CN200954872Y - Fast-connection type 3-D stable platform - Google Patents
Fast-connection type 3-D stable platform Download PDFInfo
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- CN200954872Y CN200954872Y CN 200620021030 CN200620021030U CN200954872Y CN 200954872 Y CN200954872 Y CN 200954872Y CN 200620021030 CN200620021030 CN 200620021030 CN 200620021030 U CN200620021030 U CN 200620021030U CN 200954872 Y CN200954872 Y CN 200954872Y
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Abstract
The utility model relates to a swift connection three-dimensional stable platform to realize the gesture stability of the carrier based equipment. The platform of the utility model comprises a management and computer system, a servo system and a swift connection platform. The stable platform uses the three quadrature shaft supports. Each shaft provides a free rotation. The ship gesture reference equipment outputs the gesture information to drives the support shafts after the computation to offset the shakes of the ship. The rotation control command and gesture reference information are computed together for the purpose of stability and control. Because the equipment is supported by three shafts, the stability accuracy is not influenced by the water surge. The utility model is applicable to the carrier base equipments such as the sonar, radar and optical electricity measurement instrument. The principle and structure of the utility model is applicable other movable carrier for gesture stability.
Description
Technical field
The utility model relates to a kind of carrier-borne Strap-Down Mode Three-Dimension Stabilized Platform.
Background technology
At present, in order to stablize on-board equipment structure two axis stabilized platforms usually, the equipment that is stabilized that can make orientation and pitch rotation is installed on platform again.The information of waving of the attitude reference equipment output on the stable platform receiving ship drives the flat-bed diaxon by Fu and rotates, and offsets ship sway, obtains attitude stabilization.The shortcoming of this stable platform is: one. platform is disturbed by hydrodynamic force when Ship Motion, and disturbance torque and warship speed square is directly proportional, thereby influences lasting accuracy greatly; Two. the attitude stabilization by steady equipment separates with orientation, pitch control subsystem rotating function, causes platform structure complexity, volume weight huge; The most important thing is three. this stable platform can only be realized two stabilizer shafts, if there is yawing on the naval vessel, still can not stablize on the stable platform orientation.
Summary of the invention
In order to overcome above-mentioned shortcoming, the utility model proposes a kind of Strap-Down Mode Three-Dimension Stabilized Platform.This stable platform can be realized three-axis attitude stabilization; Because unique strapdown structure, the disturbance torque that not come by the warship speed belt influences; And, stable and controllable function unification, platform structure is simple relatively, size is little, in light weight.
Composition of the present utility model comprises: manage and resolve system (1), Fu (2), strapdown platform (3) three parts.Receive the management of operating order and attitude of carrier and resolve system (1) and Fu (2) all in the printed board in control housing, walk wire joint, be connected with strapdown platform (3) by cable again by inside.
Management and to resolve system (1) be a computing machine, wherein (accompanying drawing 2) comprises the task management software module (10) of receiving management instruction, attitude angle conv (11) that analog attitude of carrier signal is changed, receives operating order and realize the coordinate transformation device (12) of coordinate transform, the D and A converter (14) of output control signal, shaft angle/numeral (R/D) conv (13) to changing to parallactic angle (analog shaft angle signal).They all in a printed board, connect by the printed board upward wiring.
Comprise No. three servoamplifiers in the Fu (2): bearing servo amplifier (4), roll servoamplifier (5), pitching servoamplifier (6).The structure of No. three servoamplifiers is identical, and each road amplifier (accompanying drawing 3) is in series by the position ring amplifier (15) of input control signal, the speed ring amplifier (16) of inbound pacing feedback signal, the power amplifier (17) of drive motor.Bearing servo amplifier (4), roll servoamplifier (5), pitching servoamplifier (6) are respectively in three printed boards.
Strapdown platform (3) is the support and the rotating mechanism of three quadratures, rotation-measurement mechanism on each root axle is the same, is called azimuth rotation-measurement mechanism (7), roll rotation-measurement mechanism (8), pitch rotation-measurement mechanism (9).Each rotation-measurement mechanism (accompanying drawing 4) is made up of together tachometer (19), harmonic wave speed reducing machine (20), rotating mechanism (21) of brushless torque motor (18), mechanical couplings, the magslip (22) that outputs to parallactic angle.
