CN1305091A - Directional stabilizing platform of gyro - Google Patents
Directional stabilizing platform of gyro Download PDFInfo
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- CN1305091A CN1305091A CN 01104216 CN01104216A CN1305091A CN 1305091 A CN1305091 A CN 1305091A CN 01104216 CN01104216 CN 01104216 CN 01104216 A CN01104216 A CN 01104216A CN 1305091 A CN1305091 A CN 1305091A
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Abstract
A stabilizing platform using directional gyro is composed of flatform, free gyro, sensor, signal processor and driver. The rotation axle of gyro as reference is always in vertical direction by automatic correction of drift. When platform is inclined, the error is detected by sensor and the platform is corrected by driver. Its advantages include small size, long service life, high precision and low cost.
Description
The present invention relates to a kind of directional stabilizing platform of gyro, particularly be installed in motion carrier such as boats and ships, on vehicle and the aircraft, be satellite tv antenna, satellite communication antenna, the weather nephogram receiving antenna, the two-degrees-of freedom gyro stable platform that equipment provided that requirements such as observation photographic instrument aim at or follow the tracks of.
Existing stable platform can be divided into passive type (passive) platform and active (active) platform two classes haply.Typical passive type platform is seen Chinese utility model patent ZL94218035.6, U.S. Pat 4020491, US893123 and US4442435 etc.Its principle of work all is to utilize the directionality of gyro, directly leans on the attitude of gyroscopic couple stable platform.For example in ZL94218035.6, utilize the formed gyroscopic couple of the flywheel that rotates on the gyrostabilized platform opposite, keep the former horizontal attitude of antenna assembly with disturbance torque.Typical active platform is seen U.S. Pat 5922039, US5227806 and US4156241 etc.In US5922039, arrange a plurality of inclinators (Inclinometer) and accelerometer on the what motion carrier according to certain rules.These sensors can be exported the signal of reflection motion carrier attitude and rate of change thereof, after microprocessor resolves, obtain local gravity vertical line direction.With the normal direction of platform and gravity vertical line direction ratio, obtain deviate, in order to accessory drive, the platform normal is adjusted to consistent with the gravity vertical line, thereby realize stable to platform.
The major defect of above-mentioned passive type platform, the one, when the platform load is big, require gyro that enough big angular momentum square is arranged.This means that gyro must increase moment of inertia, improve rotating speed, vibrations and noise are big when causing moving, and the gyro life-span is short; The 2nd, when gyro applied stabilizing moment to platform, himself also bore equal counter torque, and this makes gyro produce the precession drift inevitably, destroys the stability of platform; The 3rd, platform loses stabilizing moment when gyro does not start, and becomes the pendulum that freely dangles, when motion carrier jolts, and the platform damage that easily is impacted.
The major defect of above-mentioned active platform is, utilizes the output signal of inclinator and accelerometer, asks for the method more complicated of gravity vertical line indirectly, and calculating links such as coordinate conversion easily import error, and cost is higher.
The object of the invention is to solve the shortcoming of above-mentioned passive type platform and the existence of active platform, is directed benchmark and provide a kind of with gyro, the precision height, and volume is little, the novel directional stabilizing platform of gyro that cost is low.
The object of the present invention is achieved like this: it is bearing in the gyro on the gyro gimbal by the platform that is bearing on the platform gimbal, rotary angle transmitter, drive unit, signal processing apparatus, compositions such as drifting correcting devices.When motion carrier such as boats and ships etc. produce pitching (Pitch) and lift-over (Roll), when causing platform inclination, be suspended on the free gyro in the gyro gimbal, it is constant still to keep the axis of rotation to point to.Measure the parallel misalignment of platform normal with sensor with respect to spin axis of gyro, after treatment as control signal, control two degree of freedom of platform in real time by drive unit, make the platform normal parallel with spin axis of gyro all the time, thereby keep the attitude of platform constant as vertical reference.
