CN116447469A - Miniaturized large-visual-angle single-frame triaxial stable servo system - Google Patents

Miniaturized large-visual-angle single-frame triaxial stable servo system Download PDF

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Publication number
CN116447469A
CN116447469A CN202210012771.7A CN202210012771A CN116447469A CN 116447469 A CN116447469 A CN 116447469A CN 202210012771 A CN202210012771 A CN 202210012771A CN 116447469 A CN116447469 A CN 116447469A
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China
Prior art keywords
motor
load
mounting
azimuth
pitching
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CN202210012771.7A
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Chinese (zh)
Inventor
马一通
马俊
李云嵩
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Beijing Machinery Equipment Research Institute
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Beijing Machinery Equipment Research Institute
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Priority to CN202210012771.7A priority Critical patent/CN116447469A/en
Publication of CN116447469A publication Critical patent/CN116447469A/en
Pending legal-status Critical Current

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    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16M—FRAMES, CASINGS OR BEDS OF ENGINES, MACHINES OR APPARATUS, NOT SPECIFIC TO ENGINES, MACHINES OR APPARATUS PROVIDED FOR ELSEWHERE; STANDS; SUPPORTS
    • F16M11/00—Stands or trestles as supports for apparatus or articles placed thereon ; Stands for scientific apparatus such as gravitational force meters
    • F16M11/02—Heads
    • F16M11/04—Means for attachment of apparatus; Means allowing adjustment of the apparatus relatively to the stand
    • F16M11/06—Means for attachment of apparatus; Means allowing adjustment of the apparatus relatively to the stand allowing pivoting
    • F16M11/08—Means for attachment of apparatus; Means allowing adjustment of the apparatus relatively to the stand allowing pivoting around a vertical axis, e.g. panoramic heads
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16M—FRAMES, CASINGS OR BEDS OF ENGINES, MACHINES OR APPARATUS, NOT SPECIFIC TO ENGINES, MACHINES OR APPARATUS PROVIDED FOR ELSEWHERE; STANDS; SUPPORTS
    • F16M11/00—Stands or trestles as supports for apparatus or articles placed thereon ; Stands for scientific apparatus such as gravitational force meters
    • F16M11/02—Heads
    • F16M11/04—Means for attachment of apparatus; Means allowing adjustment of the apparatus relatively to the stand
    • F16M11/06—Means for attachment of apparatus; Means allowing adjustment of the apparatus relatively to the stand allowing pivoting
    • F16M11/10—Means for attachment of apparatus; Means allowing adjustment of the apparatus relatively to the stand allowing pivoting around a horizontal axis
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16M—FRAMES, CASINGS OR BEDS OF ENGINES, MACHINES OR APPARATUS, NOT SPECIFIC TO ENGINES, MACHINES OR APPARATUS PROVIDED FOR ELSEWHERE; STANDS; SUPPORTS
    • F16M11/00—Stands or trestles as supports for apparatus or articles placed thereon ; Stands for scientific apparatus such as gravitational force meters
    • F16M11/02—Heads
    • F16M11/18—Heads with mechanism for moving the apparatus relatively to the stand
    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
    • H02P21/00—Arrangements or methods for the control of electric machines by vector control, e.g. by control of field orientation
    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
    • H02P5/00—Arrangements specially adapted for regulating or controlling the speed or torque of two or more electric motors

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  • Engineering & Computer Science (AREA)
  • General Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Power Engineering (AREA)
  • Variable-Direction Aerials And Aerial Arrays (AREA)

Abstract

The invention relates to a miniaturized large-view angle single-frame triaxial stable servo system, which comprises a triaxial actuating mechanism, a controller and a load; the triaxial actuator comprises an outer frame, an azimuth motor, a roll motor, a pitch motor and an inner frame connector; the azimuth motor performs azimuth rotation, and the roll motor performs roll rotation; the pitching motor and the rolling motor are connected through the inner frame connector, the rotating shaft of the pitching motor is perpendicular to the rotating shaft of the rolling motor, and pitching rotation is carried out on the rotating shaft by the pitching motor; the load is arranged at two ends of the rotating shaft of the pitching motor and comprises an infrared/visible light load and a laser radar load for executing tracking and scanning tasks of the target; the controller is used for carrying out stable servo control and load tracking and scanning task control on the triaxial actuating mechanism. The invention greatly increases the search detection range of the stabilized load and obviously improves the performance of the stabilized servo system.