The physical construction scheme drawing of strapdown platform (3) is shown in accompanying drawing 5, accompanying drawing 6, accompanying drawing 7.Form azimuth rotation-measurement mechanism (7) by azimuth motor-unit that tests the speed (23), orientation harmonic wave speed reducing machine (24), orientation speed reducing gear pair (25), angle measurement gear pair (27), orientation magslip (26), azimuth axis (28); Form roll rotation-measurement mechanism (8) by roll motor-unit that tests the speed (30), roll harmonic wave speed reducing machine (29), roll magslip (31), right support (32), left socle (40); Form pitching driving-measurement mechanism (9) by pitching motor-unit that tests the speed (35), pitching harmonic wave speed reducing machine (34), pitching magslip (39), platform stage body (38).
The effect of each several part is respectively described below in the system:
Based on the management of computing machine with resolve the system management tasks such as startup, shutdown, self check, warning and mode of operation conversion that task management software module (10) in the system (1) is responsible for the Strap-Down Mode Three-Dimension Stabilized Platform system.The simulation attitude signal of attitude reference equipment output is sent into coordinate transformation device (12) through attitude angle conv (11) and is carried out coordinate transform with operating order and resolve on the carrier, obtain constant needed three offset angles of stable platform attitude, with the turning to after parallactic angle subtracts each other of three on platform, pass through D and A converter (14) again and produce control signal (accompanying drawing 2) respectively.
No. three servoamplifiers in the Fu (2) are the same.In No. one amplifier (accompanying drawing 3), control signal amplifies through position ring amplifier (15), speed ring amplifier (16), power amplifier (17), produces motor drive signal, enters the rotation-measurement mechanism of strapdown platform (3) corresponding axis.In speed ring amplifier (15), also realize the closed loop of feedback speed signal.
Three tunnel rotation-measurement mechanisms in the strapdown platform (3) also are the same.The motor drive signal of power amplifier (17) output drives brushless torque motor (18) and rotates, with its mechanical couplings together tachometer (19) and the input shaft of harmonic wave speed reducing machine (20) rotate.Tachometer (19) output shaft angle rotating speed is as realizing the speed ring closed loop in the velocity feedback admission velocity ring amplifier (16).The output shaft of harmonic wave speed reducing machine (20) drives rotating mechanism (21) and magslip (22) rotates together.The shaft angle signal of magslip (22) output promptly arrives parallactic angle, and it and offset angle relatively produce control signal (accompanying drawing 2), realizes the position ring closed loop.
It is (accompanying drawing 5, accompanying drawing 6, the accompanying drawing 7) realized like this that three-dimensional orthogonal supports with rotating:
Pedestal (41) is fixed with the naval vessel carrier, azimuth motor in the pedestal (the 41)-unit that tests the speed (23), after orientation harmonic wave speed reducing machine (24) deceleration, drive orientation speed reducing gear pair (25) and connect firmly azimuth axis (28) rotation together, the support and the rotation of realization azimuth axis with it.Angle measurement gear pair (27), orientation magslip (26) are measured azimuth axis to parallactic angle.
Preceding pedestal (37) and back pedestal (33) have been installed on the azimuth axis (28), left socle (40), right support (32), pitching pedestal (36), the roll motor-unit that tests the speed (30) have been installed on these two pedestals.Roll motor-unit that tests the speed (30) drives pitching pedestal (36) by roll harmonic wave speed reducing machine (29) and realizes the roll rotation.Roll magslip (31) is measured the roll axle to parallactic angle.
Pitching motor-unit that tests the speed (35), pitching magslip (39) have been installed on pitching pedestal (36).Pitching motor-unit that tests the speed (35) drives platform stage body (38) by pitching harmonic wave speed reducing machine (34) and realizes pitch rotation.Pitching magslip (39) is finished the pitch axis angular measurement that puts in place.
Principle of work of the present utility model is:
The equipment that is stabilized supports by custom-designed three orthogonal axes, and each axle provides platform a rotational freedom.The attitude information of ship gesture reference device output drives three rotations respectively through resolving (being called " coordinate transform "), eliminates the influence of ship sway, reaches attitude stabilization.Operating order and attitude reference information that control is rotated are resolved together, and therefore stable and control action realizes simultaneously.Because the equipment that is stabilized directly supports by three, hydrodynamic force is disturbed does not influence lasting accuracy.