Compare with the passive type platform, the gyro among the present invention works in no load condition fully only as vertical reference.The gyro size is little, has solved vibrations and noise problem, has also prolonged the life-span.When gyro did not bear the counter torque that platform applies, its precession just only was subjected to the minor impact of gyro gimbal bearing frictional torque, drift about little and the energy quantitative measurement.With the drifting correcting devices among the present invention, can realize orientation correction to gyroscopic drift.Platform is connected with motion carrier by drive unit in the present invention, and all degree of freedom is all controlled.When even platform is not worked, the drive unit coupling is also arranged between platform and motion carrier, can be unexpected not impaired because of freely swinging.Compare with active platform, the present invention is not by calculating the output signal of inclinator and accelerometer, asking for the platform deviation indirectly.But utilize gyro and sensor, and directly the measuring table normal is with respect to the parallel misalignment of spin axis of gyro, and not only simply but also accurate, so cost is low.The present invention has just solved the existing in prior technology major defect like this.
Below in conjunction with the drawings and specific embodiments, the present invention is described in more detail.
Fig. 1 is the perspective illustration of first kind of embodiment of the present invention.
Fig. 2 be first kind of embodiment shown in Figure 1 along the Y-axis longitudinal diagram.
Fig. 3 be first kind of embodiment shown in Figure 1 along the X-axis drawing in side sectional elevation.
Fig. 4 is the perspective illustration of second kind of embodiment of the present invention.
Fig. 5 be second kind of embodiment shown in Figure 4 along the Y-axis longitudinal diagram.
Fig. 6 be second kind of embodiment shown in Figure 4 along the X-axis drawing in side sectional elevation.
Fig. 7 is the perspective illustration of the 4th kind of embodiment of the present invention.
Fig. 8 is the perspective illustration of the 5th kind of embodiment of the present invention
For the convenience of narrating, set a coordinate system for plateform system earlier: X-axis and Y-axis are in surface level, and the z axle vertically upward.Y-axis forward, and is parallel with the longitudinal axis (being the rock and roll axle) of motion carrier.The X axis right side, parallel with the pitch axis of motion carrier.Coordinate origin overlaps with the mid point of platform gimbal.
First kind of embodiment of the present invention, please referring to Fig. 1, Fig. 2 and Fig. 3.Operating load is equipped with on the last plane of platform 10, as (not shown) such as antenna and aiming trackers thereof.For guaranteeing the operate as normal of equipment such as antenna, require the attitude of stable platform 10.Platform 10 is bearing on the suspension 16 with bearing 30,31 by the gudgeon 28,29 from extended platform support 42,43 (it is own that these all can be considered platform 10).Suspension 16 also has two gudgeons 17,18, is bearing in two bearings 19,20 of U-shaped support 21.The common axial line of two gudgeons 17,18 on the suspension 16, with the common axial line of two bearings 30,31 in same plane, and intersect vertically.Therefore based on platform 10 and suspension 16, constitute platform gimbal 46.Platform 10 can be done binary controlled rotation in platform gimbal 46.Be the corner of platform 10, be subjected to X-axis drive unit 32 controls on the suspension 16, and platform 10 be subjected to Y-axis drive unit 24 controls on the U-shaped support 21 around the corner of Y-axis around X-axis.
The gyro 1 of making vertical reference is a free gyro, and it is made up of motor 2 and flywheel 3.Stretch out two gudgeons 4,5 from the housing of motor 2, be bearing in respectively in the bearing 6,7 of interior ring 26.Two gudgeons 12,13 of interior ring 26 then are bearing in two bearings 14,15 of platform 10.Therefore gyro 1 is supported on the gyro gimbal 25 that housing and interior ring 26 by motor 2 constituted.The common axial line of gudgeon 4,5 is interior rotating shafts 49 of gyro gimbal 25, and the common axial line of gudgeon 12,13 is outer shafts 50 of gyro gimbal 25.Interior rotating shaft 49, the axis of rotation 11 of outer shaft 50 and gyro 1, the three is mutually vertical and intersect at a point.Gyro gimbal 25 is suspended on the platform 10 by outer shaft 50, and its two revolving shaftes are parallel with two revolving shaftes of platform gimbal 46.
