CN203686509U - Three-degree-of-freedom self-stabilizing platform - Google Patents
Three-degree-of-freedom self-stabilizing platform Download PDFInfo
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- CN203686509U CN203686509U CN201320647902.5U CN201320647902U CN203686509U CN 203686509 U CN203686509 U CN 203686509U CN 201320647902 U CN201320647902 U CN 201320647902U CN 203686509 U CN203686509 U CN 203686509U
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Abstract
The utility model discloses a three-degree-of-freedom self-stabilizing platform, which comprises a bracket assembly, a motor assembly, shooting equipment and a motor control device, wherein the motor control device comprises an embedded-type driving controller, a gesture detecting device and a position detecting device, the motor assembly is an ultrasonic motor, and the bracket assembly is directly driven to enable the shooting equipment to rotate, so that shooting angles can be self-kept balanced during external interference. The ultrasonic motor is actuated by depending on a piezoelectronic device, and electromagnetic interference cannot be generated for a detector which is installed on the platform by the ultrasonic motor; the working principle of the ultrasonic motor is that the ultrasonic motor rotates by depending on the friction driving between a stator and a rotor, and a certain pretightening force exists between the stator and the rotor, so that the platform can also be locked under a condition without electrification, and therefore a self-stabilizing effect is achieved. The ultrasonic motor has the own characteristics of low speed and large torque, and the platform can be directly driven without a speed-reducing mechanism. The particularity of the working principle of the ultrasonic motor is organically and artfully combined with specific requirements on platform stabilization in a stator-rotor double-gyroscope detecting mode, so that the shooting equipment is dynamically stabilized in real time.
Description
Technical field
The utility model relates to a kind of novel Three Degree Of Freedom of Driven by Ultrasonic Motors from steady platform, is specifically related to the accurately certainly steady platform in location of a kind of gyro type three rotatingshafts.
Background technique
In photography, photograph or monitoring field, carry the airborne carrier of vidicon camera, if aircraft, automobile, steamer, robot etc. are in running, because carrier itself exists the disturbance of high-frequency vibration and low-frequency jitter or extraneous air-flow, ground injustice, inevitably can have a negative impact to the image quality of capture apparatus, even cause imaging-system serious distortion, thereby need configuration to carry vidicon camera from steady platform.In prior art, what mostly adopt is mechanical topological structure and the circuit drives control system of building based on electromagnetic machine, and actuating motor needs gear as reducing gear, though direct current torque motor can be for low-speed big occasion, but motor itself is without auto-lock function, also need additionally to add a positioning self-lock device, and moment/mass ratio little (less 3 ~ 5 times than equal ultrasound electric machine), and there is the defect of electromagnetic interference in electromagnetic machine, in the time that airborne carrier requires higher occasion to the anti-electromagnetic interference of navigator, obviously restricting the application area from steady platform, and it is current also more rare for adopting the certainly steady platform report based on Driven by Ultrasonic Motors source.In order to make up above-mentioned deficiency, the utility model proposes a kind of three free certainly steady platforms that adopt Driven by Ultrasonic Motors, and specifically proposed the mechanical structure of platform and the control strategy of circuit drives system integration.
Model utility content
The technical problems to be solved in the utility model is to provide that a kind of volume is little, simple in structure, moment/mass ratio is large, self-locking performance is good, without electromagnetic interference, and control the rotation of platform along X, Y, Z axis by three ultrasound electric machines simultaneously, maintain the stable device of image forming apparatus.
