CN206378749U - Electric mechanical powdered soil based on MPU6050 attitude transducers - Google Patents
Electric mechanical powdered soil based on MPU6050 attitude transducers Download PDFInfo
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- CN206378749U CN206378749U CN201720077222.2U CN201720077222U CN206378749U CN 206378749 U CN206378749 U CN 206378749U CN 201720077222 U CN201720077222 U CN 201720077222U CN 206378749 U CN206378749 U CN 206378749U
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- motor
- connecting plate
- deflection
- rolling
- picture pick
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Abstract
The utility model discloses a kind of electric mechanical powdered soil based on MPU6050 attitude transducers, including carrier aircraft base, drive mechanism, sensor, controller and picture pick-up device, drive mechanism is arranged on carrier aircraft base, drive mechanism includes support, connecting plate and motor, motor includes pitching motor, rolling motor and deflection motor, connecting plate includes pitch linkage plate, rolling connecting plate and deflection connecting plate, support is arranged on carrier aircraft base and is connected with pitching motor, pitching motor passes through pitch linkage plate and rolling motor connection, rolling motor is connected by rolling connecting plate with deflection connecting plate, deflection connecting plate is connected by deflection motor with picture pick-up device, fixed platform is provided between deflection motor and picture pick-up device；The utility model controls three motor steerings and rotating speed by controller, realize picture pick-up device X-axis, Y-axis, Z axis three degree of freedom direction movement, so as to realize following function.
Description
Technical field：
The utility model is related to a kind of tracking platform, more particularly to a kind of electronics based on MPU6050 attitude transducers
Mechanically stable tracking platform.
Background technology：
Stable precision tracking platform passes through a series of electronic machine using real-time detection platform posture and change in location as means
Tool transmission mechanism accurately keeps dynamic attitude reference, is realized using image detecting to mobile target from motion tracking, due to
It has been effectively isolated carrier and disturbed in itself, has been obtained extensively in fields such as aviation investigation, habitata, the detections of precision equipment
Application.
Due to carrier guided missile, aircraft, battlebus, disturbance of ship, the change of continuous measuring table posture and position, essence can be isolated
Ensure to hold dynamic attitude reference, and realized by image detecting to maneuvering target from motion tracking, so in modern weapons system
It is widely used in system.For example in arrow guidance target seeker is played, it is desired to follow the line of sight to the target of main stabilization can be every
Disturbance from body angular movement to weapon-shooting line, obtains stable by the imaging detection device on powdered soil
Target image, be that big visual field target acquistion and small field of view target recognition and tracking provide measurement and calculating benchmark, raising is expert at
The surface cars such as transmitting hit rate tank, armored combat vehicle between entering need frequently to penetrate between motor-driven, stopping, slewing and traveling
Hit, its optimal in structure should not only have the maneuverability of height, should also possess steady aim, tracking, shooting ability between motion, surely
Determine tracking platform and can be used for daytime is installed to take aim at equipment depending on the three-in-one sight of, night vision, distance measurement function, obtain stable visual field, make observation
The antenna volume that person can clearly see clearly battlefield situation radar is huge, is often subject to various interference, in order that it is by pre-
Target following is realized in the search of set pattern rule, needs systems stabilisation to isolate these interference.In aerial reconnaissance photographic observation equipment, machine
The deep ocean work occasions such as target-designator, space remote sensing detection and bottom mounted sonar detection are carried, powdered soil is obtained for extensively
General application.
Utility model content：
Technical problem to be solved in the utility model is：Overcome the deficiencies in the prior art there is provided one kind it is simple in construction, can
To disassemble, by picture pick-up device X-axis, Y-axis, Z axis three degree of freedom direction movement, realize picture pick-up device to target object
Tracking, with small volume, precision height, the low electric mechanical powdered soil based on MPU6050 attitude transducers of cost.
