CN208820059U - Stabilized platform of airborne SAR antenna - Google Patents
Stabilized platform of airborne SAR antenna Download PDFInfo
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- CN208820059U CN208820059U CN201821874510.1U CN201821874510U CN208820059U CN 208820059 U CN208820059 U CN 208820059U CN 201821874510 U CN201821874510 U CN 201821874510U CN 208820059 U CN208820059 U CN 208820059U
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- sar antenna
- driving motor
- angle sensor
- motor
- stabilized platform
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- 238000009434 installation Methods 0.000 claims abstract description 4
- 238000005259 measurement Methods 0.000 claims description 20
- 239000000835 fiber Substances 0.000 claims description 15
- 230000005611 electricity Effects 0.000 claims description 4
- 239000007787 solid Substances 0.000 claims 1
- 238000005096 rolling process Methods 0.000 abstract description 3
- 230000002045 lasting effect Effects 0.000 description 8
- 230000007246 mechanism Effects 0.000 description 4
- 239000013307 optical fiber Substances 0.000 description 4
- 230000008901 benefit Effects 0.000 description 2
- 238000013016 damping Methods 0.000 description 2
- 238000010586 diagram Methods 0.000 description 2
- 238000000034 method Methods 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000001680 brushing effect Effects 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 230000005622 photoelectricity Effects 0.000 description 1
- 230000009467 reduction Effects 0.000 description 1
- 230000006641 stabilisation Effects 0.000 description 1
- 238000011105 stabilization Methods 0.000 description 1
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Abstract
The utility model discloses a stable platform of airborne SAR antenna, which comprises an SAR antenna load and a first structural member, wherein two fixed plates are arranged on the SAR antenna load, the first structural member is arranged at the inner sides of the two fixed plates through a pitching shaft, and a first angle sensor is arranged at the outer side of one fixed plate; the bottom of the first structural component is provided with a first driving motor for controlling the rotation of the pitching shaft, the top of the first structural component is connected with a second structural component through a first rotating component, and the first rotating component comprises a rolling shaft, a second driving motor and a second angle sensor; the top surface of the second structural member, which is far away from the first structural member, is connected with an installation platform through a second rotating assembly, and the second rotating assembly comprises a course shaft, a third driving motor and a third angle sensor. The utility model discloses the precision is high, light in weight, with low costs, can satisfy the SAR antenna to the high accuracy requirement of course axle, especially is suitable for the unmanned aerial vehicle system that load weight is less, do not have high accuracy machine to carry the inertial navigation equipment.
Description
Technical field
The utility model relates to air vehicle technique fields, and in particular to a kind of stabilized platform of carried SAR antenna.
Background technique
The signal beam of SAR radar antenna, which is directed toward, to be needed to keep stable direction, lasting accuracy in aircraft flight
The precision of radar imagery is directly affected, needs to eliminate the influence that flight is shaken using stabilized platform thus.
And application No. is 201710129138.5 existing patent, technical solution is exported using airborne ins equipment
Flight attitude data are flown by the inverse motion compensation of servo mechanism and are shaken, and there are driving errors for this mode, so stablizing
Precision is low, dynamic property is low, and servo mechanism weight is also bigger.In addition to keeping the posture and stabilized platform of airborne ins
Consistency, stabilized platform cannot install vibration-proof structure additional, further influence the precision of system.
Therefore, a set of inertial attitude mould group is needed to feed back on stabilized platform as attitude stabilization, and for resolving practical appearance
State angle, but, performance is lower if single use MEMS sensor, it is difficult to meet the requirement of lasting accuracy, if single use
Then cost is very high for three axis optical fibre gyro instrument, and volume weight is also bigger than normal.
Utility model content
Based on this, in view of the above-mentioned problems, can satisfy SAR days it is necessary to propose that a kind of precision is high, light weight and cost is low
It is smaller, no high to be particularly suitable for load weight for the stabilized platform of the carried SAR antenna of the high-precision requirement of course axis for line
The UAV system of precision airborne ins equipment.
The technical solution of the utility model is as follows:
A kind of stabilized platform of carried SAR antenna, including SAR antenna load and first structure part, the SAR antenna load
On perpendicular to the installation of SAR antenna load there are two the fixed plate that is parallel to each other, the first structure part is installed on by pitch axis
On the inside of two fixed plates, first angle sensor is installed on the outside of one of fixed plate；The first structure part was close to SAR days
The side of linear load is equipped with the first driving motor of control pitch axes, and the middle part of the other side is connected by the first rotary components
Having section is in second structural member of " U " font, and first rotary components include wobble shaft, the second driving motor and second angle
Sensor；The top surface of second structural member far from first structure part is connected with mounting platform by the second rotary components, described
Second rotary components include course axis, third driving motor and third angle sensor.