In order to solve the problems of the technologies described above, the certainly steady platform of the Three Degree Of Freedom that the utility model uses: a kind of Three Degree Of Freedom is from steady platform, comprise the first support, the second support, the 3rd support and the 4th support, the first ultrasound electric machine, the second ultrasound electric machine, the 3rd ultrasound electric machine, the first coupling shaft, the first rolling bearing, the second rolling bearing and the second coupling shaft, wherein, described the first coupling shaft links together by its one end connecting plate and the 4th support, the other end links together by supporting and location and described second support of the first rolling bearing, one end output shaft of described the first ultrasound electric machine is connected with described the 4th support, one end output shaft of described the second ultrasound electric machine is connected with one end of described the second coupling shaft, one end output shaft of described the 3rd ultrasound electric machine is connected with described the second support, the other end of described the second coupling shaft is connected with the 4th support by the supporting and location of the second rolling bearing,
Described the 3rd ultrasound electric machine drives the second support by one end output shaft and the assembly that is connected with the second support rotates around Z axis, the first ultrasound electric machine drives the 4th support and the assembly that is connected with the 4th support to rotate around X-axis by one end output shaft, and the second ultrasound electric machine drives the second coupling shaft by one end output shaft and the assembly that is connected with the second coupling shaft rotates around Y-axis; On described the first support, capture apparatus is installed;
Position detecting device, respectively primary importance detection device, second place detection device and the 3rd position detecting device, wherein, described primary importance detection device is arranged on the lid of the first rolling bearing and is connected with first coupling shaft one end, described second place detection device is installed on the shell of the second ultrasound electric machine and is connected with one end output shaft of the second ultrasound electric machine, and described the 3rd position detecting device is installed on described the 3rd support and with one end output shaft of the 3rd ultrasound electric machine and is connected;
Attitute detecting device, is respectively the first Attitute detecting device, the second Attitute detecting device, and wherein, described the first Attitute detecting device is adhered on described the first support, and the second Attitute detecting device is adhered on described the 4th support;
Also comprise motor control assembly, described motor control assembly is embedded controller, the first Attitute detecting device is responsible for the undesired signal that provides extraneous, comprises the rotation variable quantity along X-axis, Y-axis, three directions of Z axis respectively, then by microcomputer communication interface, signal is passed to embedded controller, the second Attitute detecting device is responsible for providing the speed difference that drives stabilized platform, comprises the rotation variable quantity along X-axis, Y-axis, three directions of Z axis respectively, then by circuit interface module, signal is passed to embedded controller, electric machine control system taking embedded controller as core is according to the first Attitute detecting device, the output information of the second Attitute detecting device judges the working state of external interference state now and stabilized platform, by driving interface, power model is controlled respectively the first ultrasound electric machine, the second ultrasound electric machine, the start and stop of the 3rd ultrasound electric machine, clockwise and anticlockwise and rotating speed, to compensate the disturbance yaw displacement amount of outer bound pair capture apparatus, primary importance detection device, second place detection device, the 3rd position detecting device each ultrasound electric machine rotating speed of recording and clockwise and anticlockwise signal by the peripheral interface circuit electric machine control system that to pass to based on embedded controller be core, electric machine control system again sends drive control signal according to gathered ultrasound electric machine swing offset signal and revises to each ultrasound electric machine, reach closed-loop feedback control object.
Further, the flange at tail end dish of one end of described the first support and the first coupling shaft links together; Described the first ultrasound electric machine is arranged on described the second support mounting plate, and bolt is fixed in addition; Described the second ultrasound electric machine is arranged on described the 4th support mounting plate, and bolt is fixed in addition, and described the 3rd ultrasound electric machine is arranged on described the 3rd support mounting plate, and bolt is fixed in addition.
Further, described capture apparatus is imaging sensor.
Further, described motor control assembly is DSP single-chip microcomputer or other embedded microcontrollers.
Further, described Attitute detecting device is gyroscope or other attitude detecting sensors.
Further, described position detecting device is rotating coder or other grating measuring sensors.
beneficial effect: motor control assembly employing monolithic embedded microprocessor (as DSP, ARM single-chip microcomputer) is the driving control system for electric machine of core in the present invention, there is not synchronism problem, control accuracy is higher, be more conducive to the integrated of drive circuit, miniaturization, in conjunction with program control algorithm and hardware circuit, easily to the whole real-time interlock control from steady platform.
The mode of operation that this platform adopts two Attitute detecting devices to detect, the i.e. equal Installation posture detection device of the first support and the 4th support place, wherein the Attitute detecting device at the first support place is responsible for providing the direction signal of external interference, and the Attitute detecting device at the 4th support place is responsible for providing the speed difference that drives stabilized platform.Now can be easily judge the working state of external interference state now and stabilized platform according to the output information of the first support, the 4th support place Attitute detecting device, thereby adjust control mode.
This adopts ultrasound electric machine directly to drive from steady platform, its basic principle is: platform moves to fixed angular speed with certain in inertial space, when being subject in the situation of external interference, mesa corners speed changes, now according to this speed difference, change ultrasound electric machine output by adjusting driver frequency, until platform output speed error is zero.
Brief description of the drawings
Fig. 1 is the stereogram of Three Degree Of Freedom from steady platform.
Fig. 2 is the plan view of Three Degree Of Freedom from steady platform.
Fig. 3 is the Driven by Ultrasonic Motors stabilized platform of two Attitute detecting devices.
Fig. 4 is the Driven by Ultrasonic Motors stabilized platform working principle of two Attitute detecting devices.
Reference character is as follows: 1, the first ultrasound electric machine; 2, capture apparatus; 3, the first support; 4, the first Attitute detecting device; 5, the second rolling bearing; 6, the second Attitute detecting device; 7, the first coupling shaft; 8, the first rolling bearing lid; 9, the first rolling bearing; 10, primary importance detection device; 11, second place detection device; 12, the second ultrasound electric machine; 13, the second support; 14, the 3rd ultrasound electric machine; 15, the 3rd support; 16, the 3rd position detecting device; 17, the 4th support; 18, the second coupling shaft;
Embodiment
Below in conjunction with accompanying drawing and embodiment, the utility model is described in more detail.
