respectively using grating rulers on a gyro stabilizing shaft and a scanning reflector shaft, simultaneously cancels a mechanical steel belt reducer with the reduction ratio of 2:1, replaces a traditional mechanical steel belt reducer rotating mechanism with a high-precision shafting rotation measuring mechanism to realize inertial image stabilization control, so that no mechanical transmission relation exists between a pitching gyro inertial stabilization loop and a scanning reflector position tracking loop, thereby eliminating the influence of shafting disturbance moment and shafting friction moment, improving the stability control precision of an image stabilization control mechanism and reducing the structural complexity of the mechanism, and the pitching gyro inertial stabilization loop part and the scanning reflector position tracking loop part of the system can be separately designed, thereby effectively reducing the volume and the weight of the mechanism.
It will be apparent to those skilled in the art that various changes and modifications may be made in the present invention without departing from the spirit and scope of the invention. Thus, if such modifications and variations of the present invention fall within the scope of the claims of the present invention and their equivalents, the present invention is also intended to include such modifications and variations.
Claims (6)
1. The inertial image stabilization control system based on angle measurement is characterized by comprising a gyro angle measurement module, an angular displacement conversion module and a scanning reflector rotation control module; wherein,
the gyro angle measuring module comprises a gyro feedback loop control unit and a gyro stable axis angle measuring unit; wherein,
the gyro feedback loop control unit is used for performing feedback control on the rotation of the stable shaft of the pitching gyro;
the gyro stabilizing shaft angle measuring unit is used for measuring the rotation angle of the pitching gyro stabilizing shaft;
the angular displacement conversion module is used for generating a corresponding angular displacement instruction according to the rotation angle of the stable shaft of the pitching gyroscope;
the scanning reflector rotation control module comprises a scanning reflector driving unit and a scanning reflector rotation angle measuring unit; wherein,
the scanning reflector driving unit is used for driving the scanning reflector to rotate according to the angular displacement instruction;
the scanning reflector rotation angle measuring unit is used for measuring the actual rotation angle of the scanning reflector;
the scanning reflector driving unit is also used for carrying out feedback regulation on the rotation state of the scanning reflector according to the actual rotation angle of the scanning reflector;
the gyro feedback loop control unit comprises a pitching gyro, a gyro stabilizing shaft driving motor and a gyro stabilizing loop correction and motor power amplifier; wherein the top stabilizing shaft is provided through the pitching top, and one end of the top stabilizing shaft is provided with the top stabilizing shaft driving motor;
the gyro stabilizing shaft driving motor is used for driving the gyro stabilizing shaft to rotate, so that the gyro stabilizing shaft drives the pitching gyro to rotate;
the gyro stabilizing loop correcting and motor power amplifier is used for signal connection of the pitching gyro and the gyro stabilizing shaft driving motor, so that the gyro stabilizing loop correcting and motor power amplifier, the pitching gyro and the gyro stabilizing shaft driving motor form a pitching inertial stabilizing loop;
wherein the gyro stabilizing shaft angle measuring unit is disposed on the other end of the gyro stabilizing shaft; the gyro stable axis angle measuring unit comprises a first measuring belt wheel, a second measuring belt wheel, a first measuring steel belt, a first grating ruler and a first grating reader; wherein,
the first measuring belt wheel and the second measuring belt wheel are oppositely arranged at intervals, and the second measuring belt wheel is connected with the other end of the gyroscope stabilizing shaft;
the first measuring belt wheel is connected with the second measuring belt wheel through the first measuring steel belt;
the first grating ruler is arranged on one side of the first measuring steel belt;
the first grating ruler is also provided with the first grating reader, the first grating reader and the first grating ruler are matched to measure the linear displacement of the first measuring steel belt, and the linear displacement is converted into the rotation angle of the pitching gyroscope stable shaft;
the scanning mirror driving unit comprises a scanning mirror, a scanning mirror shaft driving motor and a scanning mirror position tracking correction and motor power amplifier; the scanning mirror shaft penetrates through the scanning mirror, and one end of the scanning mirror shaft is provided with the scanning mirror shaft driving motor;
the scanning reflector position tracking correction and motor power amplifier is in signal connection with the angular displacement conversion module and is used for indicating the scanning reflector shaft to drive the motor to operate according to the angular displacement instruction;
the scanning mirror shaft driving motor is used for driving the scanning mirror shaft to rotate, so that the scanning mirror shaft drives the scanning mirror to rotate by corresponding angular displacement;
wherein the scanning mirror rotation angle measuring unit is arranged at the other end of the scanning mirror shaft;
the scanning reflector rotation angle measuring unit comprises a third measuring belt wheel, a fourth measuring belt wheel, a second measuring steel belt, a second grating ruler and a second grating reader; wherein,
the third measuring belt wheel and the fourth measuring belt wheel are oppositely arranged at intervals, and the fourth measuring belt wheel is connected with the other end of the scanning reflector shaft;
the third measuring belt wheel and the fourth measuring belt wheel are connected through the second measuring steel belt;
the second grating ruler is arranged on one side of the second measuring steel belt;
the second grating ruler is also provided with a second grating reader, and the second grating reader and the second grating ruler are matched to measure the linear displacement of the second measuring steel belt and convert the linear displacement into the actual rotation angle of the scanning reflector.