The rotation of each all is the dynamic process of two closed loop controls in three: form speed ring by speed ring amplifier (16), power amplifier (17), brushless torque motor (18), tachometer (19), the corrective network that improves the speed ring dynamic characteristics is in speed ring amplifier (16).The motor of speed ring output rotates and produces parallactic angle through harmonic wave speed reducing machine (20), rotating mechanism (21), magslip (22), should be to parallactic angle through management with resolve the closed loop control that the offset angle of R/D conv (13) and coordinate transformation device (12) output in the system (1) subtracts each other the realization position ring.The corrective network that improves the position ring dynamic characteristics is in position ring amplifier (15).
The coordinate transform formula of realizing attitude algorithm is:
γ＝arcsin[-cos(ψ-ψ
g)sinφ+sin(ψ-ψ
g)sinθsinφ]
In the formula
ψ-naval vessel bow is to the angle
θ-naval vessel pitch angle
-naval vessel roll angle
α-platform azimuth
β-platform pitch angle
γ-platform roll angle
ψ
g-be stabilized the instruction abeam angle of equipment
β
g-be stabilized the instruction pitch angle of equipment
The utility model has the advantages that: the Platform Implementation three-dimensional stability; Instruction and attitude reference information that control is rotated are resolved together, and therefore stable and control action realizes simultaneously; Because stable platform directly supports by three, hydrodynamic force is disturbed does not influence lasting accuracy.
The utility model can be used for isolating ship sway, stablizes on-board equipment, as the attitude of sonar, radar, photoelectric measuring instrument.Its principle and structure also can be used for the attitude stabilization on other motion carriers.
Description of drawings
Fig. 1 is the functional block diagram of Strap-Down Mode Three-Dimension Stabilized Platform.
Fig. 2 manages and resolves system principle diagram in the Strap-Down Mode Three-Dimension Stabilized Platform.
Fig. 3 is the functional block diagram of No. one servoamplifier in the Fu of Strap-Down Mode Three-Dimension Stabilized Platform.
Fig. 4 is one a tunnel rotation-measuring mechanism functional block diagram in the Strap-Down Mode Three-Dimension Stabilized Platform.
Fig. 5 is Strap-Down Mode Three-Dimension Stabilized Platform three shaft supporting structure scheme drawings.
Fig. 6 is the A-A section-drawing in the Strap-Down Mode Three-Dimension Stabilized Platform three shaft supporting structure scheme drawings.
Fig. 7 is the B-B section-drawing in the Strap-Down Mode Three-Dimension Stabilized Platform three shaft supporting structure scheme drawings
Fig. 8 is the circuit diagram of Strap-Down Mode Three-Dimension Stabilized Platform servoamplifier.
Fig. 9 is the Strap-Down Mode Three-Dimension Stabilized Platform management and resolves system circuit diagram.
The specific embodiment
Provide preferred implementation of the present utility model below, and be illustrated in conjunction with the accompanying drawings.
As shown in Figure 1, the keystone configuration of Strap-Down Mode Three-Dimension Stabilized Platform comprises: manage and resolve system (1), Fu (2), strapdown platform (3) three parts.Management and resolve system (1) and Fu (2) all in the printed board in control housing is walked wire joint by inside, is connected with strapdown platform (3) by cable again.
Management and to resolve system (1) be a computing machine, wherein (accompanying drawing 2) comprise task management software module (10), the attitude angle conv (11) that analog attitude of carrier signal is changed, the coordinate transformation device (12) of realizing coordinate transform, the D and A converter (14) of output control signal, shaft angle/numeral (R/D) conv (13) to changing to parallactic angle (analog shaft angle signal).They all in a printed board, connect by the printed board upward wiring.Attitude angle conv (11) adopts tracking mode R/D conversion, and it is converted to binary one 6 bit digital quantity to the attitude angle analog quantity.D and A converter (14) is converted to analog quantity to binary one 2 bit digital quantity, and its compare rule is 10V/1.
Comprise No. three servoamplifiers in the Fu (2): bearing servo amplifier (4), roll servoamplifier (5), pitching servoamplifier (6).The structure of No. three servoamplifiers is identical, and each road amplifier (accompanying drawing 3) is in series by position ring amplifier (15), speed ring amplifier (16), power amplifier (17).Bearing servo amplifier (4), roll servoamplifier (5), pitching servoamplifier (6) are respectively in three printed boards.Position ring amplifier (15) and speed ring amplifier (16) are made up of op amp, except voltage gain, also comprise the corrective network that improves dynamic characteristics of servo system.Power amplifier (17) has adopted the PM75CSA120 type Intelligent Power Module (IPM) of PWM type power amplifier and Mitsubishi.In order to drive brushless torque motor (18), power amplifier also comprises commutation circuit in (17).
