CN205809328U - Digital position stabilization loop and system - Google Patents
Digital position stabilization loop and system Download PDFInfo
- Publication number
- CN205809328U CN205809328U CN201620193037.5U CN201620193037U CN205809328U CN 205809328 U CN205809328 U CN 205809328U CN 201620193037 U CN201620193037 U CN 201620193037U CN 205809328 U CN205809328 U CN 205809328U
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- platform
- motor
- gyroscope
- controller
- circuit
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Abstract
This utility model provides a kind of digital position stabilization loop and system, relates to gravimetric technique field.Digital position stabilization loop is applied to marine gravitometer stabilized platform, marine gravitometer stabilized platform includes platform and pedestal, gyroscope it is provided with on platform, digital position stabilization loop includes that controller, D/A switch circuit and signal amplification circuit, controller, D/A switch circuit and signal amplification circuit are electrically connected with successively；Controller exports control signal after the angular velocity signal collecting gyroscope is controlled correction, the control signal of controller output is after D/A switch circuit conversion and signal amplification circuit are amplified, and drive installation motor on pedestal is so that platform is maintained at inertial space.Digital position stabilization loop and system that this utility model provides can make platform stable at inertial space, balance extraneous disturbance torque, thus reach to improve the effect of the certainty of measurement of marine gravitometer.
Description
Technical field
This utility model relates to gravimetric technique field, in particular to a kind of numeral
Stable loop and system.
Background technology
Marine gravitometer is the gravimeter used on ships or in submarine.In ocean at the uniform velocity
Under the conditions of line navigation, carry out gravity measurement continuously, owing to instrument is placed in the ship of motion
On body, often affected by pitching and the roll equal angular movement of the carriers such as naval vessel, gravity
The precision measured can reduce.Therefore, the carrier angle of marine gravitometer stabilized platform how is isolated
Motion, makes platform stable at inertial space to guarantee that gravimetric precision becomes current sea
The difficult problem in gravity measurement field, ocean.
Utility model content
The purpose of this utility model is to provide a kind of digital position stabilization loop and system, with isolation
The carrier angular movement of marine gravitometer stabilized platform, make platform stable at inertial space, thus
Improve the certainty of measurement of marine gravitometer.
This utility model is achieved in that
A kind of digital position stabilization loop, is applied to marine gravitometer stabilized platform, described ocean weight
Power instrument stabilized platform includes platform and pedestal, and described platform is provided with gyroscope, described base
Being provided with the motor of the described platform of rotating drive on seat, digital position stabilization loop includes: control
Device processed, D/A switch circuit and signal amplification circuit, described controller, described D/A switch
Circuit and described signal amplification circuit are electrically connected with successively, described signal amplification circuit and motor
It is electrically connected with；
Described controller is controlled school for the angular velocity signal collecting described gyroscope
Exporting control signal the most afterwards, the described control signal of described controller output turns through described D/A
After changing circuit conversion and the amplification of described signal amplification circuit, drive installation is on described pedestal
Motor so that described platform is maintained at inertial space.
Digital position stabilization loop as above, it is preferable that digital position stabilization loop also includes filtering
Circuit, described filter circuit is electrically connected with described controller, and described filter circuit is for right
The angular velocity signal that described gyroscope collects is filtered processing, in order to described controller pair
Described angular velocity signal after Filtering Processing is controlled correction.
Digital position stabilization loop as above, it is preferable that described filter circuit is low-pass filtering
Circuit.
This utility model additionally provides a kind of numeral stabilisation systems, is applied to marine gravitometer steady
Fixed platform, numeral stabilisation systems include platform, gyroscope, controller, D/A switch circuit,
Signal amplification circuit and motor, described gyroscope install on the platform, described gyroscope,
Described controller, described D/A switch circuit, described signal amplification circuit and described motor depend on
Secondary electric connection, the described platform of the rotating drive of described motor；
Described controller is controlled school for the angular velocity signal collecting described gyroscope
Exporting control signal the most afterwards, the described control signal of described controller output turns through described D/A
After changing circuit conversion and the amplification of described signal amplification circuit, drive installation is on described pedestal
Motor so that described platform is maintained at inertial space.
Numeral stabilisation systems as above, it is preferable that numeral stabilisation systems also includes filtering
Circuit, described filter circuit is electrically connected with described controller, and described filter circuit is for right
The angular velocity signal that described gyroscope collects is filtered processing, in order to described controller pair
Described angular velocity signal after Filtering Processing is controlled correction.
Numeral stabilisation systems as above, it is preferable that the quantity of described motor is two,
Two described motor described platforms of rotating drive respectively are along two vertical Plane Rotations.
