CN203950109U - Capture apparatus stabilizator - Google Patents
Capture apparatus stabilizator Download PDFInfo
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- CN203950109U CN203950109U CN201420120549.XU CN201420120549U CN203950109U CN 203950109 U CN203950109 U CN 203950109U CN 201420120549 U CN201420120549 U CN 201420120549U CN 203950109 U CN203950109 U CN 203950109U
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Abstract
The utility model discloses a kind of capture apparatus stabilizator, comprise the first turning axle being driven by three-phase brushless alternating current generator one respectively, the second turning axle being driven by three-phase brushless alternating current generator two, be arranged on the first magnetic rotary encoder on three-phase brushless alternating current generator one, be arranged on the second magnetic rotary encoder on three-phase brushless alternating current generator two, inertial sensor, fixture, primary controller, described three-phase brushless alternating current generator one, three-phase brushless alternating current generator two, inertial sensor, the first magnetic rotary encoder, the second magnetic rotary encoder is electrically connected with primary controller respectively, described inertial sensor is arranged on fixture, the axial line of the first turning axle and the second turning axle intersects vertically, described fixture is connected with the first turning axle, three-phase brushless alternating current generator one is connected with the second turning axle by bending part.Described capture apparatus stabilizer structure is simple, small volume and less weight, good stability.
Description
Technical field
The utility model relates to a kind of capture apparatus stabilizator.
Background technology
Along with television technology development, no matter be very universal with mobile phone or the professional rank digital filming equipment of shoot function, but take and be very easy to cause picture weave and fuzzy at the volley, in order to take and also to obtain steady and audible picture at the volley, need to be by stable equipment for shooting.
Traditional stable equipment mainly contains following four kinds: 1, mechanical stability device (conventional appellation: Si Tannikang systems stabilisation), it is the stable inertia principle according to mechanical center of gravity, realize and take the basicly stable of load by the universal joint of low frictional resistance, relevant patent has: CN201220417128.4, CN201230053857.1 etc., but this stabilising arrangement is taken the balance of load by the principle control of pendulum effect, in the time of motion, play certain stabilization, there is fixed proportion owing to taking between load and counterweight, load is larger, whole stabilising arrangement volume weight is just larger, cause manipulating dumb, usage space is restricted, the anxious inertia that stops of rapid movement rocks the shortcomings such as large, in actual applications, grasping Si Tannikang system completely need to have and possess higher operant level, 2, a kind of stabilising arrangement that is mainly used in taking photo by plane in the air, its use micro mechanical sensor does and feeds back, realize stable by microcomputer drive motor, relevant patent has: CN201010171360.X, CN201310097887.6, this stabilising arrangement uses angular-rate sensor to do the open loop control mode of feeding back, use direct current speed-down servo motor or airplane model steering engine as driving element, after gear case rotating due to DC speed-reducing, there is gap, exist control accuracy lower, poor reliability, easily vibrations, the defects such as the life-span is lower, cannot realize smooth stable augmentation control, 3, a kind of high-performance stabilising arrangement for professional domain, its use high-performance angular-rate sensor does and feeds back, realize stable by microcomputer driving moment motor, Patents has: CN201110099579.8, the motor that this stabilising arrangement uses has brush torque motor for cavity ring, and shell, motor and feedback element volume weight are all larger, power hungry, only can be used for professional domain, be difficult to be accepted by ordinary consumer, 4, a kind of stable The Cloud Terrace of model plane aerial photographing application, it uses inertial sensor to detect the attitude information of load, after processing by microcomputer, realize stable by motor direct-drive load movement, Patents has: CN201110380351.6, but this stabilising arrangement weak point is to use the element of DC brushless motor as direct driving, on the one hand because its motor length is much larger than its diameter, be not suitable for low speed rotation and the larger stable The Cloud Terrace field of driving moment, the driving moment that causes in the time commutating of DC brushless motor is suddenlyd change on the other hand, lasting accuracy is had to impact, this stable The Cloud Terrace uses DC brushless motor as drive unit, this motor changes armature supply polarity according to hall signal and realizes electronic commutation, but can bring larger torque fluctuations in the time of commutation, cannot meet high-performance, high-precision stable application.This utility model is only used attitude information as FEEDBACK CONTROL amount, control and gather without any other supplementary, on control principle, there is larger problem in this, can cause control hysteresis and control accuracy lower, aspect physical construction, this stable The Cloud Terrace exists that structure is not compact, poor seismic behavior, portability is poor, reliability is low, can not lead to the shortcomings such as circle rotation.
Summary of the invention
Based on this, the utility model is to overcome the defect of prior art, and a kind of capture apparatus stabilizator is provided, and not only stability is good, and simple in structure, good portability.
Its technical scheme is as follows:
A kind of capture apparatus stabilizator, comprise the first turning axle being driven by three-phase brushless alternating current generator one respectively, the second turning axle being driven by three-phase brushless alternating current generator two, be arranged on the first magnetic rotary encoder on three-phase brushless alternating current generator one, be arranged on the second magnetic rotary encoder on three-phase brushless alternating current generator two, inertial sensor, fixture, primary controller, described three-phase brushless alternating current generator one, three-phase brushless alternating current generator two, inertial sensor, the first magnetic rotary encoder, the second magnetic rotary encoder is electrically connected with primary controller respectively, described inertial sensor is arranged on fixture, the axial line of the first turning axle and the second turning axle intersects vertically, described fixture is connected with the first turning axle, three-phase brushless alternating current generator one is connected with the second turning axle by bending part.