At Fig. 1, the Three Degree Of Freedom shown in 2 is from steady platform, and capture apparatus 2 is arranged on the first support 3, and the first support 3 links together with coupling shaft 18; The first ultrasound electric machine 1 is arranged on the second support 13, and the second ultrasound electric machine 12 is arranged on the 4th support 17, and the 3rd ultrasound electric machine 14 is arranged on the 3rd support 15; Primary importance detection device 10 is arranged on rolling bearing lid 8 and with coupling shaft 7 one end and is connected, second place detection device 11 is installed on the shell of the second ultrasound electric machine 12 and is connected with one end output shaft of the second ultrasound electric machine 12, and the 3rd position detecting device 16 is installed on the 3rd support 15 and with one end output shaft of the 3rd ultrasound electric machine 14 and is connected; The first Attitute detecting device 4 is installed on the first support 3, and the second Attitute detecting device 6 is installed on the 4th support 17; The first coupling shaft 7 links together by its one end connecting plate and the 4th support 17, the other end is connected to one by supporting and location and second support 13 of rolling bearing 9, one end output shaft of the first ultrasound electric machine 1 is connected with the 4th support 17, one end output shaft of the second ultrasound electric machine 12 is connected with one end of coupling shaft 18, one end output shaft of the 3rd ultrasound electric machine 14 is connected with the second support 13, and the other end of coupling shaft 18 is connected with the 4th support 17 by the supporting and location of rolling bearing 5.The 3rd ultrasound electric machine 14 drives the second support 13 by one end output shaft and the assembly that is connected with the second support 13 rotates around Z axis, the first ultrasound electric machine 1 drives the 4th support 17 and the assembly that is connected with the 4th support 17 to rotate around X-axis by one end output shaft, and the second ultrasound electric machine 12 drives coupling shaft 18 by one end output shaft and the assembly that is connected with the second coupling shaft 18 rotates around Y-axis.
As Fig. 1,2, shown in 3: in conjunction with the feature of Driven by Ultrasonic Motors, the mode of operation that this adopts two Attitute detecting devices to detect from steady platform, i.e. the first support 3 and the 4th support 17 equal Installation posture detection devices in place, wherein the Attitute detecting device 4 at the first support 3 places is responsible for providing the direction signal of external interference, and the Attitute detecting device 6 at the 4th support 17 places is responsible for providing the speed difference that drives stabilized platform.Now can be easily judge the working state of external interference state now and stabilized platform according to the output information of the first support 3, the 4th support 17 place's Attitute detecting devices, thereby adjust control mode.
As shown in Figure 4, this adopts ultrasound electric machine directly to drive from steady platform, its basic principle is: platform moves to fixed angular speed with certain in inertial space, when being subject in the situation of external interference, mesa corners speed changes, now, according to this speed difference, change ultrasound electric machine output by adjusting driver frequency, until platform output speed error is zero.
As shown in Figure 1,2,3, 4: the working method of the certainly steady platform of Three Degree Of Freedom: the first Attitute detecting device 4 is responsible for the undesired signal that provides extraneous, comprise the rotation variable quantity along X-axis, Y-axis, three directions of Z axis respectively, then by microcomputer communication interface, signal is passed to embedded controller, the second Attitute detecting device 6 is responsible for providing the speed difference that drives stabilized platform, comprises the rotation variable quantity along X-axis, Y-axis, three directions of Z axis respectively, then by circuit interface module, signal is passed to embedded controller, electric machine control system taking embedded controller as core is according to the first Attitute detecting device 4, the output information of the second Attitute detecting device 6 judges the working state of external interference state now and stabilized platform, by driving interface, power model is controlled respectively the first ultrasound electric machine 1, the second ultrasound electric machine 12, the start and stop of the 3rd ultrasound electric machine 14, clockwise and anticlockwise and rotating speed, to compensate the disturbance yaw displacement amount of outer bound pair capture apparatus, primary importance detection device 10, second place detection device 11, the 3rd position detecting device 16 each ultrasound electric machine rotating speed recording and clockwise and anticlockwise signal by the peripheral interface circuit electric machine control system that to pass to based on embedded controller be core, electric machine control system again sends drive control signal according to gathered ultrasound electric machine swing offset signal and revises to each ultrasound electric machine, reach closed-loop feedback control object, whole platform is better realized dynamically from steady function.