Numeral stabilisation systems as above, it is preferable that numeral stabilisation systems also includes debugging
Interface, described debugging interface is electrically connected with described controller.
Numeral stabilisation systems as above, it is preferable that described gyroscope is fibre optic gyroscope
Or lasergyro.
Numeral stabilisation systems as above, it is preferable that described motor is motor.
Numeral stabilisation systems as above, it is preferable that described motor is servomotor.
For prior art, the digital position stabilization loop of this utility model offer and numeral stability series
Unite and there is following beneficial effect:
The digital position stabilization loop of this utility model offer and numeral stabilisation systems,
The angular velocity signal collected gyroscope by controller is controlled correction, output
Control signal, control signal is amplified through signal amplification circuit after D/A switch circuit conversion again
To drive motor band moving platform to rotate so that platform stable is in inertial space, the balance external world
Disturbance torque, thus reach to improve the effect of certainty of measurement of marine gravitometer
For making above-mentioned purpose of the present utility model, feature and advantage to become apparent,
Preferred embodiment cited below particularly, and coordinate appended accompanying drawing, it is described in detail below.
Accompanying drawing explanation
In order to be illustrated more clearly that the technical scheme of this utility model embodiment, below will be to reality
Execute the required accompanying drawing used in example to be briefly described, it will be appreciated that the following drawings is only shown
Go out some embodiment of the present utility model, be therefore not construed as the restriction to scope,
For those of ordinary skill in the art, on the premise of not paying creative work, also
Other relevant accompanying drawings can be obtained according to these accompanying drawings.
The knot of the marine gravitometer stabilized platform that Fig. 1 provides for this utility model first embodiment
Structure schematic diagram；
The block diagram signal of the digital position stabilization loop that Fig. 2 provides for this utility model first embodiment
Figure；
The block diagram of the another digital position stabilization loop that Fig. 3 provides for this utility model first embodiment
Schematic diagram；
The block diagram signal of the digital stabilisation systems that Fig. 4 provides for this utility model the second embodiment
Figure；
The block diagram of the another numeral stabilisation systems that Fig. 5 provides for this utility model the second embodiment
Schematic diagram.
Wherein, the corresponding relation between reference and component names is as follows:
| Gravimeter sensor | 101 |
| Pedestal | 102 |
| Pitch axis | 103 |
| Roll axle | 104 |
| Platform | 105 |
| Motor | 106 |
| Gyroscope | 107 |
| Gravimeter electronic box | 108 |
| Controller | 201 |
| D/A switch circuit | 202 |
| Signal amplification circuit | 203 |
| Filter circuit | 204 |
| Debugging interface | 205 |
Detailed description of the invention
Marine gravitometer is the gravimeter used on ships or in submarine.In ocean at the uniform velocity
Under the conditions of line navigation, carry out gravity measurement continuously, owing to instrument is placed in the ship of motion
On body, often affected by pitching and the roll equal angular movement of the carriers such as naval vessel, gravity
The precision measured can reduce.Therefore, the carrier angle of marine gravitometer stabilized platform how is isolated
Motion, makes platform stable at inertial space to guarantee that gravimetric precision becomes current sea
The difficult problem in gravity measurement field, ocean.Inventor observes and research discovery through long-term, it is proposed that
Digital position stabilization loop that this utility model embodiment is provided and numeral stabilisation systems.
Below in conjunction with accompanying drawing in this utility model embodiment, in this utility model embodiment
Technical scheme be clearly and completely described, it is clear that described embodiment be only
The a part of embodiment of this utility model rather than whole embodiments.Generally at accompanying drawing herein
Described in and the assembly of this utility model embodiment that illustrates can come with various different configurations
Arrange and design.Therefore, below to the embodiment of the present utility model provided in the accompanying drawings
Describe in detail and be not intended to limit claimed scope of the present utility model, but only table
Show selected embodiment of the present utility model.Based on embodiment of the present utility model, this area skill
The every other embodiment that art personnel are obtained on the premise of not making creative work,
Broadly fall into the scope of this utility model protection.
First embodiment
This utility model embodiment provides a kind of digital position stabilization loop, is applied to control ocean
Gravimeter stabilized platform, its major function is the load for isolating marine gravitometer stabilized platform
Body angular movement, makes platform stable at inertial space to balance extraneous disturbance torque so that it is guaranteed that weigh
The precision that power is measured.
Referring to Fig. 1, described marine gravitometer platform includes gravimeter sensor 101, pedestal
102, pitch axis 103, roll axle 104 and platform 105, pitch axis 103 and roll axle 104
On motor 106 is respectively installed, platform 105 is provided with gyroscope 107, gravimeter sensor
101 are arranged on platform 105 center, and gravimeter electronic box 108 is arranged on pedestal 102
Sidewall.