The technical solution of the utility model is：A kind of electric mechanical tenacious tracking based on MPU6050 attitude transducers is put down
Platform, including carrier aircraft base, drive mechanism, sensor, controller and picture pick-up device, the driving machine being arranged on carrier aircraft base
Structure is connected with picture pick-up device, and the controller is connected with sensor and is arranged on carrier aircraft base, and the drive mechanism includes branch
Frame, connecting plate and motor, the motor include pitching motor, rolling motor and deflection motor, the connecting plate bag
Pitch linkage plate, rolling connecting plate and deflection connecting plate are included, the support is arranged on carrier aircraft base and is connected with pitching motor,
The pitching motor is connected by pitch linkage plate and rolling motor connection, the rolling motor by rolling connecting plate with deflection
Plate is connected, and the deflection connecting plate is connected by deflection motor with picture pick-up device, is set between the deflection motor and picture pick-up device
Fixed platform is equipped with, the sensor is set on the stationary platform, the motor and motor drive module and motor speed measuring
Module is connected, and motor drive module and the motor speed measuring module is connected with controller, and the controller is connected with power module.
One end of the pitch linkage plate is provided with rolling motor fixing plate, and the deflection connecting plate is zigzag configuration, and with
Rolling connecting plate is connected by screw, and transmission mechanism, the rolling electricity are provided between the pitching motor and pitch linkage plate
Transmission mechanism is provided between machine and rolling connecting plate, transmission mechanism is provided between the deflection motor and fixed platform.
The pitching motor, rolling motor and deflection motor are hollow shaft three-phase direct-current brushless motor, and are provided with
Motor speed measuring module.
The motor speed measuring module includes A3144 Hall sensors, magnet steel and LM393 voltage comparators, and the Hall is passed
Sensor is arranged on motor, and is connected with LM393 voltage comparators, and the magnet steel is arranged on transmission mechanism.
The controller is STM32F103RCT6 single-chip microcomputers, and the sensor is MPU6050, the motor drive module
For SI4599 chips, the power module bag 3S batteries, 78D33 chips and IRF9328 chips.
The 3S battery power voltages are 12V, and the 78D33 chips are connected with 3S batteries and export 3V voltages, described
IRF9328 chips are connected with 3S batteries and export 12V voltages.
The beneficial effects of the utility model are：
1st, the utility model MPU-6050 attitude transducers send the change of fixed platform posture to controller in real time, control
Device processed is according to pid algorithm output control signal, and for controlling three motor steerings and rotating speed, motor drives transmission mechanism to realize and taken the photograph
As equipment X-axis, Y-axis, Z axis three degree of freedom direction movement so that realize following function, with small volume, precision it is high, into
This low feature.
2nd, the utility model picture pick-up device is in pitching motor（X-axis）, rolling motor（Y-axis）And deflection motor（Z axis）Direction
Upper motion, makes the equipment carried in fixed platform fasten holding stabilization in geographical coordinate, to eliminate the phase as caused by platform carrier aircraft
Move, improve stability.
3rd, the utility model sensor is using MPU6050 as core parts, and it is integrated with 3 axle MEMS gyroscopes, 3 axle MEMS and added
Speedometer, while carry digital moving processing function so that reduce the complicated fusion calculation data of MCU, sensor synchronize,
Posture sensing etc. load, can directly from DMP registers readout process result, fast response time, small volume.
4th, the utility model installs small-sized magnet steel on motor rotating mechanism, is sensed using A3144 Hall sensors
The rotation information of magnet steel, so that the purpose of monitoring motor speed is realized, it is easy to detect quick.
5th, the pitching motor of the utility model X-axis is relative to need larger torque, therefore X-axis pitching electricity in platform lowermost end
Machine selects the brshless DC motor of 2804 models, and other 2 motors select the brshless DC motor of 2212 models, it is ensured that can be fast
It is fast corresponding.
Brief description of the drawings：
Fig. 1 is the structural representation of the electric mechanical powdered soil based on MPU6050 attitude transducers.
Fig. 2 is the electrical connection block diagram of the electric mechanical powdered soil based on MPU6050 attitude transducers.
Fig. 3 is the circuit connection diagram of motor drive module.
Embodiment：
Embodiment：Referring to Fig. 1, Fig. 2 and Fig. 3, in figure, 1- carrier aircraft bases, 2- sensors, 3- picture pick-up devices, 4- pitching electricity
Machine, 5- rolling motors, 6- deflection motors, 7- pitch linkage plates, 8- rolling connecting plates, 9- deflection connecting plates, 10- supports, 11- is solid
Fixed platform, 12- screws, 13- rolling motor fixing plates.