It also is the same that in the strapdown platform (3) three tunnel rotates a measurement mechanism.The motor drive signal of power amplifier (17) output drives brushless torque motor (18) and rotates, with its mechanical couplings together tachometer (19) and the input shaft of harmonic wave speed reducing machine (20) rotate.Tachometer (19) output shaft angle rotating speed is as realizing the speed ring closed loop in the velocity feedback admission velocity ring amplifier (16).The output shaft of harmonic wave speed reducing machine (20) drives rotating mechanism (21) and magslip (22) rotates together.The shaft angle signal of magslip (22) output promptly arrives parallactic angle, and it and offset angle relatively produce control signal (accompanying drawing 2), realizes the position ring closed loop.Magslip (22) has adopted 1: 32 double speed sine and cosine resolver, is used to measure shaft angle.The output of magslip (22) is analog quantity, becomes the parallactic angle that arrives of binary one 6 bit digital quantity forms through resolver-to-angle converter (13).
The information of waving of attitude reference equipment output from the ship: ψ (the naval vessel bow is to the angle), θ (naval vessel pitch angle), (naval vessel roll angle) and the operating order of being sent here by steady equipment operation bench: ψ
g(instruction abeam angle), β
g(instruction pitch angle) passes through " coordinate transform " of coordinate transformation device (12) together and resolves, and obtains by the offset angle of steady equipment: α (azimuth), β (pitch angle), γ (roll angle).Coordinate transform guarantees in theory: if three turn to this angle, then fixed relative to the earth by the attitude of steady equipment, not influenced by ship sway thereby make by steady equipment, keep attitude stabilization.Therefore, these three angles of coordinate transformation device (12) output drive three motors on the orthogonal axes respectively by Fu and rotate, up to three equal α (azimuth), β (pitch angle), γ (roll angle) to parallactic angle, thereby eliminate the influence of ship sway to the platform attitude, implementation platform is at a certain attitude (ψ
g, β
g) under stable.
Claims (4)
1. Strap-Down Mode Three-Dimension Stabilized Platform, it comprises: manage and resolve system (1), Fu (2), strapdown platform (3), it is characterized in that: the attitude information of attitude reference equipment output on the naval vessel drives (3) three rotations of strapdown platform respectively through managing and resolving system (1).
2. Strap-Down Mode Three-Dimension Stabilized Platform according to claim 1 is characterized in that: management wherein and resolve system (1) and comprising: task management software module (10), attitude angle conv (11), coordinate transformation device (12), D and A converter (14), shaft angle/quanxtizer (13).
3. Strap-Down Mode Three-Dimension Stabilized Platform according to claim 1 is characterized in that: Fu wherein (2) comprises three tunnel the same servoamplifiers; In each road amplifier, control signal enters strapdown platform (3) after passing through position ring amplifier (15), speed ring amplifier (16), power amplifier (17) successively.