Refer to Fig. 2, be the block diagram of the digital position stabilization loop that this utility model embodiment provides
Schematic diagram, described digital position stabilization loop includes controller 201, D/A switch circuit 202
With signal amplification circuit 203, controller 201, D/A switch circuit 202 and signal amplify
Circuit 203 is electrically connected with successively.Wherein, the signal input part of controller 201 and platform 105
On gyroscope 107 be electrically connected with, the outfan of signal amplification circuit 203 and motor 106
It is electrically connected with.
During using marine gravitometer platform, gyroscope 107 acquisition platform 105 turns
Dynamic angular velocity signal is also uploaded to controller 201, and gyroscope 107 is adopted by controller 201
Collect to angular velocity signal be controlled correction, export a digital controlled signal, controller 201
The digital controlled signal of output is converted into Analog control signal through D/A switch circuit 202,
Through signal amplification circuit, this Analog control signal is amplified to drive 106 turns of motor the most again
Dynamic, when motor 106 rotates, band moving platform 105 rotates, and makes platform 105 stable used
Property space, the disturbance torque that balance is extraneous, thus reach to improve the measurement essence of marine gravitometer
The effect of degree.
In above-mentioned embodiment, digital position stabilization loop is provided with D/A switch circuit 202,
Therefore, the motor 106 that the outfan with signal amplification circuit 203 is electrically connected with need to use can
Identify the simulated machine of analog signal format.Certainly, motor 106 can also use recognizable
The digital motor of digital signals format, when motor 106 uses digital motor, need to cancel number/
Analog conversion circuit 202 and signal amplification circuit 203.
Referring to Fig. 3, the digital position stabilization loop that the present embodiment provides can also arrange filtered electrical
Road 204, filter circuit 204 is electrically connected at the signal of gyroscope 107 and controller 201
Between input.By arranging filter circuit 204, the angle that gyroscope 107 can be collected
Rate signal is filtered processing, and removes the interference signal in signal, improves ocean further
The certainty of measurement of gravimeter.
Second embodiment
Refering to Fig. 4, this utility model embodiment additionally provides a kind of numeral stabilisation systems, should
Numeral stabilisation systems includes platform 105 described above, gyroscope 107, filter circuit
204, controller 201, D/A switch circuit 202, signal amplification circuit 203 and motor 106,
Gyroscope 107 is arranged on platform 105, and platform 105 is for installing the weight of marine gravitometer
Power instrument sensor 101, gyroscope 107, filter circuit 204, controller 201, D/A turn
Change circuit 202, signal amplification circuit 203 and motor 106 to be electrically connected with successively, motor 106
Rotating shaft be connected with platform 105, can rotate by band moving platform 105 when motor 106 rotates.
In the present embodiment, motor 106 uses the analog quantity motor of recognizable analogue signal.Make
During marine gravitometer platform, gyroscope 107 can collect what platform 105 rotated
Angular velocity signal, the angular velocity signal that gyroscope 107 can be collected by filter circuit 204 enters
Row Filtering Processing, after Filtering Processing, filtered angular velocity signal is carried out by controller 201
Control correction, export a digital controlled signal, the digital controlled signal of controller 201 output
It is converted into Analog control signal through D/A switch circuit 202, amplifies electricity through signal the most again
This Analog control signal is amplified to drive motor 106 to rotate, when motor 106 rotates by road
Band moving platform 105 rotates, and makes platform 105 stable at inertial space, the balance external world
Disturbance torque, thus reach to improve the effect of the certainty of measurement of marine gravitometer.
In the present embodiment, numeral stabilisation systems includes two motors 106, two motors 106
Along two vertical Plane Rotations, two motors 106 can be used by band moving platform 105 respectively
Mode, can realize band moving platform 105 and rotate along unspecified angle, so that platform 105 is steady
It is scheduled on inertial space, the disturbance torque that balance is extraneous.Certainly, numeral stabilisation systems also can be only
Use the mode of a motor 106, but, when numeral stability series use a motor 106
Time, platform 105 to be made is maintained at inertial space, then need two digital stabilisation systemss common
A platform 105 is driven to rotate.
The angular velocity signal that gyroscope 107 rotates for acquisition platform 105, its implementation
Can have multiple, such as gyroscope 107 can use fibre optic gyroscope or lasergyro etc..
Same, the implementation of motor 106 can also have multiple, and such as motor 106 can
Think motor or servomotor etc..
Refering to Fig. 5, further, the digital stabilisation systems that this utility model embodiment provides
Can also arrange debugging interface 205, this debugging interface 205 is electrically connected with controller 201.
By arranging debugging interface 205, can realize very easily controller 201 being debugged.