Description

Miniaturized large-visual-angle single-frame triaxial stable servo system
Technical Field
The invention belongs to the technical field of stable servo, and particularly relates to a miniaturized large-visual-angle single-frame type triaxial stable servo system.
Background
The stable servo system is a device integrating optical, mechanical and electrical technologies, realizes a stable function by utilizing an inertial sensor, a controller, an executing mechanism and the like, isolates disturbance caused by a fixedly connected carrier, keeps a payload stable and realizes a target tracking task. The stable servo technology is widely applied to systems such as detection search, tracking alignment, guide locking and the like of targets. The stable servo system is a core component for realizing the target guiding detection system, the stable optical axis, the follow-up and the tracking. The performance of the servo control system restricts the reliable operation of the load system, accurately identifies and locks the target, the disturbance isolation capability depends on the control precision of the servo system, and the maneuvering performance depends on the rapidity of the servo system.
The traditional stable servo system has a complex structure and various signal types, and adopts three-frame or two-frame configuration, but the three-frame stable platform has large volume and weight and high cost. At present, a frame type servo transmission mechanism is widely studied and applied, and transmission is realized by adopting a frame structure, so that the frame type servo transmission mechanism has the advantages of simple structure, easiness in assembly, direct driving and the like, but also has the defect that a large-angle range search cannot be realized in a limited space.
Disclosure of Invention
In view of the above analysis, the invention aims to disclose a miniaturized large-view angle single-frame triaxial stable servo system, and solve the problem that the existing stable servo system cannot realize wide-angle range search in a limited space.
The invention discloses a miniaturized large-view angle single-frame triaxial stable servo system, which comprises a triaxial actuating mechanism, a controller and a load;
the triaxial actuating mechanism is a single-frame mechanical rotating structure directly driven by a torque motor and comprises an outer frame, an azimuth motor, a roll motor, a pitch motor and an inner frame connector; performing azimuth rotation by an azimuth motor mounted on an azimuth axis of the outer frame; performing a roll rotation by a roll motor mounted on the outer frame cross roller; connecting a pitching motor and a rolling motor together through an inner frame connector, wherein a rotating shaft of the pitching motor after connection is perpendicular to a rotating shaft of the rolling motor, and the pitching motor executes pitching rotation on the rotating shaft;
the load is arranged at two ends of the rotating shaft of the pitching motor and comprises an infrared/visible light load and a laser radar load; the device is used for executing the tracking and scanning tasks of the target under the drive of the triaxial executing mechanism;
the controller is used for carrying out stable servo control on the triaxial motion of the triaxial actuating mechanism and controlling load tracking and scanning tasks.
Further, the outer frame comprises a middle handle and two round bottom supports, wherein the end part of the middle handle is provided with an arc-surface end, and the arc-surface end is fixedly connected with the round bottom supports; the two round bottom supports are mutually perpendicular and are provided with mounting holes; the first bottom support is perpendicular to the azimuth axis and is fixedly connected with the azimuth motor through the mounting hole; the second collet is perpendicular with the roll axle, through mounting hole fixed connection roll motor.
Further, the azimuth motor is an outer rotor flat permanent magnet synchronous motor; wherein, the rotary surface of the outer rotor shell vertical to the rotary shaft of the azimuth motor is provided with a mounting hole; fixing the stable servo system to a corresponding position on a carrier through the mounting hole; the shaft end mounting shell perpendicular to the rotation shaft of the azimuth motor is provided with a mounting hole; the mounting holes correspond to the mounting holes of the first bottom support and are used for fixedly connecting the azimuth motor with the outer frame.
Further, the transverse rolling motor is an outer rotor flat permanent magnet synchronous motor; wherein, the shaft end mounting shell vertical to the rotation shaft of the transverse rolling motor is provided with a mounting hole; the transverse rolling motor is fixedly connected with the outer frame through the corresponding connection of the mounting holes and the mounting holes of the second bottom support; and a mounting hole is formed in the rotating surface of the outer rotor shell perpendicular to the rotating shaft of the roll motor and is used for being connected with the inner frame connector.
Further, the pitching motor is a sector transverse flux permanent magnet synchronous motor, and the outermost part of the pitching motor is a stator annular bracket; the body of the stator annular bracket is a circular ring perpendicular to the rotation axis of the pitching motor, and an outer annular bulge is arranged on the outer side of the circular ring; the outer annular bulge is provided with a mounting hole for connecting with the inner frame connector; the outer rotor of the roll motor is connected through the inner frame connector, so that the rotation axis of the roll motor is perpendicular to the rotation axis of the pitching motor; and may be implemented alone with rotational movement or coupled rotation.