Preferably, described fixture comprises back up pad, the first holder, the second holder, the relative both sides of described back up pad are provided with deck, on described the first holder and the second holder, be equipped with axis, on described axis, cover has torque spring, the first holder is coordinated and is rotatably installed in back up pad with deck by axis with the second holder, and described back up pad is connected with the first turning axle.
Preferably, the clamping face of described the first holder, the second holder is the polyline shaped of indent, and the clamping face structural symmetry of the first holder, the second holder.
Preferably, described fixture comprises supporting plate, web joint, card-bit part, described web joint comprises mutual vertically disposed connecting portion and installation portion, described connecting portion is connected with the first turning axle by the first leading screw and nut mechanism, described installation portion is connected with supporting plate by the second leading screw and nut mechanism, and described card-bit part is arranged on supporting plate side.
Preferably, three-phase brushless alternating current generator two is provided with display away from the one side of the second turning axle, and described display is for being electrically connected with capture apparatus.
Preferably, the first magnetic rotary encoder, the second magnetic rotary encoder include circular magnet steel, encoder chip, described circular magnet steel is arranged on the first turning axle, the second turning axle, and described encoder chip is just to circular magnet steel setting, and encoder chip and primary controller electric connection.
Preferably, described capture apparatus stabilizator also comprises universal handle, described three-phase brushless alternating current generator two is connected with universal handle, described primary controller is arranged in universal handle, universal handle is provided with power switch, turning axle adjuster bar, and described power switch, turning axle adjuster bar are electrically connected with primary controller respectively.
Preferably, described capture apparatus stabilizator also comprises the 3rd turning axle being driven by three-phase brushless alternating current generator three, connecting link, operating grip and the geomagnetic sensor and the 3rd magnetic rotary encoder that are electrically connected with primary controller, described geomagnetic sensor is arranged on fixture, described the 3rd magnetic rotary encoder is arranged on three-phase brushless alternating current generator three, described three-phase brushless alternating current generator three is connected with operating grip, described the 3rd turning axle is connected with three-phase brushless alternating current generator two by connecting link, the axial line of the 3rd turning axle respectively with the first turning axle, the axial line of the second turning axle intersects vertically.
Preferably, described the 3rd magnetic rotary encoder comprises circular magnet steel, encoder chip, described circular magnet steel is arranged on the first turning axle, the second turning axle, the 3rd turning axle, and described encoder chip is just to circular magnet steel setting, and encoder chip and primary controller electric connection.
Preferably, described the first turning axle, the second turning axle, the 3rd turning axle are hollow-core construction, are provided with collector ring in it.。
Preferably, described three-phase brushless alternating current generator one, three-phase brushless alternating current generator two, three-phase brushless alternating current generator three are the disc type contour structures of flattened cylindrical shape.
The utility model also provides a kind of capture apparatus stabilizator of diaxon, and its technical scheme is as follows:
A control method for capture apparatus stabilizator, comprises the steps:
Real-time angular velocity, the acceleration of inertial sensor detection space three axles, and send primary controller to;
The data that primary controller transmits according to inertial sensor calculate the movement tendency of the first turning axle, the second turning axle in advance, and export steering order and adjust to three-phase brushless alternating current generator one, three-phase brushless alternating current generator two position of the first turning axle, the second turning axle;
The first magnetic rotary encoder, the second magnetic rotary encoder detect the rotation information of three-phase brushless alternating current generator one, three-phase brushless alternating current generator two and send master controller to, master control calculates according to rotation information the absolute position that three-phase brushless alternating current generator one, three-phase brushless alternating current generator two move, send steering order to three-phase brushless alternating current generator one, three-phase brushless alternating current generator two, three-phase brushless alternating current generator one, three-phase brushless alternating current generator two rotate to initial desired location according to steering order control the first turning axle, second turning axle of primary controller.
The utility model also provides a kind of capture apparatus stabilizator of three axles, and its technical scheme is as follows:
A control method for capture apparatus stabilizator, comprises the steps:
Real-time angular velocity, the acceleration of inertial sensor detection space three axles, and send primary controller to, the geomagnetic field intensity of geomagnetic sensor detection space three axles, and send primary controller to;
Primary controller calculates orientation angle and the movement tendency of the first turning axle, the second turning axle, the 3rd turning axle in advance according to the data of inertial sensor and geomagnetic sensor transmission, and export steering order to three-phase brushless alternating current generator one, three-phase brushless alternating current generator two, three-phase brushless alternating current generator three, three-phase brushless alternating current generator one, three-phase brushless alternating current generator two, three-phase brushless alternating current generator three are adjusted the position of the first turning axle, the second turning axle, the 3rd turning axle according to the steering order of primary controller;
The first magnetic rotary encoder, the second magnetic rotary encoder, the 3rd magnetic rotary encoder detects three-phase brushless alternating current generator one, three-phase brushless alternating current generator two, the rotation information of three-phase brushless alternating current generator three also sends master controller to, master control calculates three-phase brushless alternating current generator one according to rotation information, three-phase brushless alternating current generator two, the absolute position that three-phase brushless alternating current generator three moves, send steering order to three-phase brushless alternating current generator one, three-phase brushless alternating current generator two, three-phase brushless alternating current generator one, three-phase brushless alternating current generator two is according to steering order control first turning axle of primary controller, the second turning axle, the second turning axle rotates to initial desired location.