The intersection point below that the center of gravity of gyro 1 is positioned at the 25 two-freedom rotating shafts of gyro gimbal is lower slightly, and when setting can guarantee that gyro 1 is not worked like this, its axis of rotation 11 was in vertical sensing automatically owing to gravitational torque.
When gyro 1 work, motor 2 and flywheel 3 high speed rotating, for the free gyro that not disturbed by moment of face, its angular momentum square remains unchanged, and therefore no matter how motion carrier jolts, and the axis of rotation 11 of gyro 1 remains vertically.Platform 10 is then with the jolting of motion carrier, and can produce around the pitching of X-axis with around the lift-over of Y-axis, so the normal of platform 10 no longer is parallel to the axis of rotation 11 as vertical reference.The relative rotation available sensors of the normal of platform 10 and the axis of rotation 11 is measured.Fig. 1 for example, in Fig. 2 and Fig. 3 first kind of embodiment of the present invention, installing angle sensor 8 between the gudgeon 5 of gyro 1 and interior ring 26, its output+x ,-x can reflect that platform 10 is with respect to the corner of gyro 1 around X-axis.The rotary angle transmitter of installing between the gudgeon 13 of ring 26 and the platform 10 similarly 9, its output+y ,-y can reflect that platform 10 is with respect to the corner of gyro 1 around Y-axis.Therefore as long as platform 10 produces with respect to gyro 1, rotary angle transmitter 8,9 will export+x ,-x and+y, the error signal of-y.This signal is delivered to stabilization signal treating apparatus 47,48, after treatment by X-axis drive unit 32 and Y-axis drive unit 24, just can control two degree of freedom of platform 10 in real time, platform 10 is returned to the direction that reduces error, get back to parallel again with the axis of rotation 11 until the normal of platform 10.This dynamic process carries out repeatedly, even motion carrier constantly jolts, but platform 10 can be offset the influence of jolting, and it is constant to remain its horizontal attitude.The rotary angle transmitter that the present invention adopts can be a potentiometer, scrambler, and synchrotransmitter or other can be measured the sensor of relative rotation.The drive unit that the present invention adopts then can be by driving element such as all kinds of motor, and selsyn or electromagnet are equipped with transmission or reducing gear is formed.
The aforementioned stable process is that supposition gyro 1 does not drift about.The drift of gyro 1 in a short time is negligible, but constantly accumulation of permanent drift.If gyro 1 drifts about, platform 10 will be followed gyro 1 always and to depart from surface level more and more far away, therefore must revise automatically the drift of gyro 1.
As general purpose stable platform, only need the attitude of platform to keep stable, and be arranged essentially parallel to the gravity water plane and get final product.Motion carrier such as boats and ships etc., though constantly be subjected to disturbances such as lift-over and pitching, it is disorderly and unsystematic to seem in the short term, does examination slightly for a long time, its disturbance has stable mean value.For example the average pose of ship deck keeps and the gravity water plane parallel on long terms basically.In the present invention, utilize the directionality of gyro, eliminate the short period perturbation of motion carrier, the method that keeps platform stable is as above-mentioned.To illustrate below among the present invention that the macrocyclic average pose signal of reference motion carrier how is revised the method for gyroscopic procession drift automatically.
At US4020491, in the prior aries such as US4582291 and US3893123, the method for revising vertical gyroscopic drift with gravity or spring force is disclosed.Promptly when gyro tilts because of drift, produce a countermoment opposite with drift direction by gravity or spring force.But according to the gyroscopic procession principle,, can not make the axis of rotation of gyro, in applying the plane of countermoment, return the countermoment that gyro applies.Opposite gyro can around with the axis of rotation three spool rotation vertical with axis of torque, the result makes the axis of rotation of gyro rotate a circular conical surface.As seen simply with gravity or spring force, can not revise gyroscopic drift (making the circular cone drift angle is 0) fully, and can only be with the drift restriction within limits.At first measure the direction and the size of drift among the present invention, again according to the gyroscopic procession direction principle vertical with moment of face, the precession correcting device is located at its application of force square, and the axis of rotation that can make gyro therefore can be drift correction to minimum correctly to the position of direction precession to be revised.