Further, the inner frame connector comprises a first connecting piece and a second connecting piece fixedly connected with the first connecting piece; the plane of the first connecting piece is vertical to the plane of the second connecting piece;
the first connecting piece is of a disc structure, is provided with a mounting hole, corresponds to the mounting hole arranged on the outer rotor rotating surface of the roll motor and is used for fixing the roll motor;
the connecting surface of the second connecting piece is matched with the shape of the stator annular support, and the second connecting piece is provided with a mounting hole corresponding to the mounting hole of the stator annular support and used for fixing the pitching motor.
Further, the pitch motor includes: the stator ring-shaped bracket, the fan-shaped transverse magnetic flux permanent magnet, the rotor iron core, the rotor winding wire ring, the rotor winding coil, the motor control circuit board, the first bearing, the second bearing, the first load mounting disc, the second load mounting disc and the rotor communication shaft;
the sector transverse flux permanent magnet is attached to one side of the circular ring of the stator annular bracket; the second load mounting disc is positioned at the other side of the circular ring of the stator annular bracket; the circular ring of the stator annular bracket is also provided with an inner annular bulge;
the body of the first load mounting disc is a circular ring perpendicular to the rotation axis of the pitching motor and is connected with the inner annular bulge of the stator annular bracket through a first bearing;
a rotor iron core, a rotor winding wire ring and a rotor winding coil are sequentially arranged between the fan-shaped transverse magnetic flux permanent magnet and the first load mounting disc; the rotor winding coil is attached to one side of the first load mounting plate, and the motor control circuit board is mounted on the other side of the first load mounting plate;
the body of the second load mounting disc is a circular ring perpendicular to the rotation axis of the pitching motor and is connected with the inner annular bulge of the stator annular bracket through a second bearing;
the rotor communication shaft passes through the centers of the first bearing, the stator annular bracket and the second bearing; one end of the rotor communication shaft is fixedly connected with the first load mounting disc, and the other end of the rotor communication shaft is fixedly connected with the second load mounting disc.
Further, the first load-mounting plate is used for bearing infrared/visible light load; an infrared/visible light load is fixed on the first load mounting plate and placed in a closed space formed by the first load mounting plate, the dust cover and the mounting cover.
Further, the second load mounting plate is sequentially provided with a fixed heating and refrigerating assembly, a temperature adjusting plate, a controller bearing circuit board and a laser radar load; and placing the laser radar load in a closed space formed by the controller bearing circuit board, the dust cover and the mounting cover.
Further, the optical fiber hybrid rotary slip ring is also included;
the optical fiber hybrid rotating slip ring is arranged in an inner annular bulge of the pitching motor stator annular bracket, the first bearing and the second bearing are positioned on two sides of the optical fiber hybrid rotating slip ring, and the rotor communication shaft penetrates through the axis of the optical fiber hybrid rotating slip ring and is not in contact with the optical fiber slip ring.
The invention can realize at least one of the following beneficial effects:
the miniaturized large-visual angle single-frame type triaxial stable servo system provided by the invention adopts a mechanical rotating structure in a single-frame form directly driven by a torque motor, and the axial direction is defined as azimuth, roll and pitch from inside to outside; the azimuth motor is arranged on an azimuth rotating shaft of the outer frame, the roll motor is arranged on a roll rotating shaft of the outer frame, and rotation of the pitch rotating shaft is realized by mechanisms such as a supporting frame of the pitch motor, a bearing of the pitch motor and the like. The axial redundant space of the load is fully utilized, and the three-axis rotation is realized relative to the traditional two frames, so that the inner dimension of the hidden inner ring frame is greatly reduced, and a larger rotation space is provided for the stabilized load; the method effectively realizes azimuth movement, roll movement, pitching movement and coupling movement of the load assembly, greatly increases the search detection range of the stabilized load, and remarkably improves the performance of the stabilized servo system.
And the physical layout of the electric and mechanical actuating mechanisms such as a motor, an angle sensor, an inertial measurement unit, a temperature control space and the like is considered, so that the space is narrow and scattered. In the traditional frame type combination mode, the degree of electromechanical combination is insufficient, so that the space rate is not high. In order to meet the requirement of light weight and compact type, the design of an electronic system is carried out in a limited space by rationalizing the electric design and utilizing the principle that strong and weak electricity is separated. And the connection form of each part is optimized, so that the assembly manufacturability is effectively improved, and the assembly cost is reduced.
Drawings
The drawings are only for purposes of illustrating particular embodiments and are not to be construed as limiting the invention, like reference numerals being used to refer to like parts throughout the several views.
FIG. 1 is a block diagram of a stable servo system in an embodiment of the present invention;