In the technical scheme, the first driving motor controls pitch axes, and the second driving motor controls wobble shaft rotation,
Third driving motor controls the rotation of course axis, first angle sensor, second angle sensor and third angle sensor difference
The rotational angle of each axis is fed back, conveniently adjusting angle improves the angle-data precision of each axis；The structure of entire platform is simple,
It is light-weight, while improving precision, reduce equipment cost.
Preferably, stability controller, MEMS Inertial Measurement Unit and uniaxial optical fibers top are fixed on the first structure part
Spiral shell instrument.
The technical program constructs inertial attitude mould group using multi-mode gyro sensor, and uses gyroscope angular speed
Feedback system realizes stable inertia, the advantage high with lasting accuracy, dynamic property is high, servo mechanism is light-weight, and can be with
Increase shock-damping structure between stabilized platform and airframe, lasting accuracy will not be influenced；In order to balance high-precision, it is low at
This, light small and exquisite requirement, the characteristics of other two axis is much higher than to the required precision of course axis in conjunction with SAR antenna, this technology
Scheme constructs attitude measurement mould group using the mode that MEMS Inertial Measurement Unit and single axis fiber gyro instrument combine, and realizes course
The high-precision that shaft angle degree resolves.
MEMS Inertial Measurement Unit and single axis fiber gyro instrument are mounted on the first structure part between pitch axis and wobble shaft
On, the stable inertia of wobble shaft and course axis is realized by way of the angular speed error feedback control of gyroscope.Angular speed is anti-
The stable inertia control mode of feedback can be improved lasting accuracy and responsive bandwidth, while be also convenient for using lighter first structure
To mitigate weight, the dynamic stability performance of the two axis can generally achieve 0.02 degree (in the short time for part and the second structural member
Stability)；Although the stability in the short time can reach 0.02 degree, due to the error and noise of MEMS Inertial Measurement Unit
Larger, so it integrates angle, there are slow drifts, the attitude data precision resolved completely by MEMS Inertial Measurement Unit
Lower, especially course axis can be implemented to correct unlike pitch axis and wobble shaft by accelerometer, so precision is worse, usual angle
Error is spent up to 20-60 °/h, far can not reach the stability requirement of SAR antenna direction；However carried SAR antenna be directed toward for
The requirement of course axis is but higher than pitch axis and wobble shaft, therefore the utility model measures course with the use of single axis fiber gyro instrument
The angular speed of axis can significantly improve course axis angle-data precision；When measuring course axis angular rate using optical fibre gyro, just
When Chang Pingfei, error can control 0.5-1 °/h, to meet the job requirement of carried SAR antenna, if outside combining
GPS, Beidou navigation data or magnetic compass transmitter, then can further increase precision.
Preferably, the first signal input of the signal output end stable connection controller of the MEMS Inertial Measurement Unit
End, the second signal input terminal of the signal output end stable connection controller of the single axis fiber gyro instrument；The stability contorting
First signal output end of device connects the signal input part of the first driving motor by first motor driver, stability controller
Second signal output end connects the signal input part of the second driving motor, the third of stability controller by the second motor driver
Signal output end connects the signal input part of third driving motor by third motor driver.
In the technical scheme, MEMS Inertial Measurement Unit and single axis fiber gyro instrument data are output to stability controller,
Stability controller is implemented to resolve, after feedback control calculating, and control data are output to the driving of each spindle motor by data/address bus
Device drives pitch axis, wobble shaft and the rotation of course axis.
Preferably, the signal output end of the first angle sensor, second angle sensor and third angle sensor
It is all connected with the third signal input part of the stability controller.For feeding back the rotational angle of pitch axis, wobble shaft and course axis
And angular speed, realize the control to error.
Preferably, the first angle sensor, second angle sensor and third angle sensor are respectively that photoelectricity is compiled
One of code device, magnetic coder, capacitance encoder and rotary transformer are a variety of.Rotation is provided by various types of encoders
Angle feedback data realizes that data can feed back stability controller in time and accurately, improves shaft rotation precision.