Still by Fig. 1, Fig. 2 and Fig. 3, between the gudgeon 29 and suspension 16 of platform 10, installing angle sensor 44 is to measure the average corner of platform 10 around the X-axis drift.Between the gudgeon 18 and U-shaped support 21 of suspension 16, installing angle sensor 45 is to measure the average corner of platform 10 around the Y-axis drift similarly.Elder generation is transferred to platform 10 parallel with base plate 23, and all be transferred to mid point to rotary angle transmitter 44,45 this moment, promptly is output as 0.As previously mentioned, the average pose of known ship deck and gravity water plane parallel, so the time platform 10 also with the gravity water plane parallel.When motion carrier jolted, base plate rocked with motion carrier, continued to be maintained and the gravity water plane parallel but platform 10 is used as the gyro 1 of vertical reference.Analyze its stabilization process, be actually X-axis drive unit 32 and Y-axis drive unit 24, constantly according to rotary angle transmitter 8,9 error signal+the x that measure ,-x and+y ,-y, towards adjusting platform 10 in real time with the motion carrier opposite direction of jolting, make it to swing back and forth, in dynamically, keep the horizontal attitude of platform 10 constant, as above-mentioned.In this adjustment process, platform 10 is around X-axis and the suspension 16 corner+x* around the Y-axis swing ,-x* and+y* ,-y* is also come out by rotary angle transmitter 44,45 continuous probe.With this string output signal+x* ,-x* and+y* ,-y* delivers to average in the shifted signal treating apparatus 33,34 Δ X* and Δ Y* respectively, can find out the mid point of platform 10 and suspension 16 swings.If gyro 1 does not drift about, its axis of rotation 11 overlaps with the gravity vertical line all the time, then platform 10 eternal levels.At this moment+x* ,-x* and+y*, mean value Δ X* and the Δ Y* of-y* are 0.If gyro 1 drifts about, platform 10 inevitable inclinations thereupon cause the average pose of platform 10 to depart from the gravity water plane.This a succession of+x* consequently ,-x* and+y* ,-y* error signal can reflect that the average pose of platform 10 tilts to certain direction regularly.Be the mid point of platform 10 and suspension 16 swings, departed from 0 point of rotary angle transmitter 44,45.In this moment shifted signal treating apparatus 33,34, right+x* ,-x* and+y*, mean value Δ X* that-y* calculates and Δ Y* no longer are 0.Δ Y* and Δ X* as the drift correction controlled quentity controlled variable, are delivered to respectively in X-axis drifting correcting devices 41 and the Y-axis drifting correcting devices 38, the axis of rotation 11 is come back to the gravity vertical line coincide.So just realize utilizing the macrocyclic average pose of motion carrier as object of reference, revised the precession drift of gyro 1.
Be installed near the X-axis drifting correcting devices 41 the gudgeon 29, by be fixed on the electromagnet 37 on the platform support 43 and be fixed in permanent magnet 36 on the ring 26 form, it can internally encircle 26 and apply a flywheel moment around Y-axis.As previously mentioned, according to the gyroscopic precession principle, when gyro 1 was subjected to moment of face around Y-axis, the axis of rotation 11 was not around Y-axis but around the X-axis precession.Around the direction of X precession, depend on the sense of rotation and the moment of face direction of gyro 1.If gyro 1 sense of rotation is fixed, then the precession direction of the axis of rotation 11 only depends on the moment of face direction.Therefore only need to change the size of current and the direction of electromagnet 37, just can revise the drift of gyro 1 effectively around X-axis.The Y-axis drifting correcting devices 38 similarly, are made up of the electromagnet 39 that is fixed on the permanent magnet 40 on motor 2 housings and be fixed on the interior ring 26, and it can apply a flywheel moment around X-axis to gyro 1, to revise the drift of gyro 1 around Y direction.To the control of X-axis drifting correcting devices 41 and Y-axis drifting correcting devices 38, take the instantaneous working method of pulsed, to guarantee that gyro 1 does not bear the interference of moment of face that electromagnet adds in pulse free time.