2. The inertial image stabilization control system based on angular measurement according to claim 1, characterized in that: the gyro stabilizing loop correction and motor power amplifier is used for acquiring angular motion information of the pitching gyro, amplifying and correcting the angular motion information, generating a corresponding motor driving correction signal and transmitting the corresponding motor driving correction signal to the gyro stabilizing shaft driving motor;
the gyro stabilizing driving motor is used for driving the gyro stabilizing shaft to rotate according to the motor driving correction signal.
3. The inertial image stabilization control system based on angular measurement according to claim 1, characterized in that: the angular displacement conversion module comprises an angular displacement converter, and the angular displacement converter is used for converting the rotating angle of the stable shaft of the pitching gyroscope into a target rotating angle of the scanning reflector according to a preset proportionality coefficient, namely the target rotating angle of the scanning reflector is equal to the rotating angle of the stable shaft of the pitching gyroscope and is preset with the proportionality coefficient, so that the angular displacement instruction is generated.
4. The inertial image stabilization control system based on angular measurement according to claim 1, characterized in that: the second grating reader is also in signal connection with the scanning reflector position tracking correction and motor power amplifier;
the scanning reflector position tracking correction and motor power amplifier is also used for correcting the work of the scanning reflector shaft driving motor by the error between the actual rotating angle of the scanning reflector and the angular displacement of the angular displacement instruction, so that the rotating state of the scanning reflector is subjected to feedback adjustment.
5. The inertial image stabilization control system based on angular measurement according to claim 1, characterized in that: the first grating reader or the second grating reader is a non-contact optical reader; the first grating reader is used for projecting a laser beam to the surface of the first grating ruler, determining the linear displacement of the first measuring steel belt according to the reticle scanning counting condition of the laser beam on the surface of the first grating ruler, and obtaining the rotation angle of the stable shaft of the pitching gyroscope according to the linear displacement and the radius of the first measuring belt wheel or the second measuring belt wheel; or,
the second grating reader is used for projecting laser beams to the surface of the second grating ruler, determining the linear displacement of the second measuring steel belt according to the reticle scanning counting condition of the laser beams on the surface of the second grating ruler, and obtaining the actual rotation angle of the scanning reflector according to the linear displacement and the radius of the third measuring belt wheel or the fourth measuring belt wheel.
6. The inertial image stabilization control system based on angular measurement according to claim 1, characterized in that: a first steel belt pressing plate and a second steel belt pressing plate are respectively and fixedly arranged on the first measuring belt wheel and the second measuring belt wheel in the position areas in contact with the first measuring steel belt, so that the first measuring steel belt is prevented from slipping in the running process;
or,
and a third steel belt pressing plate and a fourth steel belt pressing plate are respectively and fixedly arranged in the position areas of the third measuring belt wheel and the fourth measuring belt wheel, which are in contact with the second measuring steel belt, so that the second measuring steel belt is prevented from slipping in the running process.
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