FIG. 2 is an exploded view of a stable servo in an embodiment of the present invention;
FIG. 3 is an assembly diagram of a stable servo system according to an embodiment of the present invention;
FIG. 4 is a schematic block diagram of stability control in an embodiment of the present invention;
FIG. 5 is a schematic diagram of integrated controller hardware in an embodiment of the invention;
FIG. 6 is a schematic diagram of the operation control process of the stable servo system in an embodiment of the present invention;
FIG. 7 is a schematic diagram of the structure and wiring of a hybrid fiber rotating slip ring in an embodiment of the present invention;
fig. 8 is an electrical schematic diagram of a system for data transmission using a hybrid fiber optic rotating slip ring in accordance with an embodiment of the present invention.
Detailed Description
Preferred embodiments of the present invention are described in detail below with reference to the attached drawing figures, which form a part of the present application and, together with the embodiments of the present invention, serve to explain the principles of the invention.
One embodiment of the invention discloses a miniaturized large-view single-frame triaxial stable servo system, which is shown in fig. 1 and comprises a triaxial actuator, a controller and a load;
the triaxial actuating mechanism is a single-frame mechanical rotating structure directly driven by a torque motor and comprises an outer frame, an azimuth motor, a roll motor, a pitch motor and an inner frame connector; performing azimuth rotation by an azimuth motor mounted on an azimuth axis of the outer frame; performing a roll rotation by a roll motor mounted on the outer frame cross roller; connecting a pitching motor and a rolling motor together through an inner frame connector, wherein a rotating shaft of the pitching motor after connection is perpendicular to a rotating shaft of the rolling motor, and the pitching motor executes pitching rotation on the rotating shaft;
the load is arranged at two ends of the pitching motor rotating shaft and comprises an infrared/visible light load and a laser radar load; the device is used for executing the tracking and scanning tasks of the target under the drive of the triaxial executing mechanism;
the controller is used for carrying out stable servo control on the triaxial motion of the triaxial actuating mechanism and controlling the tracking and scanning tasks of the load.
Fig. 2 is an exploded view of the stabilized servo, and fig. 3 is an assembled view of the stabilized servo.
Specifically, as shown in fig. 2, the triaxial actuator is axially positioned from outside to inside and is azimuth, roll and pitch;
the outer frame is of a symmetrical structure and comprises a middle handle and two round bottom supports, wherein the end part of the middle handle is provided with an arc-surface end which is fixedly connected with the round bottom supports; the two round bottom supports are mutually perpendicular and are provided with mounting holes; the first bottom support is perpendicular to the azimuth axis and is fixedly connected with the azimuth motor through the mounting hole; the second collet is perpendicular with the roll axle, through mounting hole fixed connection roll motor.
The size of the two round bottom supports is matched with the sizes of the azimuth motor and the mounting end of the roll motor, and the size of the middle handle ensures that other parts of the stable servo system cannot be blocked or collided when the roll motor rotates in a roll mode.
The azimuth motor is an outer rotor flat permanent magnet synchronous motor; the motor comprises an outer rotor shell, a rotor inner permanent magnet, a stator coil winding, a stator, a circuit board mounting plate, a control circuit board and an axle end mounting shell;
wherein, the rotary surface of the outer rotor shell vertical to the rotary shaft of the azimuth motor is provided with a mounting hole; fixing the stable servo system to a corresponding position on a carrier through the mounting hole; the shaft end mounting shell which is also perpendicular to the rotation shaft of the azimuth motor is provided with a mounting hole; the mounting holes correspond to the mounting holes of the first bottom support and are used for fixedly connecting the azimuth motor with the outer frame.
The transverse rolling motor is an outer rotor flat permanent magnet synchronous motor; the motor is the same as the azimuth motor, and comprises an outer rotor shell, a rotor inner permanent magnet, a stator coil winding, a stator, a circuit board mounting disc, a control circuit board and an axle end mounting shell;
wherein, the shaft end mounting shell vertical to the rotation shaft of the transverse rolling motor is provided with a mounting hole; the transverse rolling motor is fixedly connected with the outer frame through the corresponding connection of the mounting holes and the mounting holes of the second bottom support; and the rotating surface of the outer rotor shell which is also perpendicular to the rotating shaft of the roll motor is provided with a mounting hole for connecting with the inner frame connector.
The outer rotor flat permanent magnet synchronous motor adopted by the azimuth motor and the roll motor has the advantages of high efficiency, low energy consumption, light weight and small motor volume, and is very suitable for being applied to miniaturized scenes.
The external rotor permanent magnet synchronous motor has the advantages of high torque output and smaller torque pulsation, and the miniaturized embedded electronic coarse and fine magnetoelectric encoders are used for reading angular positions with different precision by means of AS5048A and absolute magnetoelectric encoders, and are respectively used for real-time reading of electrical angles and high-precision frame corner information reflecting attitude angles.