Further, in above-mentioned steps, primary controller calculates the first turning axle, the second turning axle, the 3rd turning axle orientation angle and movement tendency in advance, and exports steering order to three-phase brushless alternating current generator one, three-phase brushless alternating current generator two, three-phase brushless alternating current generator three, comprises the steps:
Primary controller reads in real time the data of inertial sensor and geomagnetic sensor and calculates the current attitude of the first turning axle, the second turning axle, the 3rd turning axle;
Master controller is taking the angular velocity of spatial triaxial as feedback quantity, taking the current attitude angle of the first turning axle of calculating, the second turning axle, the 3rd turning axle as compensation rate, calculates each controlling increment;
Primary controller is added to each controlling increment in the driving aim parameter of three-phase brushless alternating current generator one, three-phase brushless alternating current generator two, three-phase brushless alternating current generator three, and the width-modulation pulse that is three-phase sine-wave according to driving aim parameter distribution dutycycle is in three-phase brushless alternating current generator one, three-phase brushless alternating current generator two, three-phase brushless alternating current generator three.
Preferably, the frequency of described width-modulation pulse is 16KHZ/s～22KHZ/s.
Further, in above-mentioned steps, the first magnetic rotary encoder, the second magnetic rotary encoder, the 3rd magnetic rotary encoder detect the rotation information of three-phase brushless alternating current generator one, three-phase brushless alternating current generator two, three-phase brushless alternating current generator three and send master controller to, comprise the steps:
Each circular magnet steel rotates to form rotating magnetic field with three-phase brushless alternating current generator one, three-phase brushless alternating current generator two, three-phase brushless alternating current generator three, each encoder chip detects this rotating magnetic field and exports the orthogonal string ripple signal of two-way to primary controller, and primary controller goes out according to the data solver of encoder chip the absolute position that three-phase brushless alternating current generator one, three-phase brushless alternating current generator two, three-phase brushless alternating current generator three move.
Preferably, in above-mentioned steps, the frequency that primary controller gathers the data of inertial sensor, magnetic rotary encoder is 1300 times/second～1600 times/second.
Advantage to aforementioned techniques scheme or principle describe below:
1, above-mentioned capture apparatus stabilizator, by the axial line of the first turning axle and the second turning axle is intersected vertically, fixture is connected with the first turning axle, three-phase brushless alternating current generator one is connected with the second turning axle by bending part, capture apparatus is arranged on fixture, in shooting process, by the real-time angular velocity of inertial sensor detection space three axles, acceleration, by the first magnetic rotary encoder, the second magnetic rotary encoder obtains three-phase brushless alternating current generator one, the data of the position of rotation of three-phase brushless alternating current generator two, are gathered each data and are carried out attitude algorithm and location compute by high performance primary controller, the first turning axle that output three phase AC sine wave shape drives to three-phase brushless alternating current generator one, the second turning axle that three-phase brushless alternating current generator two drives carries out motion compensation to capture apparatus, make capture apparatus can keep the stable of moment attitude, described capture apparatus stabilizer structure is simple, small volume and less weight, be easy to carry, be applicable to different mode of motion and carrier as walking, ride, hand-held, vehicle-mounted, boat-carrying, airborne etc., described capture apparatus has comprised smart mobile phone capture apparatus, miniature video camera capture apparatus, card form capture apparatus, miniature one-shot equipment, single-lens reflex capture apparatus, the digital camera-shooting and recording device of specialty, specialty digital movie capture apparatus, professional film film shooting equipment etc.
The control method of the stabilizator that 2, the control method of above-mentioned capture apparatus stabilizator is diaxon, there are two control loops, the one, the data that primary controller transmits according to inertial sensor calculate the first turning axle, the movement tendency position in second turning axle future in advance, and export steering order and adjust to three-phase brushless alternating current generator one, three-phase brushless alternating current generator two position of the first turning axle, the second turning axle, two is first magnetic rotary encoders, the second magnetic rotary encoder detects three-phase brushless alternating current generator one, the rotation information of three-phase brushless alternating current generator two also sends master controller to, master control calculates three-phase brushless alternating current generator one according to rotation information, the absolute position that three-phase brushless alternating current generator two moves, send steering order to three-phase brushless alternating current generator one, three-phase brushless alternating current generator two, three-phase brushless alternating current generator one, three-phase brushless alternating current generator two is according to steering order control first turning axle of primary controller, the second turning axle rotates to initial desired location, thereby the capture apparatus of realizing on the stabilizator that makes to be arranged on diaxon can keep stable, make the picture shot clear, continuously, the situation such as there is not rocking.
3, another control method of above-mentioned capture apparatus stabilizator is the control method of the stabilizator of three axles, there are equally two control loops, the one, primary controller calculates the first turning axle in advance according to the data of inertial sensor and geomagnetic sensor transmission, the second turning axle, the orientation angle of the 3rd turning axle and movement tendency, and export steering order to three-phase brushless alternating current generator one, three-phase brushless alternating current generator two, three-phase brushless alternating current generator three, three-phase brushless alternating current generator one, three-phase brushless alternating current generator two, three-phase brushless alternating current generator three is adjusted the first turning axle according to the steering order of primary controller, the second turning axle, the position of the 3rd turning axle, two is first magnetic rotary encoders, the second magnetic rotary encoder, the 3rd magnetic rotary encoder detects three-phase brushless alternating current generator one, three-phase brushless alternating current generator two, the rotation information of three-phase brushless alternating current generator three also sends master controller to, master control calculates three-phase brushless alternating current generator one according to rotation information, three-phase brushless alternating current generator two, the absolute position that three-phase brushless alternating current generator three moves, send steering order to three-phase brushless alternating current generator one, three-phase brushless alternating current generator two, three-phase brushless alternating current generator one, three-phase brushless alternating current generator two is according to steering order control first turning axle of primary controller, the second turning axle, the second turning axle rotates to initial desired location, can keep stablizing thereby realize the capture apparatus that makes to be arranged on the stabilizator of three axles, make the picture shot clear, continuous, the situation such as not occur rocking.