Electric mechanical powdered soil based on MPU6050 attitude transducers, including carrier aircraft base 1, drive mechanism, biography
Sensor 2, controller and picture pick-up device 3, the drive mechanism being arranged on carrier aircraft base 1 are connected with picture pick-up device 3, and controller is with passing
Sensor 2 is connected and is arranged on carrier aircraft base 1, and drive mechanism includes support 10, connecting plate and motor, and motor includes
Pitching motor 4, rolling motor 5 and deflection motor 6, connecting plate include pitch linkage plate 7, rolling connecting plate 8 and deflection connecting plate
9, support 10 is arranged on carrier aircraft base 1 and is connected with pitching motor 4, and pitching motor 4 passes through pitch linkage plate 7 and rolling motor
5 connections, rolling motor 5 is connected by rolling connecting plate 8 with deflection connecting plate 9, and deflection connecting plate 9 is by deflection motor 6 with taking the photograph
As equipment 3 is connected, fixed platform 11 is provided between deflection motor 6 and picture pick-up device 3, sensor 2 is arranged on fixed platform 11
On, motor is connected with motor drive module and motor speed measuring module, motor drive module and motor speed measuring module and control
Device is connected, and controller is connected with power module.
One end of pitch linkage plate 7 is provided with rolling motor fixing plate 13, and deflection connecting plate 9 is zigzag configuration, and and rolling
Connecting plate 8 is connected by screw 12, and transmission mechanism, rolling motor 5 and rolling are provided between pitching motor 4 and pitch linkage plate 7
Turn to be provided with transmission mechanism between connecting plate 8,9 are provided with transmission mechanism between deflection motor 6 and fixed platform.
Pitching motor 4, rolling motor 5 and deflection motor 6 are hollow shaft three-phase direct-current brushless motor, and are provided with electricity
Machine speed measuring module.
Motor speed measuring module includes A3144 Hall sensors, magnet steel and LM393 voltage comparators, and Hall sensor is set
It is connected on motor, and with LM393 voltage comparators, magnet steel is arranged on transmission mechanism.
Controller is STM32F103RCT6 single-chip microcomputers, and sensor is MPU6050, and motor drive module is SI4599 chips,
Power module bag 3S batteries, 78D33 chips and IRF9328 chips.
3S battery power voltages are 12V, and 78D33 chips are connected with 3S batteries and export 3V voltages, IRF9328 chips and 3S
Battery connects and exports 12V voltages.
STM32 controller real-time receptions MPU6050 measures the attitude information of fixed platform 11, carries out analytical operation simultaneously,
Pwm control signal is exported by pid algorithm, driven by motor（Motor is rotated drives connecting plate to move by gear）Adjust
The posture of solidating fixed platform 11, while motor speed（Small-sized magnet steel is installed on motor rotating mechanism, using A3144 hall sensings
The rotation information of device inductive magnetic steel, so that the purpose of monitoring motor speed is realized, because the signal that Hall sensor is exported is just
String signal by LM393 voltage comparators, it is necessary to carry out being shaped as square-wave signal, then square wave is transported in controller）Feedback
To controller, output signal is further corrected, the stabilization of fixed platform is finally realized.
As shown in Figure 3：Motor drive module is using chip SI4599 as core, when PitchA is that high level, PitchAN are low
During level, PitchAout exports 12V high level, when PitchA is that low level, PitchAN are high level, PitchAout
0V low level is exported, the square wave for realizing 0-3V is converted into 0-12V square wave, so as to realize the effect of enhancing driving force；
Motor is hollow shaft three-phase direct-current brushless motor, is carried out respectively using 3 SI4599 chips for the three-phase of a motor
Driving, needs 9 SI4599 chips altogether.
Power module is powered using 3S batteries 12V, is powered by 78D33 conversion 3.3V for control circuit（Controller, sensing
Device, Hall sensor）, another road provides 12V power supplys by IRF9328 for motor drive module.