Preferably, first driving motor is high-precision decelerating motor, including harmonic wave reducing motor, toothed gearing electric motor
With ball decelerating motor；Second driving motor and third driving motor are brushless torque motor.First driving motor can be with
Direct driving motor, it is preferred that be decelerating motor, the first driving motor can choose any one kind of them in a variety of motors high-precision slow down electricity
Machine can eliminate the influence of SAR antenna load moment unbalance, and the second driving motor and third driving motor are no brushing force
Torque motor, it is convenient, efficient, stable torque is provided to load, not will cause the damage of motor.
Preferably, first driving motor is harmonic wave reducing motor.Pitch axis is driven using harmonic wave reducing motor, is had
The big feature of output torque, can eliminate the influence of SAR antenna load moment unbalance, and control mode is compensated using error-feedforward
Mode, by pitch axis first angle sensor (i.e. encoder) provide rotation angle feedback data.
The beneficial effects of the utility model are:
1, the structure of entire platform described in the utility model is simple, light-weight, while improving precision, reduces
Equipment cost.
2, high-precision, low cost, light small and exquisite requirement in order to balance, the required precision in conjunction with SAR antenna to course axis
The characteristics of much higher than other two axis, the utility model are combined using MEMS Inertial Measurement Unit and single axis fiber gyro instrument
Mode constructs attitude measurement mould group, can significantly improve course axis angle-data precision.
3, it arranges in pairs or groups respectively respective encoder for pitch axis, wobble shaft and course axis, realizes that data can be in time and accurate
Stability controller is fed back, shaft rotation precision is improved.
4, pitch axis is driven using harmonic wave reducing motor, is had the characteristics that output torque is big, can be eliminated SAR antenna load
The influence of moment unbalance.
5, stabilized platform described in the utility model is particularly suitable for that load weight is smaller, does not have high-precision airborne ins
The UAV system of equipment.
Detailed description of the invention
Fig. 1 is the structural schematic diagram of the stabilized platform of carried SAR antenna described in the utility model embodiment；
Fig. 2 is the functional block diagram of the stabilized platform of carried SAR antenna described in the utility model embodiment.
Description of symbols:
10-SAR antenna load；101- fixed plate；201- first structure part；The second structural member of 202-；203- mounting platform；
301- pitch axis；302- first angle sensor；The first driving motor of 303-；304- first motor driver；40- first rotates
Component；401- wobble shaft；402- second angle sensor；The second driving motor of 403-；The second motor driver of 404-；50-
Two rotary components；The course 501- axis；502- third angle sensor；503- third driving motor；504- third motor driver；
60- stability controller；70-MEMS Inertial Measurement Unit；80- single axis fiber gyro instrument.
Specific embodiment
The embodiments of the present invention are described in detail with reference to the accompanying drawing.
Embodiment
As shown in Figure 1, a kind of stabilized platform of carried SAR antenna, including SAR antenna load 10 and first structure part 201,
Perpendicular to the installation of SAR antenna load 10 there are two the fixed plate 101 that is parallel to each other on the SAR antenna load 10, described first
Structural member 201 is installed on two fixed plates, 101 inside by pitch axis 301, is equipped with first on the outside of one of fixed plate 101
Angular transducer 302；The first structure part 201 is equipped with what control pitch axis 301 rotated close to the side of SAR antenna load 10
The middle part of first driving motor 303, the other side is connected with the second structural member that section is in " U " font by the first rotary components 40
202, first rotary components 40 include wobble shaft 401, the second driving motor 403 and second angle sensor 402；Described
Top surface of two structural members 202 far from first structure part 201 is connected with mounting platform 203 by the second rotary components 50, and described the
Two rotary components 50 include course axis 501, third driving motor 503 and third angle sensor 502.
In the present embodiment, the first driving motor 303 control pitch axis 301 rotates, and the second driving motor 403 controls rolling
Axis 401 rotates, and third driving motor 503 controls course axis 501 and rotates, first angle sensor 302, second angle sensor
402 and third angle sensor 502 feed back the rotational angle of each axis respectively, conveniently adjusting angle improves the angle number of each axis
According to precision；The structure of entire platform is simple, light-weight, while improving precision, reduces equipment cost.
If stabilized platform does not have to three-axis structure in one of the embodiments, first including wobble shaft 401 can be cancelled
Rotary components 40 retain pitch axis 301 and course axis 501, constitute two axis stable platform.Precision control can be realized for cross-compound arrangement
System.
In another embodiment, as shown in Figure 1, being fixed with stability controller 60, MEMS on the first structure part 201
Inertial Measurement Unit 70 and single axis fiber gyro instrument 80.