Claims (1)
1. a Three Degree Of Freedom is from steady platform, it is characterized in that: comprise the first support (3), the second support (13), the 3rd support (15) and the 4th support (17), the first ultrasound electric machine (1), the second ultrasound electric machine (12), the 3rd ultrasound electric machine (14), the first coupling shaft (7), the first rolling bearing (9), the second rolling bearing (5) and the second coupling shaft (18), wherein, described the first coupling shaft (7) links together by its one end connecting plate and the 4th support (17), the other end links together by supporting and location and described second support (13) of the first rolling bearing (9), one end output shaft of described the first ultrasound electric machine (1) is connected with described the 4th support (17), one end output shaft of described the second ultrasound electric machine (12) is connected with one end of described the second coupling shaft (18), one end output shaft of described the 3rd ultrasound electric machine (14) is connected with described the second support (13), the other end of described the second coupling shaft (18) is connected with the 4th support (17) by the supporting and location of the second rolling bearing (5),
Described the 3rd ultrasound electric machine (14) drives the second support (13) by one end output shaft and the assembly that is connected with the second support (13) rotates around Z axis, the first ultrasound electric machine (1) drives the 4th support (17) and the assembly that is connected with the 4th support (17) to rotate around X-axis by one end output shaft, and the second ultrasound electric machine (12) drives the second coupling shaft (18) by one end output shaft and the assembly that is connected with the second coupling shaft (18) rotates around Y-axis; The upper capture apparatus (2) of installing of described the first support (3);
Position detecting device, respectively primary importance detection device (10), second place detection device (11) and the 3rd position detecting device (16), wherein, described primary importance detection device (10) is arranged on the lid of the first rolling bearing (9) and is connected with the first coupling shaft (7) one end, described second place detection device (11) is installed on the shell of the second ultrasound electric machine (12) and is connected with one end output shaft of the second ultrasound electric machine (12), described the 3rd position detecting device (16) is installed on described the 3rd support (15) above and is connected with one end output shaft of the 3rd ultrasound electric machine (14),
Attitute detecting device, respectively the first Attitute detecting device (4), the second Attitute detecting device (6), wherein, it is upper that described the first Attitute detecting device (4) is adhered to described the first support (3), and the second Attitute detecting device (6) is adhered on described the 4th support (17);
Also comprise motor control assembly, described motor control assembly is embedded controller, the first Attitute detecting device (4) is responsible for the undesired signal that provides extraneous, comprises the rotation variable quantity along X-axis, Y-axis, three directions of Z axis respectively, then by microcomputer communication interface, signal is passed to described embedded controller, the second Attitute detecting device (6) is responsible for providing the speed difference that drives stabilized platform, comprises the rotation variable quantity along X-axis, Y-axis, three directions of Z axis respectively, then by circuit interface module, signal is passed to embedded controller, electric machine control system taking embedded controller as core is according to the first Attitute detecting device (4), the output information of the second Attitute detecting device (6) judges the working state of external interference state now and stabilized platform, by driving interface, power model is controlled respectively the first ultrasound electric machine (1), the second ultrasound electric machine (12), the start and stop of the 3rd ultrasound electric machine (14), clockwise and anticlockwise and rotating speed, to compensate the disturbance yaw displacement amount of outer bound pair capture apparatus, primary importance detection device (10), second place detection device (11), the 3rd position detecting device (16) each ultrasound electric machine rotating speed recording and clockwise and anticlockwise signal by the peripheral interface circuit electric machine control system that to pass to based on embedded controller be core, electric machine control system again sends drive control signal according to gathered ultrasound electric machine swing offset signal and revises to each ultrasound electric machine, reach closed-loop feedback control object.
2. a kind of Three Degree Of Freedom according to claim 1, from steady platform, is characterized in that: the flange at tail end dish of one end of described the first support (3) and the first coupling shaft (7) links together; Described the first ultrasound electric machine (1) is arranged on described the second support (13) mounting plate, and bolt is fixed in addition; Described the second ultrasound electric machine (12) is arranged on described the 4th support (17) mounting plate, and bolt is fixed in addition, and described the 3rd ultrasound electric machine (14) is arranged on described the 3rd support (15) mounting plate, and bolt is fixed in addition.
3. according to claim 1 from steady platform, it is characterized in that: described capture apparatus (2) is imaging sensor.
4. according to claim 1 from steady platform, it is characterized in that: the driving control system that described motor control assembly is is core based on DSP single-chip microcomputer or other embedded microcontrollers.
5. according to claim 1 from steady platform, it is characterized in that: described Attitute detecting device is gyroscope or other attitude detecting sensors.
6. according to claim 1 from steady platform, it is characterized in that: described position detecting device is rotating coder or other grating measuring sensors.
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| CN201320647902.5U CN203686509U (en) | 2013-10-21 | 2013-10-21 | Three-degree-of-freedom self-stabilizing platform |
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| CN201320647902.5U CN203686509U (en) | 2013-10-21 | 2013-10-21 | Three-degree-of-freedom self-stabilizing platform |
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| CN110288896A (en) * | 2019-06-03 | 2019-09-27 | 南京玖玖教育科技有限公司 | Dynamic reconfigurable four-degree-of-freedom exercise test platform |
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