Brief description of the drawings
Fig. 1 is the structural representation of the capture apparatus stabilizator of the diaxon described in the utility model embodiment mono-;
Fig. 2 is the structural representation of the capture apparatus stabilizator of the diaxon described in the utility model embodiment bis-;
Fig. 3 is the structural representation of the capture apparatus stabilizator of the diaxon described in the utility model embodiment tri-;
Fig. 4 is the structural representation of the capture apparatus stabilizator of three axles described in the utility model embodiment tetra-;
Fig. 5 is the structural representation of the capture apparatus stabilizator of three axles described in the utility model embodiment five;
Fig. 6 is the process flow diagram of the control method of the capture apparatus stabilizator of two axles described in the utility model embodiment six;
Fig. 7 is the process flow diagram of the control method of the capture apparatus stabilizator of three axles described in the utility model embodiment seven;
Fig. 8 is the schematic diagram of the control method of the capture apparatus stabilizator of three axles described in the utility model embodiment seven;
Description of reference numerals:
1, three-phase brushless alternating current generator one, 2, three-phase brushless alternating current generator two, 3, three-phase brushless alternating current generator three, 4, the first turning axle, 5, the second turning axle, 6, the 3rd turning axle, 7, fixture, 711, back up pad, 712, the first holder, 713, the second holder, 721, supporting plate, 722, web joint, 723, card-bit part, 8, bending part, 9, universal handle, 10, display, 11, connecting link, 12, operating grip.
Embodiment
Below in conjunction with accompanying drawing, embodiment of the present utility model is elaborated:
Embodiment mono-
As shown in Figure 1, a kind of capture apparatus stabilizator, comprise the first turning axle 4 being driven by three-phase brushless alternating current generator 1 respectively, the second turning axle 5 being driven by three-phase brushless alternating current generator 22, be arranged on the first magnetic rotary encoder on three-phase brushless alternating current generator 1, be arranged on the second magnetic rotary encoder on three-phase brushless alternating current generator 22, inertial sensor, fixture 7, primary controller, described three-phase brushless alternating current generator 1, three-phase brushless alternating current generator 22, inertial sensor, the first magnetic rotary encoder, the second magnetic rotary encoder is electrically connected with primary controller respectively, described inertial sensor is arranged on fixture 7, the axial line of the first turning axle 4 and the second turning axle 5 intersects vertically, described fixture 7 is connected with the first turning axle 4, three-phase brushless alternating current generator 1 is connected with the second turning axle 5 by bending part 8.
Above-mentioned capture apparatus stabilizator, by the axial line of the first turning axle 4 and the second turning axle 5 is intersected vertically, fixture 7 is connected with the first turning axle 4, three-phase brushless alternating current generator 1 is connected with the second turning axle 5 by bending part 8, capture apparatus is arranged on fixture 7, in shooting process, (refer to the space X taking inertial sensor as true origin by inertial sensor detection space three axles, Y, Z tri-axles) real-time angular velocity, acceleration information, by the first magnetic rotary encoder, the second magnetic rotary encoder obtains three-phase brushless alternating current generator 1, the data of the position of rotation of three-phase brushless alternating current generator 22, are gathered each data and are carried out attitude algorithm and location compute by high performance primary controller, the first turning axle 4 that output three phase AC sine wave shape drives three-phase brushless alternating current generator 1 to drive, the second turning axle 5 that three-phase brushless alternating current generator 22 drives carries out motion compensation to capture apparatus, make capture apparatus can keep the stable of moment attitude, described capture apparatus stabilizer structure is simple, small volume and less weight, be easy to carry, be applicable to different mode of motion and carrier as walking, ride, hand-held, vehicle-mounted, boat-carrying, airborne etc., described capture apparatus has comprised smart mobile phone capture apparatus, miniature video camera capture apparatus, card form capture apparatus, miniature one-shot equipment, single-lens reflex capture apparatus, the digital camera-shooting and recording device of specialty, specialty digital movie capture apparatus, professional film film shooting equipment etc.The first magnetic rotary encoder is set, the second magnetic rotary encoder has avoided lacking the abnormal and jitter phenomenon of moment that motor angle feedback loop brings, the reliability and stability of stabilizator are improved, and make stabilizator can automatically adjust along with the size of external disturbance the drive current of motor, when rock outside, hour power consumption is very low, in the time running into larger interference, can improve immediately moment, realize the unification of low-power consumption and high stability, and can make three-phase brushless alternating current generator 1, two are operated in position servo pattern, for user provides the operating experience of hommization more, for example the angle locking of certain turning axle is enabled with outside motion campaign.
Described in the present embodiment, fixture 7 comprises back up pad 711, the first holder 712, the second holder 713, the relative both sides of described back up pad 711 are provided with deck, on described the first holder 712 and the second holder 713, be equipped with axis, on described axis, cover has torque spring, the first holder 712 is coordinated with deck and is rotatably installed in back up pad 711 by axis with the second holder 713, and described back up pad 711 is connected with the first turning axle 4.Coordinate by the first holder 712, the second holder 713, make the relative back up pad 711 of capture apparatus keep fixing, and under the effect of torque spring, axis, deck, between the first holder 712, the second holder 713, can be adjusted to different in width according to the capture apparatus of different size, make fixture 7 be applicable to the capture apparatus of different size.