The present embodiment constructs inertial attitude mould group using multi-mode gyro sensor, and uses the anti-of gyroscope angular speed
Feedback mode realizes stable inertia, the advantage high with lasting accuracy, dynamic property is high, servo mechanism is light-weight, and can be
Increase shock-damping structure between stabilized platform and airframe, lasting accuracy will not be influenced；In order to balance high-precision, low cost,
Light small and exquisite requirement, the characteristics of other two axis is much higher than to the required precision of course axis 501 in conjunction with SAR antenna, this implementation
Example constructs attitude measurement mould group using the mode that MEMS Inertial Measurement Unit 70 and single axis fiber gyro instrument 80 combine, and realizes boat
The high-precision resolved to 501 angle of axis.
MEMS Inertial Measurement Unit 70 and single axis fiber gyro instrument 80 are mounted between pitch axis 301 and wobble shaft 401
On first structure part 201, wobble shaft 401 and course axis 501 are realized by way of the angular speed error feedback control of gyroscope
Stable inertia.The stable inertia control mode of angular speed feedback can be improved lasting accuracy and responsive bandwidth, be also convenient for simultaneously
Using lighter first structure part 201 and the second structural member 202 to mitigate weight, the dynamic stability performance of the two axis is usual
It can achieve 0.02 degree (stability in the short time)；Although the stability in the short time can reach 0.02 degree, due to
The error and noise of MEMS Inertial Measurement Unit 70 are larger, so it integrates angle, there are slow drifts, completely by MEMS inertia
The attitude data precision that measuring unit 70 resolves is lower, and especially course axis 501 is unlike pitch axis 301 and wobble shaft 401
It can implement to correct by accelerometer, so precision is worse, usual angular error far can not reach SAR up to 20-60 °/h
The stability requirement that antenna is directed toward；However carried SAR antenna is directed toward the requirement for course axis 501 and is but higher than pitch axis 301 and rolling
Shaft 401, therefore the utility model measures the angular speed of course axis 501 with the use of single axis fiber gyro instrument 80, it can be obvious
Improve 501 angle-data precision of course axis；When measuring 501 angular speed of course axis using optical fibre gyro, when normal flat winged, error
It can control 0.5-1 °/h, to meet the job requirement of carried SAR antenna, if GPS, Beidou navigation data outside combining
Or magnetic compass transmitter, then it can further increase precision.
In another embodiment, as shown in Fig. 2, the signal output end stable connection of the MEMS Inertial Measurement Unit 70
First signal input part of controller 60, the of the signal output end stable connection controller 60 of the single axis fiber gyro instrument 80
Binary signal input terminal；First signal output end of the stability controller 60 is driven by the connection of first motor driver 304 first
The signal input part of dynamic motor 303, the second signal output end of stability controller 60 pass through the second motor driver 404 connection the
The third signal output end of the signal input part of two driving motors 403, stability controller 60 is connected by third motor driver 504
Connect the signal input part of third driving motor 503.
In the present embodiment, MEMS Inertial Measurement Unit 70 and 80 data of single axis fiber gyro instrument are output to stability controller
60, stability controller 60 is implemented to resolve, after feedback control calculating, will control data by data/address bus and be output to each spindle motor
Driver drives pitch axis 301, wobble shaft 401 and course axis 501 rotate.
In another embodiment, as shown in Fig. 2, the first angle sensor 302,402 and of second angle sensor
The signal output end of third angle sensor 502 is all connected with the third signal input part of the stability controller 60.For feeding back
The rotational angle and angular speed of pitch axis 301, wobble shaft 401 and course axis 501 realize the control to error.
In another embodiment, the first angle sensor 302, second angle sensor 402 and third angle pass
Sensor 502 is respectively one of photoelectric encoder, magnetic coder, capacitance encoder and rotary transformer or a variety of.By various
The encoder of type provides rotation angle feedback data, realizes that data can feed back stability controller 60 in time and accurately, mentions
High shaft rotation precision.
In another embodiment, first driving motor 303 is high-precision decelerating motor, including harmonic reduction electricity
Machine, toothed gearing electric motor and ball decelerating motor；Second driving motor 403 and third driving motor 503 are brushless moment electricity
Machine.First driving motor 303 can also be direct driving motor, it is preferred that being decelerating motor, the first driving motor 303 can be from a variety of
High-precision of choosing any one kind of them in motor decelerating motor can eliminate the influence of 10 moment unbalance of SAR antenna load, and second drives
Motor 403 and third driving motor 503 are brushless torque motor, convenient, efficiently, provide stable torque to load, will not
Cause the damage of motor.