Because the external rotor flat permanent magnet synchronous motor adopted by the azimuth motor and the roll motor is of a hollow structure, in the embodiment, in order to realize that the rotation of the azimuth motor and the roll motor is not influenced by related cables, cable leads such as a power supply motor control lead, a signal lead, a power supply lead and the like of the azimuth motor and the roll motor pass through the hollow structure of the external rotor flat permanent magnet synchronous motor.
Thus, the corresponding outer rotor and shaft end mounting cases of the azimuth motor and the roll motor in the present embodiment, and the positions of the outer frame first shoe and the second shoe corresponding to the rotation shaft are left with through holes for the power supply motor control leads, the signal leads, and the power supply leads to pass therethrough.
The pitching motor is a sector transverse flux permanent magnet synchronous motor, and the outermost part of the pitching motor is a stator annular bracket; the body of the stator annular bracket is a circular ring perpendicular to the rotation axis of the pitching motor, and an outer annular bulge is arranged on the outer side of the circular ring; the outer annular bulge is provided with a mounting hole for connecting with the inner frame connector; the outer rotor of the roll motor is connected through the inner frame connector, so that the rotation axis of the roll motor is perpendicular to the rotation axis of the pitching motor; and may be implemented alone with rotational movement or coupled rotation.
Preferably, the inner frame connector comprises a first connecting member and a second connecting member fixedly connected with the first connecting member; the plane of the first connecting piece is vertical to the plane of the second connecting piece;
the first connecting piece is of a disc structure, is provided with a mounting hole, corresponds to the mounting hole arranged on the outer rotor rotating surface of the roll motor and is used for fixing the roll motor;
the connecting surface of the second connecting piece is matched with the shape of the stator annular support, and the second connecting piece is provided with a mounting hole corresponding to the mounting hole of the stator annular support and used for fixing the pitching motor.
Specifically, the pitch motor includes: the stator ring-shaped bracket, the fan-shaped transverse magnetic flux permanent magnet, the rotor iron core, the rotor winding wire ring, the rotor winding coil, the motor control circuit board, the first bearing, the second bearing, the first load mounting disc, the second load mounting disc and the rotor communication shaft;
the stator annular support is positioned at the outermost part of the pitching motor, the body is a circular ring perpendicular to the rotation axis of the pitching motor, an inner annular bulge is arranged at the inner side of the circular ring, and an outer annular bulge is arranged at the outer side of the circular ring;
the sector transverse flux permanent magnet is attached to one side of the circular ring of the stator annular bracket; the second load mounting disc is positioned at the other side of the circular ring of the stator annular bracket;
the body of the first load mounting disc is a circular ring perpendicular to the rotation axis of the pitching motor, the body is connected with the inner annular bulge of the stator annular bracket through a first bearing, the outer ring of the first bearing is fixedly connected with the inner edge of the circular ring of the first load mounting disc, and the inner ring is fixedly connected with the inner annular bulge;
a rotor iron core, a rotor winding wire ring and a rotor winding coil are sequentially arranged between the fan-shaped transverse magnetic flux permanent magnet and the first load mounting disc; the rotor winding coil is attached to one side of the first load mounting plate, and the motor control circuit board is mounted on the other side of the first load mounting plate; the first load mounting plate rotates along with the rotation of the pitching motor;
the body of the second load mounting plate is a circular ring perpendicular to the rotation axis of the pitching motor, the second load mounting plate is connected with the inner annular bulge of the stator annular bracket through a second bearing, the outer ring of the second bearing is fixedly connected with the inner edge of the circular ring of the second load mounting plate, and the inner ring is fixedly connected with the inner annular bulge;
the rotor communication shaft is positioned at the rotation axis of the pitching motor and penetrates through the centers of the first bearing, the stator annular bracket and the second bearing; one end of the rotor communication shaft is fixedly connected with the first load mounting disc, and the other end of the rotor communication shaft is fixedly connected with the second load mounting disc; when the pitching motor rotates, the first load mounting plate and the second load mounting plate synchronously rotate.
Specifically, the first load mounting plate is used for bearing infrared/visible light load; an infrared/visible light load is fixed on the first load mounting plate and placed in a closed space formed by the first load mounting plate, the dust cover and the mounting cover.
Specifically, the second load mounting plate sequentially fixes the controller bearing circuit board and the laser radar load;
the second load mounting plate is sequentially and fixedly provided with a heating and refrigerating assembly, a temperature adjusting plate, a controller bearing circuit board and a laser radar load, and the laser radar load is placed in a closed space formed by the controller bearing circuit board, the dust cover and the mounting cover.