The clamping face of described the first holder 712, the second holder 713 is the polyline shaped of indent, and the clamping face structural symmetry of the first holder 712, the second holder 713.By the clamping face of the first holder 712, the second holder 713 is arranged to symmetrical indent polyline shaped, make capture apparatus can relative back up pad 711 be fixed into required different angles under the clamping face of the first holder 712 and the clamping face effect of two holders, and in different angles, can keep stable, be difficult for skidding off from fixture 7.
Described the first magnetic rotary encoder, the second magnetic rotary encoder comprise circular magnet steel, encoder chip, described circular magnet steel is arranged on the first turning axle 4, the second turning axle 5 rear ends, described encoder chip is just to circular magnet steel setting, and encoder chip and primary controller electric connection.Circular magnet steel is along with output shaft rotates to form rotating magnetic field, encoder chip detects this rotating magnetic field and exports the orthogonal string ripple signal of two-way to primary controller, primary controller goes out three-phase brushless alternating current generator 1 according to the data solver of encoder chip, the absolute position of three-phase brushless alternating current generator 22 motions, avoid three-phase brushless alternating current generator 1, three-phase brushless alternating current generator 22 occurs to drive phase place to transfinite, moment reversion, the phenomenon of device concussion, improve three-phase brushless alternating current generator 1, the control accuracy of three-phase brushless alternating current generator 22 and anti-interference, can optimize the contradiction between holding torque and power consumption simultaneously, can also use separately the first magnetic rotary encoder, the three-phase brushless alternating current generator 1 that the second magnetic rotary encoder obtains, the exercise data of three-phase brushless alternating current generator 22 is realized three-phase brushless alternating current generator 1 as feedback quantity, three-phase brushless alternating current generator 22 angle locking functions.
Described capture apparatus stabilizator also comprises universal handle 9, described three-phase brushless alternating current generator 22 is connected with universal handle 9, described primary controller is arranged in universal handle 9, universal handle 9 is provided with power switch, turning axle adjuster bar, and described power switch, turning axle adjuster bar are electrically connected with primary controller respectively.Open the power switch on universal handle 9, regulate turning axle adjuster bar control the first turning axle 4, the second turning axle 5 to rotate, make to be arranged on capture apparatus on fixture 7 in best shooting angle, this best shooting angle is the initial position of capture apparatus on stabilizator, mobile universal handle 9, primary controller control three-phase brushless alternating current generator 1 drives the first turning axle 4, control three-phase brushless alternating current generator 22 and drive the second turning axle 5, make the capture apparatus on fixture 7 can keep initial position always.
Embodiment bis-
As shown in Figure 2, the present embodiment and embodiment mono-difference are, described fixture 7 comprises supporting plate 721, web joint 722, card-bit part 723, described web joint 722 comprises mutual vertically disposed connecting portion and installation portion, described connecting portion is connected with the first turning axle 4 by the first leading screw and nut mechanism, described installation portion is connected with supporting plate 721 by the second leading screw and nut mechanism, and described card-bit part 723 is arranged on supporting plate 721 sides.
Comprise the fixture 7 of supporting plate 721, web joint 722, card-bit part 723 by setting, capture apparatus is arranged on supporting plate 721, make the relative supporting plate 721 of capture apparatus fixing by being arranged on the card-bit part 723 of supporting plate 721 sides, regulate the position of supporting plate 721 by the first leading screw and nut mechanism, the second leading screw and nut mechanism, thereby regulate the center of gravity that is arranged on the capture apparatus on supporting plate 721, make the center of gravity of capture apparatus and the axial line points of intersection coincide of the first turning axle 4 and the second turning axle 5, thereby further improve the stability of stabilizator.
Embodiment tri-
As shown in Figure 3, the present embodiment and embodiment mono-difference be, three-phase brushless alternating current generator 22 is provided with display 10 away from the one side of the second turning axle 5, and described display 10 is for being electrically connected with capture apparatus.
By the display 10 that is provided for away from the one side of the second turning axle 5 at three-phase brushless alternating current generator 22 being electrically connected with capture apparatus, by display screen, person easy to use watches shooting effect in shooting process.
Embodiment tetra-
As shown in Figure 4, the present embodiment and embodiment mono-difference are, described capture apparatus stabilizator does not arrange universal handle 9, but also comprise the 3rd turning axle 6 being driven by three-phase brushless alternating current generator 33, connecting link 11, operating grip 12 and the geomagnetic sensor and the 3rd magnetic rotary encoder that are electrically connected with primary controller, described geomagnetic sensor is arranged on fixture 7, described the 3rd magnetic rotary encoder is arranged on three-phase brushless alternating current generator 33, described three-phase brushless alternating current generator 33 is connected with operating grip 12, described the 3rd turning axle 6 is connected with three-phase brushless alternating current generator 22 by connecting link 11, the axial line of the 3rd turning axle 6 respectively with the first turning axle 4, the axial line of the second turning axle 5 intersects vertically.
The 3rd turning axle 6 and geomagnetic sensor is set, thereby realize the control to capture apparatus direction, real-time detection space three axles of geomagnetic sensor (refer to the space X taking geomagnetic sensor as true origin, Y, Z tri-axles) geomagnetic field intensity, and send primary controller to, primary controller calculates the first turning axle 4 in advance according to the data of inertial sensor and geomagnetic sensor transmission, the second turning axle 5, the orientation angle of the 3rd turning axle 6 and movement tendency, and export steering order to three-phase brushless alternating current generator 1, three-phase brushless alternating current generator 22, three-phase brushless alternating current generator 33, three-phase brushless alternating current generator 1, three-phase brushless alternating current generator 22, three-phase brushless alternating current generator 33 is adjusted the first turning axle 4 according to the steering order of primary controller, the second turning axle 5, the position of the 3rd turning axle 6.In the present embodiment, the first turning axle 4 is pitch axis, and the second turning axle 5 is roll axle, and the 3rd turning axle 6 is axis of orientation.