4. Strap-Down Mode Three-Dimension Stabilized Platform according to claim 1 is characterized in that: strapdown platform (3) wherein comprises azimuth rotation-measurement mechanism (7), roll rotation-measurement mechanism (8), pitch rotation-measurement mechanism (9); The structure of three rotation-measurement mechanisms is the same; The rotation of each all is a double closed-loop control system, forms speed ring by speed ring amplifier (16), power amplifier (17), brushless torque motor (18), tachometer (19), and the corrective network of speed ring is in speed ring amplifier (16); Motor rotates and produces parallactic angle through harmonic wave speed reducing machine (20), rotating mechanism (21), magslip (22), and the shaft angle/quanxtizer (13) through managing and resolve system (1) subtracts each other the closed loop control that realizes position ring with the offset angle of coordinate transformation device (12) output; The position ring corrective network is in position ring amplifier (15).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN 200620021030 CN200954872Y (en) | 2006-06-15 | 2006-06-15 | Fast-connection type 3-D stable platform |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN 200620021030 CN200954872Y (en) | 2006-06-15 | 2006-06-15 | Fast-connection type 3-D stable platform |
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| Publication Number | Publication Date |
|---|---|
| CN200954872Y true CN200954872Y (en) | 2007-10-03 |
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ID=38773456
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| Application Number | Title | Priority Date | Filing Date |
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| CN 200620021030 Expired - Fee Related CN200954872Y (en) | 2006-06-15 | 2006-06-15 | Fast-connection type 3-D stable platform |
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Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102081357A (en) * | 2010-12-09 | 2011-06-01 | 大连海事大学 | Ship attitude motion testing platform |
| CN102519425A (en) * | 2011-10-24 | 2012-06-27 | 哈尔滨工程大学 | Laser range finder stabilized platform used for vessel with single degree of freedom and its control method |
| CN101403593B (en) * | 2008-11-04 | 2012-08-22 | 北京航空航天大学 | Dual-shaft strapdown platform plain shaft ultra semi-sphere stabilization method based on rolling/deflecting structure |
| CN104121929A (en) * | 2014-06-13 | 2014-10-29 | 北京航天控制仪器研究所 | Novel three-axle swinging platform |
| CN106959708A (en) * | 2017-03-23 | 2017-07-18 | 南京航空航天大学 | The strapdown Three Degree Of Freedom of Driven by Ultrasonic Motors is from steady platform drive control device |
| CN107356938A (en) * | 2017-09-07 | 2017-11-17 | 大连海事大学 | A kind of unmanned boat two-dimensional laser radar autostabiliazer unit and its control method |
| CN111190168A (en) * | 2018-11-14 | 2020-05-22 | 中国科学院声学研究所 | Posture stabilizing method of side-scan sonar |
-
2006
- 2006-06-15 CN CN 200620021030 patent/CN200954872Y/en not_active Expired - Fee Related
Cited By (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101403593B (en) * | 2008-11-04 | 2012-08-22 | 北京航空航天大学 | Dual-shaft strapdown platform plain shaft ultra semi-sphere stabilization method based on rolling/deflecting structure |
| CN102081357A (en) * | 2010-12-09 | 2011-06-01 | 大连海事大学 | Ship attitude motion testing platform |
| CN102081357B (en) * | 2010-12-09 | 2012-07-25 | 大连海事大学 | Ship attitude motion testing platform |
| CN102519425A (en) * | 2011-10-24 | 2012-06-27 | 哈尔滨工程大学 | Laser range finder stabilized platform used for vessel with single degree of freedom and its control method |
| CN104121929A (en) * | 2014-06-13 | 2014-10-29 | 北京航天控制仪器研究所 | Novel three-axle swinging platform |
| CN104121929B (en) * | 2014-06-13 | 2016-09-21 | 北京航天控制仪器研究所 | A kind of three-axis swinging platform |
| CN106959708A (en) * | 2017-03-23 | 2017-07-18 | 南京航空航天大学 | The strapdown Three Degree Of Freedom of Driven by Ultrasonic Motors is from steady platform drive control device |
| CN107356938A (en) * | 2017-09-07 | 2017-11-17 | 大连海事大学 | A kind of unmanned boat two-dimensional laser radar autostabiliazer unit and its control method |
| CN111190168A (en) * | 2018-11-14 | 2020-05-22 | 中国科学院声学研究所 | Posture stabilizing method of side-scan sonar |
| CN111190168B (en) * | 2018-11-14 | 2022-01-11 | 中国科学院声学研究所 | Posture stabilizing method of side-scan sonar |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| EE01 | Entry into force of recordation of patent licensing contract |
Assignee: Institute for Engineering Technology Design, College of Shipbuilding Engineering Assignor: Harbin Engineering Univ. Contract fulfillment period: 2008.8.20 to 2013.8.20 Contract record no.: 2008230000048 Denomination of utility model: Fast-connection type 3-D stable platform Granted publication date: 20071003 License type: Exclusive license Record date: 20081010 |
|
| LIC | Patent licence contract for exploitation submitted for record |
Free format text: EXCLUSIVE LICENSE; TIME LIMIT OF IMPLEMENTING CONTACT: 2008.8.20 TO 2013.8.20; CHANGE OF CONTRACT Name of requester: HARBIN CHUANDA ENGINEERING DESIGN RESEARCH INSTITU Effective date: 20081010 |
|
| C17 | Cessation of patent right | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20071003 Termination date: 20100615 |