It is described above, only it is preferred embodiment of the present utility model, not makees any formal to the utility model
Limitation, it is every according to technical spirit of the present utility model above example is made it is any it is simple modification, equivalent variations with
Modification, in the range of still falling within technical solutions of the utility model.
Claims (6)
1. a kind of electric mechanical powdered soil based on MPU6050 attitude transducers, including carrier aircraft base, drive mechanism,
Sensor, controller and picture pick-up device, the drive mechanism being arranged on carrier aircraft base are connected with picture pick-up device, the control
Device is connected with sensor and is arranged on carrier aircraft base, it is characterized in that：The drive mechanism includes support, connecting plate and driving electricity
Machine, the motor includes pitching motor, rolling motor and deflection motor, and the connecting plate includes pitch linkage plate, rolling
Connecting plate and deflection connecting plate, the support are arranged on carrier aircraft base and are connected with pitching motor, and the pitching motor passes through
Pitch linkage plate and rolling motor connection, the rolling motor are connected by rolling connecting plate with deflection connecting plate, the deflection
Connecting plate is connected by deflection motor with picture pick-up device, and fixed platform, institute are provided between the deflection motor and picture pick-up device
State sensor to set on the stationary platform, the motor is connected with motor drive module and motor speed measuring module, the electricity
Machine drive module and motor speed measuring module are connected with controller, and the controller is connected with power module.
2. the electric mechanical powdered soil according to claim 1 based on MPU6050 attitude transducers, its feature
It is：One end of the pitch linkage plate is provided with rolling motor fixing plate, and the deflection connecting plate is zigzag configuration, and and rolling
Connecting plate is connected by screw, and is provided with transmission mechanism between the pitching motor and pitch linkage plate, the rolling motor with
Transmission mechanism is provided between rolling connecting plate, transmission mechanism is provided between the deflection motor and fixed platform.
3. the electric mechanical powdered soil according to claim 1 based on MPU6050 attitude transducers, its feature
It is：The pitching motor, rolling motor and deflection motor are hollow shaft three-phase direct-current brushless motor, and are provided with motor survey
Fast module.
4. the electric mechanical powdered soil according to claim 3 based on MPU6050 attitude transducers, its feature
It is：The motor speed measuring module includes A3144 Hall sensors, magnet steel and LM393 voltage comparators, and the Hall sensor is set
Put on motor, and be connected with LM393 voltage comparators, the magnet steel is arranged on transmission mechanism.
5. the electric mechanical powdered soil according to claim 1 based on MPU6050 attitude transducers, its feature
It is：The controller is STM32F103RCT6 single-chip microcomputers, and the sensor is MPU6050, and the motor drive module is
SI4599 chips, the power module bag 3S batteries, 78D33 chips and IRF9328 chips.
6. the electric mechanical powdered soil according to claim 5 based on MPU6050 attitude transducers, its feature
It is：The 3S battery power voltages are 12V, and the 78D33 chips are connected with 3S batteries and export 3V voltages, the IRF9328
Chip is connected with 3S batteries and exports 12V voltages.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201720077222.2U CN206378749U (en) | 2017-01-22 | 2017-01-22 | Electric mechanical powdered soil based on MPU6050 attitude transducers |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201720077222.2U CN206378749U (en) | 2017-01-22 | 2017-01-22 | Electric mechanical powdered soil based on MPU6050 attitude transducers |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN206378749U true CN206378749U (en) | 2017-08-04 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201720077222.2U Expired - Fee Related CN206378749U (en) | 2017-01-22 | 2017-01-22 | Electric mechanical powdered soil based on MPU6050 attitude transducers |
Country Status (1)
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| CN (1) | CN206378749U (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111684530A (en) * | 2017-09-21 | 2020-09-18 | 沙尔沃夏威夷有限责任公司 | Stabilized camera system |
-
2017
- 2017-01-22 CN CN201720077222.2U patent/CN206378749U/en not_active Expired - Fee Related
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111684530A (en) * | 2017-09-21 | 2020-09-18 | 沙尔沃夏威夷有限责任公司 | Stabilized camera system |
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| Date | Code | Title | Description |
|---|---|---|---|
| GR01 | Patent grant | ||
| 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: 20170804 Termination date: 20180122 |