Described the 3rd magnetic rotary encoder comprises circular magnet steel, encoder chip, described circular magnet steel is arranged on the rear end of the first turning axle 4, the second turning axle 5, the 3rd turning axle 6, described encoder chip is just to circular magnet steel setting, and encoder chip and primary controller electric connection.
Described the first turning axle 4, the second turning axle 5, the 3rd turning axle 6 are hollow-core construction, are provided with collector ring in it.By the first turning axle 4, the second turning axle 5, the 3rd turning axle 6 are set to hollow-core construction, being convenient to power lead and operation circuit etc. passes, in each turning axle, collector ring is set, makes the power lead of stabilizator and operation circuit realize multipurpose rotary without the function being wound around.
Described three-phase brushless alternating current generator 1, three-phase brushless alternating current generator 22, three-phase brushless alternating current generator 33 are the disc type contour structures of flattened cylindrical shape.Three-phase brushless alternating current generator 1, three-phase brushless alternating current generator 22, three-phase brushless alternating current generator 33 are set to the disc type contour structures of flattened cylindrical shape, be applicable to high-torque output under low speed, it is different from traditional elongated cylindrical brushless electric machine, is only applicable to High Rotation Speed.
Embodiment five
As shown in Figure 5, the present embodiment and embodiment tetra-differences are, operating grip 12 is provided with display 10, and described display 10 is for being electrically connected with capture apparatus.
Embodiment six
As shown in Figure 6, a kind of control method of capture apparatus stabilizator, comprises the steps:
S110: real-time angular velocity, the acceleration of inertial sensor detection space three axles, and send primary controller to;
S120: the data that primary controller transmits according to inertial sensor calculate the movement tendency of the first turning axle 4, the second turning axle 5 in advance, and export the position of steering order to three-phase brushless alternating current generator 1, three-phase brushless alternating current generator 22 adjustment the first turning axles 4, the second turning axle 5;
S130: the first magnetic rotary encoder, the second magnetic rotary encoder detects three-phase brushless alternating current generator 1, the rotation information of three-phase brushless alternating current generator 22 also sends master controller to, master control calculates three-phase brushless alternating current generator 1 according to rotation information, the absolute position of three-phase brushless alternating current generator 22 motions, send steering order to three-phase brushless alternating current generator 1, three-phase brushless alternating current generator 22, three-phase brushless alternating current generator 1, three-phase brushless alternating current generator 22 is according to steering order control first turning axle 4 of primary controller, the second turning axle 5 rotates to initial desired location.
Described in the present embodiment, the control method of capture apparatus stabilizator is as the control method of the stabilizator of embodiment mono-, two, three diaxons, there are two control loops, the one, the data that primary controller transmits according to inertial sensor calculate the first turning axle 4, the movement tendency position in the second 5 futures of turning axle in advance, and export steering order and adjust to three-phase brushless alternating current generator 1, three-phase brushless alternating current generator 22 position of the first turning axles 4, the second turning axle 5, two is first magnetic rotary encoders, the second magnetic rotary encoder detects three-phase brushless alternating current generator 1, the rotation information of three-phase brushless alternating current generator 22 also sends master controller to, master control calculates three-phase brushless alternating current generator 1 according to rotation information, the absolute position of three-phase brushless alternating current generator 22 motions, send steering order to three-phase brushless alternating current generator 1, three-phase brushless alternating current generator 22, three-phase brushless alternating current generator 1, three-phase brushless alternating current generator 22 is according to steering order control first turning axle 4 of primary controller, the second turning axle 5 rotates to initial desired location, thereby the capture apparatus of realizing on the stabilizator that makes to be arranged on diaxon can keep stable, make the picture shot clear, continuously, the situation such as there is not rocking.
Embodiment 7
As shown in Figure 7, a kind of control method of capture apparatus stabilizator, comprises the steps:
S210: real-time angular velocity, the acceleration of inertial sensor detection space three axles, and send primary controller to, the geomagnetic field intensity of geomagnetic sensor detection space three axles, and send primary controller to;
S220: primary controller calculates orientation angle and the movement tendency of the first turning axle 4, the second turning axle 5, the 3rd turning axle 6 in advance according to the data of inertial sensor and geomagnetic sensor transmission, and export steering order to three-phase brushless alternating current generator 1, three-phase brushless alternating current generator 22, three-phase brushless alternating current generator 33, three-phase brushless alternating current generator 1, three-phase brushless alternating current generator 22, three-phase brushless alternating current generator 33 are adjusted the position of the first turning axle 4, the second turning axle 5, the 3rd turning axle 6 according to the steering order of primary controller;
S230: the first magnetic rotary encoder, the second magnetic rotary encoder, the 3rd magnetic rotary encoder detects three-phase brushless alternating current generator 1, three-phase brushless alternating current generator 22, the rotation information of three-phase brushless alternating current generator 33 also sends master controller to, master control calculates three-phase brushless alternating current generator 1 according to rotation information, three-phase brushless alternating current generator 22, the absolute position of three-phase brushless alternating current generator 33 motions, send steering order to three-phase brushless alternating current generator 1, three-phase brushless alternating current generator 22, three-phase brushless alternating current generator 1, three-phase brushless alternating current generator 22 is according to steering order control first turning axle 4 of primary controller, the second turning axle 5, the second turning axle 5 rotates to initial desired location.