Second kind of embodiment of the present invention seen Fig. 4, Fig. 5 and Fig. 6.In second kind of embodiment, use position sensitive detector such as the area array CCD and the PSD etc. of two dimension instead.With PSD position sensing diode (Position Sensitive Diode also is four-quadrant diode) is example, if luminous point projects the mid point of PSD, and its output terminal+x then ,-x ,+y ,-y is all 0.If luminous point projects second quadrant of position sensing diode, then output-x and+the y signal.The order of magnitude of x and y signal is directly proportional with luminous point distance of x axle and y axle on the sensitive area.At Fig. 4, among Fig. 5 and Fig. 6, illustrate the PSD position sensing diode 9 that adopts in second kind of embodiment ', but and not shown along gyro 1 axis of rotation 11 project position sensing diode 9 ' luminous point, this light spot position should the axis of rotation 11 and position sensing diode 9 ' the intersection point place.This shows, when the normal of platform 10 with as the axis of rotation 11 of the spiral shell top 1 of vertical reference when parallel, position sensing diode 9 ' be fixed on the platform 10, and make luminous point and position sensing diode 9 ' the center overlap.With seasonal position sensing diode 9 ' the x axle parallel with the Y-axis of plateform system, and the y axle is parallel with the X-axis of plateform system.Be provided with like this back position sensing diode 9 ', be proportional to error signal+x that platform 10 rotates around X-axis and Y-axis with regard to exportable ,-x and+y ,-y.This error signal is delivered to stabilization signal treating apparatus 47 and 48, and controlled after treatment signal delta X and Δ Y in order to control X-axis drive unit 32 and Y-axis drive unit 24 respectively, just can control the inclination of platform 10 in real time.As seen use a position sensing diode 9 ', can replace two rotary angle transmitters 8,9 in first kind of embodiment and keep function constant.
Still by Fig. 4, Fig. 5 and Fig. 6, U-shaped support 21 is fixed on the base plate 23.Another position sensing diode 44 ', also be fixed on the base plate 23 by U-shaped support 21.When the axis of rotation 11 of spiral shell top 1 during perpendicular to base plate 23, make position sensing diode 44 ' the center, overlap with the axis of rotation 11, and make position sensing diode 44 ' x* axle and y* axle, parallel with the Y-axis of plateform system respectively with X-axis.Because and the position sensing diode 44 that links together of base plate 23 ', constantly rock with motion carrier, the axis of rotation 11 as the gyro 1 of vertical reference is then stablized motionless, therefore another luminous point (not shown) that penetrates along the axis of rotation 11 directions, position sensing diode 44 ' on the track that draws and rock, can obtain the average center of track.On long terms, the average center of track is because the drift of gyro 1, gradually the responsive diode 44 of deviation position ' the center.The size and Orientation that it departs from, a succession of+x* that exports when being reflected in position sensing diode 44 ' by light spot ,-x* ,+y* is in-y* the signal.With this a succession of+x*,-x*, + y*,-y* error signal, Δ X* and Δ Y* average in shifted signal treating apparatus 33 and 34, as the drift correction controlled quentity controlled variable, deliver to respectively Y-axis drifting correcting devices 38 ' and X-axis drifting correcting devices 41 ' in, make the axis of rotation 11 of gyro 1, position sensing diode 44 ' on the average center of drawn track, come back to position sensing diode 44 ' the center overlap, so just realized utilizing the macrocyclic average pose of motion carrier as object of reference, revise the precession drift of gyro 1, guarantee that the axis of rotation 11 is correct vertical reference all the time.This shows, with a position sensing diode 44 ', can replace two rotary angle transmitters 44,45 in first kind of embodiment and keep function constant.