In description of the present utility model, in addition it is also necessary to explanation, unless otherwise clear and definite rule
Fixed and limit, term " is arranged ", " installation ", " being connected ", " connection " should be interpreted broadly,
Connect for example, it may be fixing, it is also possible to be to removably connect, or be integrally connected；Can
To be mechanical connection, it is also possible to be electrical connection；Can be to be joined directly together, it is also possible in by
Between medium be indirectly connected to, can be the connection of two element internals.Common for this area
For technical staff, concrete in this utility model of above-mentioned term can be understood with concrete condition
Implication.
It should also be noted that similar label and letter represent similar terms in following accompanying drawing, because of
This, be defined in the most a certain Xiang Yi accompanying drawing, then it is right to need not in accompanying drawing subsequently
It defines further and explains.
In description of the present utility model, it should be noted that term " " center ", " on ",
The orientation of the instruction such as D score, "left", "right", " vertically ", " level ", " interior ", " outward " or position
Relation of putting is based on orientation shown in the drawings or position relationship, or this utility model product
The orientation usually put during use or position relationship, be for only for ease of description this utility model
Describe rather than indicate or imply that the device of indication or element must have specifically with simplifying
Orientation, with specific azimuth configuration and operation, therefore it is not intended that to of the present utility model
Limit.Describe additionally, term " first ", " second ", " the 3rd " etc. are only used for distinguishing, and
It is not intended that instruction or hint relative importance.
The foregoing is only preferred embodiment of the present utility model, be not limited to this
Utility model, for a person skilled in the art, this utility model can have various more
Change and change.All within spirit of the present utility model and principle, any amendment of being made,
Equivalent, improvement etc., within should be included in protection domain of the present utility model.
Claims (8)
1. a digital position stabilization loop, it is applied to marine gravitometer stabilized platform, described marine gravitometer stabilized platform includes platform and pedestal, it is provided with gyroscope on described platform, the motor of the described platform of rotating drive it is provided with, it is characterised in that including: controller, D/A switch circuit and signal amplification circuit on described pedestal, described controller, described D/A switch circuit and described signal amplification circuit are electrically connected with successively, and described signal amplification circuit is electrically connected with motor；
Described controller exports control signal after the angular velocity signal collecting described gyroscope is controlled correction, the described control signal of described controller output is after described D/A switch circuit conversion and described signal amplification circuit are amplified, and drive installation motor on described pedestal is so that described platform is maintained at inertial space.
Digital position stabilization loop the most according to claim 1, it is characterized in that, also include filter circuit, described filter circuit is electrically connected with described controller, described filter circuit is filtered processing for the angular velocity signal collecting described gyroscope, so that described controller is controlled correction to the described angular velocity signal after Filtering Processing, described filter circuit is low-pass filter circuit.
3. a digital stabilisation systems, it is applied to marine gravitometer stabilized platform, it is characterized in that, including platform, gyroscope, controller, D/A switch circuit, signal amplification circuit and motor, described gyroscope is installed on the platform, described gyroscope, described controller, described D/A switch circuit, described signal amplification circuit and described motor are electrically connected with successively, the described platform of the rotating drive of described motor；
Described controller exports control signal after the angular velocity signal collecting described gyroscope is controlled correction, the described control signal of described controller output, after described D/A switch circuit conversion and described signal amplification circuit are amplified, drives described motor so that described platform is maintained at inertial space.
Numeral stabilisation systems the most according to claim 3, it is characterised in that the quantity of described motor is two, two described motor described platforms of rotating drive respectively are along two vertical Plane Rotations.
Numeral stabilisation systems the most according to claim 3, it is characterised in that also include that debugging interface, described debugging interface are electrically connected with described controller.
Numeral stabilisation systems the most according to claim 3, it is characterised in that described gyroscope is fibre optic gyroscope or lasergyro.
Numeral stabilisation systems the most according to claim 3, it is characterised in that described motor is motor.
Numeral stabilisation systems the most according to claim 3, it is characterised in that described motor is servomotor.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201620193037.5U CN205809328U (en) | 2016-03-14 | 2016-03-14 | Digital position stabilization loop and system |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201620193037.5U CN205809328U (en) | 2016-03-14 | 2016-03-14 | Digital position stabilization loop and system |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN205809328U true CN205809328U (en) | 2016-12-14 |
Family
ID=58143501
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201620193037.5U Expired - Fee Related CN205809328U (en) | 2016-03-14 | 2016-03-14 | Digital position stabilization loop and system |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN205809328U (en) |
-
2016
- 2016-03-14 CN CN201620193037.5U patent/CN205809328U/en not_active Expired - Fee Related
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20161214 Termination date: 20180314 |