Described in the present embodiment, another control method of capture apparatus stabilizator is as embodiment tetra-, the control method of the stabilizator of three axles described in five, there are equally two control loops, the one, primary controller calculates the first turning axle 4 in advance according to the data of inertial sensor and geomagnetic sensor transmission, the second turning axle 5, the orientation angle of the 3rd turning axle 6 and movement tendency, and export steering order to three-phase brushless alternating current generator 1, three-phase brushless alternating current generator 22, three-phase brushless alternating current generator 33, three-phase brushless alternating current generator 1, three-phase brushless alternating current generator 22, three-phase brushless alternating current generator 33 is adjusted the first turning axle 4 according to the steering order of primary controller, the second turning axle 5, the position of the 3rd turning axle 6, two is first magnetic rotary encoders, the second magnetic rotary encoder, the 3rd magnetic rotary encoder detects three-phase brushless alternating current generator 1, three-phase brushless alternating current generator 22, the rotation information of three-phase brushless alternating current generator 33 also sends master controller to, master control calculates three-phase brushless alternating current generator 1 according to rotation information, three-phase brushless alternating current generator 22, the absolute position of three-phase brushless alternating current generator 33 motions, send steering order to three-phase brushless alternating current generator 1, three-phase brushless alternating current generator 22, three-phase brushless alternating current generator 1, three-phase brushless alternating current generator 22 is according to steering order control first turning axle 4 of primary controller, the second turning axle 5, the second turning axle 5 rotates to initial desired location, can keep stablizing thereby realize the capture apparatus that makes to be arranged on the stabilizator of three axles, make the picture shot clear, continuous, the situation such as not occur rocking.
In above-mentioned steps, orientation angle and the movement tendency of primary controller budget the first turning axle 4, the second turning axle 5, the 3rd turning axle 6, and export steering order to three-phase brushless alternating current generator 1, three-phase brushless alternating current generator 22, three-phase brushless alternating current generator 33, comprise the steps:
Primary controller reads in real time the data of inertial sensor and geomagnetic sensor and calculates the current attitude of the first turning axle 4, the second turning axle 5, the 3rd turning axle 6;
Master controller is taking the angular velocity of spatial triaxial (inertial sensor is as space X, Y, Z tri-axles of true origin) as feedback quantity, taking the current attitude angle of the first turning axle 4 of calculating, the second turning axle 5, the 3rd turning axle 6 as compensation rate, calculate each controlling increment;
Primary controller is added to each controlling increment in the driving aim parameter of three-phase brushless alternating current generator 1, three-phase brushless alternating current generator 22, three-phase brushless alternating current generator 33, and the width-modulation pulse that is three-phase sine-wave according to driving aim parameter distribution dutycycle is in three-phase brushless alternating current generator 1, three-phase brushless alternating current generator 22, three-phase brushless alternating current generator 33.
The frequency of described width-modulation pulse is 16KHZ/s～22KHZ/s, under this frequency, three-phase brushless alternating current generator 1, three-phase brushless alternating current generator 22, three-phase brushless alternating current generator 33 operate steadily, and can realize the direct driving to the first turning axle 4, the second turning axle 5, the 3rd turning axle 6 machinery-free gaps, in multiple smooth stable motion compensation that axially realize capture apparatus.
In above-mentioned steps, the first magnetic rotary encoder, the second magnetic rotary encoder, the 3rd magnetic rotary encoder detect the rotation information of three-phase brushless alternating current generator 1, three-phase brushless alternating current generator 22, three-phase brushless alternating current generator 33 and send master controller to, comprise the steps:
Each circular magnet steel rotates to form rotating magnetic field with three-phase brushless alternating current generator 1, three-phase brushless alternating current generator 22, three-phase brushless alternating current generator 33, each encoder chip detects this rotating magnetic field and exports the orthogonal string ripple signal of two-way to primary controller, and primary controller goes out the absolute position of three-phase brushless alternating current generator 1, three-phase brushless alternating current generator 22,33 motions of three-phase brushless alternating current generator according to the data solver of encoder chip.
In above-mentioned steps, the frequency that primary controller gathers the data of inertial sensor, magnetic rotary encoder is 1300 times/second～1600 times/second, realize the accurate control that the first turning axle 4, the second turning axle 5, the 3rd turning axle 6 are moved, thereby make capture apparatus can keep stable.
As shown in Figure 8, for the schematic diagram figure of the control method of the capture apparatus stabilizator of three axles described in the present embodiment, as seen from the figure, the first control loop: primary controller reads in real time the data of inertial sensor and geomagnetic sensor and calculates the current attitude of each turning axle by Quaternion Method, the data of inertial sensor output comprise the space spatial triaxial X taking inertial sensor as true origin, Y, the angular velocity of Z and acceleration, the data of geomagnetic sensor output are the space spatial triaxial X taking geomagnetic sensor as true origin, Y, the geomagnetic field intensity of Z, then the space spatial triaxial X taking inertial sensor as true origin, Y, the angular velocity of Z is feedback quantity, with the first turning axle calculating, the second turning axle, the current attitude angle of the 3rd turning axle is compensation rate, calculate and obtain each controlling increment by feedback control algorithm, FEEDBACK CONTROL is taking known pid control algorithm as basis, obtain high-quality differential signal by Nonlinear Tracking Differentiator (TD), and integration item is carried out to antisaturation processing, effectively accelerate response speed, improve control accuracy, reduce concussion, in " distribution of three phase sine waveform ", controlling increment is added to driving aim parameter, and according to driving aim parameter to distribute the respective phase data of three-phase sine-wave, in PWM mode, three-phase drive data are outputed to three-phase brushless alternating current generator and drive chip, PWM drive waveforms after amplification forms rotating vector in three-phase brushless AC Electrical Machine Winding, exports corresponding moment and promotes load as capture apparatus, simultaneously, the second control loop: the circular magnet steel being connected with each turning axle is along with motor rotates to form rotating magnetic field, the orthogonal string ripple signal of two-way is exported by encoder chip in this magnetic field, primary controller reads in real time the data of each magnetic rotary encoder and calculates angle and the current magnetic field phase place of each three-phase brushless alternating current generator, primary controller is according to the phase place of current magnetic field phase place adjustment output three-phase sine-wave, according to the amplitude of controlling increment adjustment output three-phase sine-wave, make the attitude stabilization of capture apparatus, this principle is also applicable to the stabilizator of diaxon, in the control method of the stabilizator of different from three axles is diaxon without the geomagnetic field intensity of geomagnetic sensor geomagnetic sensor detection space three axles.