In second kind of embodiment, revise the X-axis drifting correcting devices 41 of gyro 1 drift ' and Y-axis drifting correcting devices 38 ', be equipped with gear train by motor and form, can internally encircle 26 and motor 2 apply correction moment, drift about thereby eliminate.By Fig. 4, Fig. 5 and Fig. 6 are as seen, the gyro 1 drift error signal+x* of position sensing diode 44 in second kind of embodiment ' output,-x* and+y*,-y*, after shifted signal treating apparatus 33 and 34 is averaged, respectively to X-axis drifting correcting devices 41 ' and Y-axis drifting correcting devices 38 ', Δ Y* and Δ X* transmit control signal.X-axis drifting correcting devices 41 ' and Y-axis drifting correcting devices 38 ', also be the discontinuous operation pattern that adopts the instantaneous application of force.When gyro 1 drift in the allowed band time, X-axis drifting correcting devices 41 ' and Y-axis drifting correcting devices 38 ' in motor cut off the power supply fully, make gyro 1 locate the free state that what is not disturbed by moment of face as far as possible.
The third embodiment of the present invention (not having figure) is, cancel the rotary angle transmitter 44 of measuring gyroscopic drift in preceding two kinds of embodiments, 45 or position sensing diode 44 ', but X-axis drive unit 32 and Y-axis drive unit 24 must adopt similar stepper motor or have code-disc can remember the drive unit of corner.With the stepper motor is example, utilize it can remember the characteristic of corner, will be from stabilization signal treating apparatus 47,48, be sent to X-axis drive unit 32 and Y-axis drive unit 24, train of impulses Δ X and Δ Y in order to the drive stepping motor rotation also add up with corresponding forward and reverse up-down counter, to detect the mean place of suspension 16 and platform 10, whether depart from 0 point gradually.Deviation signal+x* ,-x* and+y*, accumulated value Δ X* and the Δ Y* of-y* in counter reflected the drift of gyro.Send to respectively after treatment Y-axis drifting correcting devices 38 or 38 ' and X-axis drifting correcting devices 41 or 41 ', also can revise the drift of gyro 1.
The 4th kind of embodiment of the present invention seen Fig. 7, and the numeral number among the figure is with same meaning in the earlier drawings.Platform 10 still is supported in the platform gimbal 46, can do binary controlled revolution.Be platform 10 is subjected to X-axis drive unit 32 and Y-axis drive unit 24 around the revolution of X-axis and Y-axis control.Different is that platform gimbal 46 changes universal Oldham's coupling formula into by frame-type.It is mainly by criss-cross suspension 16, and U-shaped support 21 and platform 10 constitute.Suspension 16 has two pairs of orthogonal crossing axle journals, is bearing in respectively in U-shaped support 21 and platform support 42, the 43 corresponding holes.U-shaped support 21 is consolidated by column 22 and base plate 23, and together support plateform system.In order to adjust balance, weight 27,35 is housed in platform support 42,43 lower ends.Gyro gimbal 25 and platform gimbal 46 can be in same planes, for example in the 4th kind of embodiment of the present invention, just, be placed on the two degrees of freedom rotating shaft top of platform gimbal 46, but will keep the rotating shaft of two cover gimbals to be parallel to each other the two degrees of freedom rotating shaft of gyro gimbal 25.When platform 10 rocked with motion carrier, because that the axis of rotation 11 of gyro 1 is stablized is motionless, platform 10 was measured by rotary angle transmitter 8 and 9 around the corner of X-axis and Y-axis, and remaining control procedure is identical with first kind of embodiment.Automatically the method for revising gyro 1 drift is also identical.Promptly at two ends difference installing angle sensor 44 and the X-axis drive unit 32 of suspension 16, along the two ends difference installing angle sensor 45 and the Y-axis drive unit 24 of Y-axis along X-axis.It relies on X-axis drifting correcting devices 41 ' and the process of Y-axis drifting correcting devices 38 ' corrections gyroscopic drift, same first kind of embodiment.