The controller is positioned on the controller bearing circuit board and comprises an inertial measurement unit, a stable controller and a comprehensive controller;
the inertia measurement unit is used for measuring inertia information of the stable servo system;
the stable controller is used for carrying out stable servo control on the triaxial motion of the triaxial actuating mechanism;
and the comprehensive controller is used for switching states according to the target scanning task and the target tracking task instructions, controlling the stable controller to perform scanning and tracking stable control, and receiving visible light/infrared image information and radar information output by the load.
The temperature regulating plate is used for controlling the temperature of the heating and refrigerating assembly; high-precision output of the IMU is ensured, so that the temperature environment where the inertial measurement unit is positioned is stable.
The heating sheet is made of polyimide, and is adhered to the heated body; the refrigerating device adopts a double-layer semiconductor refrigerating sheet with the Bohr effect and is adhered to the heat conductor; the temperature sensor adopts a platinum resistor with positive temperature coefficient to be attached to a position corresponding to the inertial measurement unit in a quadrilateral manner, and collects the temperature of the mounting position of the inertial measurement unit.
Specifically, the inertial measurement unit IMU adopts high-precision ADIS16480, and the device is a MEMS device with a gyroscope GYRO and an accelerometer ACC integrated.
The stability controller is used for executing a stability servo algorithm; the servo control system comprises a PS unit and a PL unit, wherein the PS unit executes a stable servo algorithm; the PL unit performs temperature acquisition and control, angle acquisition of three axes of rotation, and acquisition of an axis attitude sensor.
Preferably, the stable controller adopts a processor XC7Z045, a control mode of the triaxial motor matched with the stable controller uniformly adopts a control unit taking an STM32H750 processor as a core, and the PMSM flat permanent magnet synchronous motor of the azimuth motor and the roll motor and the fan-shaped transverse flux permanent magnet synchronous motor of the pitching motor are driven to correspondingly rotate by combining a motor magnetic pole electric angle sensor and a power driving device. The shaft end sensitive unit including the motor magnetic pole electric angle sensor is used for measuring the rotation angle of the motor and monitoring the voltage, the current and the key electric signals.
A specific stability control diagram is shown in fig. 4; in fig. 4, a processor XC7Z045 is in communication connection with a pitch axis electrical unit, a roll axis electrical unit and an azimuth axis electrical unit through a communication interface, and performs stable control on a pitch motor, a roll motor and an azimuth motor. The specific stable control method adopts a FOC vector control algorithm.
Specifically, the integrated controller is used for executing a self-stabilization servo system calibration algorithm and a target load tracking and scanning task.
In this embodiment, a comprehensive controller based on TMS320C6657D is employed; as shown in fig. 5, TMS320C6657D uses more on-chip memory and ultra-high bandwidth integrated peripherals in combination with DDR iii. The SRIO bus used for communication between processors is realized, the SRIO port on the DSP is an interconnection scheme which is provided with high number rate and few pins and is oriented to the embedded field, the data transmission of the Rapid I/O is realized by hardware completely, the participation of the processors is not needed, and a high-efficiency board-level isomorphic interconnection multiprocessor system can be realized.
TMS320C6657D implements an SRIO bus for inter-processor communication and data transfer of Rapid I/O is entirely hardware-implemented. The SRIO port of the DSP forms a full duplex port (port) by a pair of receiving and transmitting differential signal pairs, and can work at baud rates of 1.25Gbps, 2.5Gbps and 3.125 Gbps.
As shown in fig. 6, when the stable servo system works, the integrated controller performs state switching according to the target scanning task and the target tracking task instructions, so as to control the stable controller to perform scanning stable control or tracking stable control, in the stable control, the stable controller collects instruction angle information state monitoring information and inertial navigation information, generates a rotating instruction based on the FOC vector algorithm to the PMSM motor drives of the three motors, respectively drives the pitch, roll and azimuth motors to rotate so as to realize control load to perform target searching or target tracking, and the load obtains visible light/infrared image information and radar information and outputs the visible light/infrared image information and radar information to the integrated controller for corresponding image processing or radar data processing.
Specifically, in order to realize the transmission of large-capacity multipath data such as image data, radar data, stable control data and the like, the damage to a transmission medium caused by the rotation of a movable joint is avoided. The embodiment also comprises an optical fiber hybrid rotating slip ring SRIO;
the optical fiber hybrid rotating slip ring is arranged in an inner annular bulge of the pitching motor stator annular bracket, the first bearing and the second bearing are positioned on two sides of the optical fiber hybrid rotating slip ring, and the rotor communication shaft penetrates through the axis of the optical fiber hybrid rotating slip ring and is not in contact with the optical fiber slip ring.