The above embodiment has only expressed embodiment of the present utility model, and it describes comparatively concrete and detailed, but can not therefore be interpreted as the restriction to the utility model the scope of the claims.It should be pointed out that for the person of ordinary skill of the art, without departing from the concept of the premise utility, can also make some distortion and improvement, these all belong to protection domain of the present utility model.
Claims (11)
1. a capture apparatus stabilizator, it is characterized in that, comprise the first turning axle being driven by three-phase brushless alternating current generator one respectively, the second turning axle being driven by three-phase brushless alternating current generator two, be arranged on the first magnetic rotary encoder on three-phase brushless alternating current generator one, be arranged on the second magnetic rotary encoder on three-phase brushless alternating current generator two, inertial sensor, fixture, primary controller, described three-phase brushless alternating current generator one, three-phase brushless alternating current generator two, inertial sensor, the first magnetic rotary encoder, the second magnetic rotary encoder is electrically connected with primary controller respectively, described inertial sensor is arranged on fixture, the axial line of the first turning axle and the second turning axle intersects vertically, described fixture is connected with the first turning axle, three-phase brushless alternating current generator one is connected with the second turning axle by bending part.
2. capture apparatus stabilizator according to claim 1, it is characterized in that, described fixture comprises back up pad, the first holder, the second holder, the relative both sides of described back up pad are provided with deck, on described the first holder and the second holder, be equipped with axis, on described axis, cover has torque spring, and the first holder is coordinated and is rotatably installed in back up pad with deck by axis with the second holder, and described back up pad is connected with the first turning axle.
3. capture apparatus stabilizator according to claim 2, is characterized in that, the clamping face of described the first holder, the second holder is the polyline shaped of indent, and the clamping face structural symmetry of the first holder, the second holder.
4. capture apparatus stabilizator according to claim 1, it is characterized in that, described fixture comprises supporting plate, web joint, card-bit part, described web joint comprises mutual vertically disposed connecting portion and installation portion, described connecting portion is connected with the first turning axle by the first leading screw and nut mechanism, described installation portion is connected with supporting plate by the second leading screw and nut mechanism, and described card-bit part is arranged on supporting plate side.
5. capture apparatus stabilizator according to claim 1, is characterized in that, three-phase brushless alternating current generator two is provided with display away from the one side of the second turning axle, and described display is for being electrically connected with capture apparatus.
6. capture apparatus stabilizator according to claim 1, it is characterized in that, described the first magnetic rotary encoder, the second magnetic rotary encoder include circular magnet steel, encoder chip, described circular magnet steel is arranged on the first turning axle, the second turning axle, described encoder chip is just to circular magnet steel setting, and encoder chip and primary controller electric connection.
7. according to the capture apparatus stabilizator described in claim 1～6 any one, it is characterized in that, also comprise universal handle, described three-phase brushless alternating current generator two is connected with universal handle, described primary controller is arranged in universal handle, universal handle is provided with power switch, turning axle adjuster bar, and described power switch, turning axle adjuster bar are electrically connected with primary controller respectively.
8. according to the capture apparatus stabilizator described in claim 1～6 any one, it is characterized in that, it also comprises the 3rd turning axle being driven by three-phase brushless alternating current generator three, connecting link, operating grip and the geomagnetic sensor and the 3rd magnetic rotary encoder that are electrically connected with primary controller, described geomagnetic sensor is arranged on fixture, described the 3rd magnetic rotary encoder is arranged on three-phase brushless alternating current generator three, described three-phase brushless alternating current generator three is connected with operating grip, described the 3rd turning axle is connected with three-phase brushless alternating current generator two by connecting link, the axial line of the 3rd turning axle respectively with the first turning axle, the axial line of the second turning axle intersects vertically.
9. capture apparatus stabilizator according to claim 8, it is characterized in that, described the 3rd magnetic rotary encoder comprises circular magnet steel, encoder chip, described circular magnet steel is arranged on the first turning axle, the second turning axle, the 3rd turning axle, described encoder chip is just to circular magnet steel setting, and encoder chip and primary controller electric connection.
10. capture apparatus stabilizator according to claim 9, is characterized in that, described the first turning axle, the second turning axle, the 3rd turning axle are hollow-core construction, are provided with collector ring in it.
11. capture apparatus stabilizators according to claim 10, is characterized in that, described three-phase brushless alternating current generator one, three-phase brushless alternating current generator two, three-phase brushless alternating current generator three are the disc type contour structures of flattened cylindrical shape.
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| CN201420120549.XU CN203950109U (en) | 2014-03-14 | 2014-03-14 | Capture apparatus stabilizator |
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| CN201420120549.XU CN203950109U (en) | 2014-03-14 | 2014-03-14 | Capture apparatus stabilizator |
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