In another embodiment, first driving motor 303 is harmonic wave reducing motor.Pitch axis 301 uses harmonic wave
Decelerating motor driving, has the characteristics that output torque is big, can eliminate the influence of 10 moment unbalance of SAR antenna load, controls
Mode provides rotation angle by the way of error-feedforward compensation, by the first angle sensor 302 (i.e. encoder) of pitch axis 301
Spend feedback data.
Specific embodiment of the present utility model above described embodiment only expresses, the description thereof is more specific and detailed,
But it should not be understood as limiting the scope of the patent of the utility model.It should be pointed out that for the common of this field
For technical staff, without departing from the concept of the premise utility, various modifications and improvements can be made, these all belong to
In the protection scope of the utility model.
Claims (7)
1. a kind of stabilized platform of carried SAR antenna, which is characterized in that described including SAR antenna load and first structure part
Perpendicular to the installation of SAR antenna load, there are two the fixed plates being parallel to each other on SAR antenna load, and the first structure part is by bowing
It faces upward axis to be installed on the inside of two fixed plates, first angle sensor is installed on the outside of one of fixed plate；The first structure
Part is equipped with the first driving motor of control pitch axes close to the side of SAR antenna load, and the middle part of the other side passes through first
Rotary components are connected with the second structural member that section is in " U " font, and first rotary components include wobble shaft, the second driving electricity
Machine and second angle sensor；The top surface of second structural member far from first structure part is connected with peace by the second rotary components
Assembling platform, second rotary components include course axis, third driving motor and third angle sensor.
2. the stabilized platform of carried SAR antenna according to claim 1, which is characterized in that solid on the first structure part
It is connected with stability controller, MEMS Inertial Measurement Unit and single axis fiber gyro instrument.
3. the stabilized platform of carried SAR antenna according to claim 2, which is characterized in that the MEMS inertia measurement list
The signal output end of first signal input part of the signal output end stable connection controller of member, the single axis fiber gyro instrument connects
Connect the second signal input terminal of stability controller；First signal output end of the stability controller passes through first motor driver
The signal input part of the first driving motor is connected, the second signal output end of stability controller is connected by the second motor driver
The third signal output end of the signal input part of second driving motor, stability controller connects third by third motor driver
The signal input part of driving motor.
4. the stabilized platform of carried SAR antenna according to claim 3, which is characterized in that the first angle sensor,
The signal output end of second angle sensor and third angle sensor is all connected with the third signal input of the stability controller
End.
5. the stabilized platform of carried SAR antenna according to claim 1-4, which is characterized in that described first jiao
Degree sensor, second angle sensor and third angle sensor be respectively photoelectric encoder, magnetic coder, capacitance encoder and
One of rotary transformer is a variety of.
6. the stabilized platform of carried SAR antenna according to claim 1-4, which is characterized in that described first drives
Dynamic motor is high-precision decelerating motor, including harmonic wave reducing motor, toothed gearing electric motor and ball decelerating motor；Second driving
Motor and third driving motor are brushless torque motor.
7. the stabilized platform of carried SAR antenna according to claim 6, which is characterized in that first driving motor is
Harmonic wave reducing motor.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201821874510.1U CN208820059U (en) | 2018-11-14 | 2018-11-14 | Stabilized platform of airborne SAR antenna |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201821874510.1U CN208820059U (en) | 2018-11-14 | 2018-11-14 | Stabilized platform of airborne SAR antenna |
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| Publication Number | Publication Date |
|---|---|
| CN208820059U true CN208820059U (en) | 2019-05-03 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201821874510.1U Expired - Fee Related CN208820059U (en) | 2018-11-14 | 2018-11-14 | Stabilized platform of airborne SAR antenna |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN116557715A (en) * | 2023-07-12 | 2023-08-08 | 长春通视光电技术股份有限公司 | Suspension type airtight photoelectric turntable |
-
2018
- 2018-11-14 CN CN201821874510.1U patent/CN208820059U/en not_active Expired - Fee Related
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN116557715A (en) * | 2023-07-12 | 2023-08-08 | 长春通视光电技术股份有限公司 | Suspension type airtight photoelectric turntable |
| CN116557715B (en) * | 2023-07-12 | 2023-10-03 | 长春通视光电技术股份有限公司 | Suspension type airtight photoelectric turntable |
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| GR01 | Patent grant | ||
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| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20190503 |