More specifically, in order to realize connection of control information or power supply signals of the optical fiber hybrid rotary slip ring and the roll motor, coaxial through holes are formed in the inner annular bulge, the outer annular bulge, the inner frame connector and the outer rotor of the pitch motor stator annular bracket, so that a lead wire of the optical fiber hybrid rotary slip ring can be connected to a circuit board of the roll motor through the coaxial through holes.
The optical fiber hybrid rotary slip ring comprises an optical fiber channel and a physical wire channel, and is characterized by solving the problem that the transmission speed of a mechanical slip ring is limited and providing a channel for power and monitoring electric signals; the optical fiber part in the optical fiber hybrid rotating slip ring is used for transmitting data information with different wavelengths of 800 nm-1440 nm and is used for stably transmitting high-communication-rate information of infrared/visible light and laser radar, the physical wire channel is a wire slip ring with the diameter of 0.5 square millimeter and is used for transmitting system power supply and monitoring information, and thus external power supply and internal high-rate information can be smoothly, mutually noninterfered and infinitely rotated for 360 degrees to realize internal and external interaction.
Specifically, the optical fiber hybrid rotating slip ring structure comprises 8 physical wire brush channels and 2 channel optical fiber channels, 4 wires in the wire brush channels are used for supplying power to an external 28V power supply, and the internal power supply comprises a direct power supply of three motors and a secondary power supply of each processor; the other 4 wires are serial RS422 communication signals for transmitting various monitoring information in the stable servo; the 2 optical fiber channel is high-speed information and video code stream, and specifically comprises high-speed communication information of loads such as infrared/visible light, laser radar and the like.
The structure and wiring mode of the optical fiber hybrid rotary slip ring are shown in fig. 7.
In fig. 7, on the pitching axis, the infrared/visible light load and the laser radar load at the shaft end, the effective load information and the stable servo information in the controller bearing circuit board, the comprehensive control information and the power monitoring information are output through the optical fiber hybrid rotating slip ring, and are interacted through the user interface after passing through the transverse rolling shaft and the azimuth axis.
The shaft end executing unit of the transverse roller is a transverse roller motor, and the shaft end sensing unit is a motor magnetic pole electric angle sensor; the transverse rolling motor rotates the transverse rolling shaft; the motor magnetic pole electric angle sensor monitors the rotation angle of the transverse rolling shaft and feeds back the rotation angle to the stable controller for closed-loop control.
The shaft end executing unit of the azimuth shaft is an azimuth motor, and the shaft end sensing unit is a motor magnetic pole electric angle sensor; the azimuth motor performs rotation of an azimuth shaft; the motor magnetic pole electric angle sensor monitors the rotation angle of the azimuth axis and feeds back the rotation angle to the stable controller for closed-loop control.
The user interface is an external interface of the stable servo system, an external system power supply is acquired by the user interface servo stable system to supply power to the stable servo system, and load information obtained by visible light/infrared load and laser radar load is output through a load information optical fiber interface for a user to use; and transmitting the monitoring information of the stable servo system to the monitoring system.
The electrical principle of the system for data transmission based on the optical fiber hybrid rotating slip ring is shown in fig. 8, the pitching shaft end where the infrared/visible light load is located is the positive end, and the pitching shaft end where the laser radar load is located is the negative end. The optical fiber hybrid rotary slip ring can improve mechanical performance, simplify system operation and avoid damage to the optical fiber caused by rotation of the shaft end of the stable system by transmitting large-capacity data and signals from a fixed position to a rotary position.
In summary, in the embodiment of the invention, the provided miniaturized large-view single-frame triaxial stable servo system adopts a mechanical rotation structure in a single-frame form directly driven by a torque motor, and the axial direction is defined as azimuth, roll and pitch from inside to outside; the azimuth motor is arranged on an azimuth rotating shaft of the outer frame, the roll motor is arranged on a roll rotating shaft of the outer frame, and rotation of the pitch rotating shaft is realized by mechanisms such as a supporting frame of the pitch motor, a bearing of the pitch motor and the like. The axial redundant space of the load is fully utilized, and the three-axis rotation is realized relative to the traditional two frames, so that the inner dimension of the hidden inner ring frame is greatly reduced, and a larger rotation space is provided for the stabilized load; the method effectively realizes azimuth movement, roll movement, pitching movement and coupling movement of the load assembly, greatly increases the search detection range of the stabilized load, and remarkably improves the performance of the stabilized servo system.
The present invention is not limited to the above-mentioned embodiments, and any changes or substitutions that can be easily understood by those skilled in the art within the technical scope of the present invention are intended to be included in the scope of the present invention.