In the 4th kind of embodiment, gyro gimbal 25 is placed on platform gimbal 46 tops, though help the radial dimension that what reduces axis of centres architecture, increased height.If requirement should reduce the radial dimension of axis of centres system, not allowing again increases height, then can adopt the 5th kind of embodiment of Fig. 8.With gyro gimbal 25, still be contained on the platform 10, but be placed on prejudicially on one side, the height of two gimbals can be overlapped mutually and needn't superpose.
Claims (6)
1, a kind of directional stabilizing platform of gyro, comprise the platform (10) that is bearing on the platform gimbal (46), be bearing in the gyro (1) on the gyro gimbal (25), rotary angle transmitter (8,9), X-axis drive unit (32), Y-axis drive unit (24), stabilization signal treating apparatus (47,48), it is characterized in that: gyro gimbal (25) with outer shaft (50) pivoting support on the platform that is stabilized (10), two revolving shaftes of described gyro gimbal (25), parallel with two revolving shaftes of platform gimbal (46) respectively, between the pivoting support of the gudgeon (5) of gyro (1) and interior ring (26), the normal that detection platform (10) is housed is with respect to the axis of rotation (11), rotary angle transmitter (8) around X-axis nonparallelism error, between the pivoting support of the gudgeon (13) of interior ring (26) and platform (10), the normal that detection platform (10) is housed is with respect to the axis of rotation (11), rotary angle transmitter (9) around Y-axis nonparallelism error, described nonparallelism error is through stabilization signal treating apparatus (47,48) after the processing, deliver to the X-axis drive unit (32) and the Y-axis drive unit (24) of the described platform of control (10) motion respectively, at platform (10) and interior ring (26), the device of automatic correction gyro (1) drift is arranged between interior ring (26) and the motor (2).
2, directional stabilizing platform of gyro according to claim 1, it is characterized in that: this revises the device of gyro (1) drift automatically, be between the pivoting support of platform (10) and suspension (16), install and measure the rotary angle transmitter (44) of platform (10) around the X-axis drift, between the pivoting support of suspension (16) and U-shaped support (21), install and measure the rotary angle transmitter (45) of platform (10) around the Y-axis drift, the electromagnet (37) and the permanent magnet (36) of X-axis drifting correcting devices (41) are installed respectively between platform (10) and interior ring (26), the electromagnet (39) and the permanent magnet (40) of Y-axis drifting correcting devices (38) are installed respectively between interior ring (26) and motor (2), described rotary angle transmitter (44,45) shifted signal of measuring, through shifted signal treating apparatus (33,34) after the processing, deliver to X-axis drifting correcting devices (41) and the Y-axis drifting correcting devices (38) of revising described gyro (1) drift respectively.
3, directional stabilizing platform of gyro according to claim 1 and 2 is characterized in that: described rotary angle transmitter (8,9,44,45) can be a potentiometer, scrambler, and synchrotransmitter, or other can measure the sensor of relative rotation.
4, directional stabilizing platform of gyro according to claim 1 and 2, it is characterized in that: described rotary angle transmitter (8,9) can replace with dimension sensors such as a position sensing diode (9 ') that is installed in platform (10) or CCD, rotary angle transmitter (44,45) can replace with dimension sensors such as a position sensing diode (44 ') that is installed in base plate (23) or CCD.
5, directional stabilizing platform of gyro according to claim 2, it is characterized in that: described X-axis drifting correcting devices (41 ') is equipped with gear train by all kinds of motor between the pivoting support that is installed in platform (10) and interior ring (26) to be formed, and Y-axis drifting correcting devices (38 ') is equipped with gear train by all kinds of motor between the pivoting support that is installed in interior ring (26) and motor (2) and forms.
6, according to any one described directional stabilizing platform of gyro in the claim 1 to 5, it is characterized in that: described X-axis drive unit (32) and Y-axis drive unit (24), when the motor that adopts stepper motor maybe can remember corner is made drive unit, can cancel described rotary angle transmitter (44,45) or position sensing diode (44 ').
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2001
- 2001-02-26 CN CN 01104216 patent/CN1305091A/en active Pending
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