Claims (10)

1. The miniaturized large-visual angle single-frame type triaxial stable servo system is characterized by comprising a triaxial actuating mechanism, a controller and a load;
the triaxial actuating mechanism is a single-frame mechanical rotating structure directly driven by a torque motor and comprises an outer frame, an azimuth motor, a roll motor, a pitch motor and an inner frame connector; performing azimuth rotation by an azimuth motor mounted on an azimuth axis of the outer frame; performing a roll rotation by a roll motor mounted on the outer frame cross roller; connecting a pitching motor and a rolling motor together through an inner frame connector, wherein a rotating shaft of the pitching motor after connection is perpendicular to a rotating shaft of the rolling motor, and the pitching motor executes pitching rotation on the rotating shaft;
the load is arranged at two ends of the rotating shaft of the pitching motor and comprises an infrared/visible light load and a laser radar load; the device is used for executing the tracking and scanning tasks of the target under the drive of the triaxial executing mechanism;
the controller is used for carrying out stable servo control on the triaxial motion of the triaxial actuating mechanism and controlling load tracking and scanning tasks.
2. The stable servo system of claim 1 wherein the outer frame comprises a middle handle and two round bottom brackets, wherein the end of the middle handle is provided with an arc end which is fixedly connected with the round bottom brackets; the two round bottom supports are mutually perpendicular and are provided with mounting holes; the first bottom support is perpendicular to the azimuth axis and is fixedly connected with the azimuth motor through the mounting hole; the second collet is perpendicular with the roll axle, through mounting hole fixed connection roll motor.
3. The stable servo system of claim 2 wherein the azimuth motor is an outer rotor flat permanent magnet synchronous motor; wherein, the rotary surface of the outer rotor shell vertical to the rotary shaft of the azimuth motor is provided with a mounting hole; fixing the stable servo system to a corresponding position on a carrier through the mounting hole; the shaft end mounting shell perpendicular to the rotation shaft of the azimuth motor is provided with a mounting hole; the mounting holes correspond to the mounting holes of the first bottom support and are used for fixedly connecting the azimuth motor with the outer frame.
4. The stable servo system of claim 2 wherein the roll motor is an outer rotor flat permanent magnet synchronous motor; wherein, the shaft end mounting shell vertical to the rotation shaft of the transverse rolling motor is provided with a mounting hole; the transverse rolling motor is fixedly connected with the outer frame through the corresponding connection of the mounting holes and the mounting holes of the second bottom support; and a mounting hole is formed in the rotating surface of the outer rotor shell perpendicular to the rotating shaft of the roll motor and is used for being connected with the inner frame connector.
5. The stabilized servo as in claim 2 wherein,
the pitching motor is a sector transverse flux permanent magnet synchronous motor, and the outermost part of the pitching motor is a stator annular bracket; the body of the stator annular bracket is a circular ring perpendicular to the rotation axis of the pitching motor, and an outer annular bulge is arranged on the outer side of the circular ring; the outer annular bulge is provided with a mounting hole for connecting with the inner frame connector; the outer rotor of the roll motor is connected through the inner frame connector, so that the rotation axis of the roll motor is perpendicular to the rotation axis of the pitching motor; and may be implemented alone with rotational movement or coupled rotation.
6. The stability servo of claim 5 wherein the inner frame connector comprises a first connector member and a second connector member fixedly connected thereto; the plane of the first connecting piece is vertical to the plane of the second connecting piece;
the first connecting piece is of a disc structure, is provided with a mounting hole, corresponds to the mounting hole arranged on the outer rotor rotating surface of the roll motor and is used for fixing the roll motor;
the connecting surface of the second connecting piece is matched with the shape of the stator annular support, and the second connecting piece is provided with a mounting hole corresponding to the mounting hole of the stator annular support and used for fixing the pitching motor.
7. The stabilized servo as in claim 5 wherein the pitch motor comprises: the stator ring-shaped bracket, the fan-shaped transverse magnetic flux permanent magnet, the rotor iron core, the rotor winding wire ring, the rotor winding coil, the motor control circuit board, the first bearing, the second bearing, the first load mounting disc, the second load mounting disc and the rotor communication shaft;
the sector transverse flux permanent magnet is attached to one side of the circular ring of the stator annular bracket; the second load mounting disc is positioned at the other side of the circular ring of the stator annular bracket; the circular ring of the stator annular bracket is also provided with an inner annular bulge;
the body of the first load mounting disc is a circular ring perpendicular to the rotation axis of the pitching motor and is connected with the inner annular bulge of the stator annular bracket through a first bearing;
a rotor iron core, a rotor winding wire ring and a rotor winding coil are sequentially arranged between the fan-shaped transverse magnetic flux permanent magnet and the first load mounting disc; the rotor winding coil is attached to one side of the first load mounting plate, and the motor control circuit board is mounted on the other side of the first load mounting plate;
the body of the second load mounting disc is a circular ring perpendicular to the rotation axis of the pitching motor and is connected with the inner annular bulge of the stator annular bracket through a second bearing;
the rotor communication shaft passes through the centers of the first bearing, the stator annular bracket and the second bearing; one end of the rotor communication shaft is fixedly connected with the first load mounting disc, and the other end of the rotor communication shaft is fixedly connected with the second load mounting disc.
8. The stabilized servo system as in claim 7 wherein the first load-mounting plate is adapted to carry an infrared/visible light load; an infrared/visible light load is fixed on the first load mounting plate and placed in a closed space formed by the first load mounting plate, the dust cover and the mounting cover.
9. The stabilized servo system as in claim 8 wherein the second load mounting plate mounts the stationary heating and cooling assembly, the temperature regulating plate, the controller-carrying circuit board and the lidar load in sequence; and placing the laser radar load in a closed space formed by the controller bearing circuit board, the dust cover and the mounting cover.
10. The stable servo system of claim 8 further comprising a fiber-optic hybrid rotating slip ring;
the optical fiber hybrid rotating slip ring is arranged in an inner annular bulge of the pitching motor stator annular bracket, the first bearing and the second bearing are positioned on two sides of the optical fiber hybrid rotating slip ring, and the rotor communication shaft penetrates through the axis of the optical fiber hybrid rotating slip ring and is not in contact with the optical fiber slip ring.
CN202210012771.7A 2022-01-06 2022-01-06 Miniaturized large-visual-angle single-frame triaxial stable servo system Pending CN116447469A (en)

Priority Applications (1)

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CN202210012771.7A CN116447469A (en) 2022-01-06 2022-01-06 Miniaturized large-visual-angle single-frame triaxial stable servo system

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
CN202210012771.7A CN116447469A (en) 2022-01-06 2022-01-06 Miniaturized large-visual-angle single-frame triaxial stable servo system

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CN116447469A true CN116447469A (en) 2023-07-18

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