KR20030025492A - Balance adjustment device and the method of two axials gimbal - Google Patents

Abstract

PURPOSE: An apparatus and a method for controlling balance of a biaxial gimbal are provided to control unbalance of the biaxial gimbal by measuring unbalance of a yaw axis and a pitch axis from the intensity of current applied to a servo motor. CONSTITUTION: A power supply portion(110) supplies necessary power to each part. A current measurement portion(120) is electrically connected with a servo circuit(11) of a biaxial gimbal(10). The current measurement portion(120) is operated by a control signal of a computer(130). The current measurement portion(120) is used for measuring the intensity of current by a yaw signal and a pitch signal of the servo circuit(11). The current measurement portion(120) is formed with a V/I converter. The computer(130) controls the servo circuit(11) of the biaxial gimbal(10). An interface portion(131) is installed in the inside of the computer(130). A monitor(140) is used for displaying a result of a test. A printer(150) is used for printing an output of the computer(130).

Description

BALANCE ADJUSTMENT DEVICE AND THE METHOD OF TWO AXIALS GIMBAL}

The present invention relates to a balance adjustment device for a two-axis gimbal, and more particularly, to measure the unbalance amount of a yaw axis and a pitch axis through a magnitude of a current applied to a servo motor of a two-axis gimbal. Then, the present invention relates to a biaxial gimbal balance adjusting device and a method for adjusting an unbalance amount of a biaxial gimbal by adding or subtracting a weight to the biaxial gimbal or changing a position based on the measured unbalance amount.

In general, the 2-axis gimbal is composed of an inner gimbal, an outer gimbal, a servo motor, a servo circuit, a structure, and the like, and is used for camera equipment or robot control, and as shown in FIG. It can be set and an unbalance amount is generated in three axes.

This unbalance amount is shown as shown in Figure 2, the unbalance amount in each axis of the gimbal eventually appears as an unbalance of the torque amount when the yaw and the pitch axis is moved, it is impossible to rotate to the exact position to be rotated, the reliability is lowered Therefore, the measurement of the unbalance amount is essential.

However, in order to adjust the unbalance amount of the conventional two-axis gimbal, there is no separate electronic adjustment device, and by measuring the mechanical approach, the weight is attached to the two-axis gimbal or the position of the attached weight is adjusted to correct the unbalance amount. There was a problem that could not be.

Accordingly, an object of the present invention is to solve the above problems, and after connecting the separate system and the two-axis gimbal electrically, the yaw (YAW) through the magnitude of the current applied to the servo motor of the two-axis gimbal in the system By measuring the unbalance amount between the axis and the pitch axis, the inspector can adjust the unbalance amount of the biaxial gimbal by adding or subtracting or repositioning the weight to the biaxial gimbal based on the measured unbalance amount.

1 is an explanatory diagram for explaining a yaw axis and a pitch axis of a two-axis gimbal;

2 is a graph for explaining an unbalance amount of a biaxial gimbal

Figure 3 is a block circuit diagram schematically showing the configuration of the balance adjustment device of a two-axis gimbal according to the present invention

4 and 5 are graphs for explaining torque offset

6 is an explanatory diagram showing the arrangement of angles of the two-axis gimbal in the method for adjusting the balance of the two-axis gimbal according to the present invention;

7 is an exemplary view showing a test progress result and a test result displayed on the monitor of the balance adjustment device of the two-axis gimbal

<Explanation of symbols for main parts of the drawings>

1: jig 10: 2 axis gimbal

11: servo circuit 110: power supply

120: current measuring unit 130: computer

140: monitor 150: printer

160: operation panel

Features of the present invention for achieving the above object,

In a two-axis gimbal including a servo motor, a servo circuit, a yaw axis, and a pitch axis,

A power supply for supplying necessary power to each component;

A current measuring unit electrically connected to the servo circuit of the two-axis gimbal and operated by an input control signal to receive a yaw signal and a pitch signal output from the servo circuit when the servo motor is driven, and measure a magnitude of current. Wow,

When the test start command is input, the control unit controls the two-axis gimbal servo circuit according to the tester's setting, and moves the yaw and pitch axes from the minimum angle to the maximum angle and the maximum angle to the minimum angle. A computer for calculating an unbalance amount of each of the yaw axis and the pitch axis by using the magnitude of the current input from the measuring unit;

A monitor for displaying a test progress result and a test result by data output from the computer;

A printer for outputting a test progress result and a test result by data output from the computer;

And a manipulation panel through which the inspector inputs a test start signal, a test end signal, and a test result output signal to the computer.

Here, the computer

The apparatus further includes an interface unit that is responsible for input and output of signals.

Another feature of the invention,

In the adjustment method of the balance adjustment device of the two-axis gimbal,

A first step of circuit-connecting the computer with the current measuring unit and the two-axis gimbal, and fixing it with a stopper to prevent the yaw shaft from rotating;

A second step of fixing the biaxial gimbal to a position of a first specific angle;

A third step of respectively inputting the minimum and maximum angles of the pitch axis at the position of the first specific angle of the biaxial gimbal to the computer via an operation panel;

A fourth step of obtaining a current value input through the current measuring unit at a predetermined angle while moving the pitch axis from the minimum angle to the maximum angle and again from the maximum angle to the minimum angle when the input of the test start command is completed;

When the acquisition of the current value is completed in the fourth step, the biaxial gimbal is fixed to the position of the second specific angle, the maximum and minimum angles of the pitch axis at the position of the second specific angle are respectively inputted, and then the pitch axis is minimized. A fifth step of acquiring a current value input through the current measuring unit at a predetermined angle while moving from an angle to a maximum angle and again from a maximum angle to a minimum angle;

When the acquisition of the current value is completed in the fifth step, the biaxial gimbal is fixed to the position of the third specific angle, the maximum and minimum angles of the pitch axis at the position of the third specific angle are respectively inputted, and then the pitch axis is minimized. A sixth step of acquiring a current value input through the current measuring unit at a predetermined angle while moving from an angle to a maximum angle and again from a maximum angle to a minimum angle;

When the acquisition of the current value is completed in the sixth step, the biaxial gimbal is fixed to the position of the fourth specific angle, and then the maximum and minimum angles of the pitch axis at the fourth specific angle are respectively input, and then the pitch axis is minimized. A seventh step of obtaining a current value input through the current measuring unit at a predetermined angle while moving from an angle to a maximum angle and a maximum angle to a minimum angle again;

The current value obtained through the third to seventh steps is converted into torque amount, and then the torque amount and angle are converted into an equation of a straight line by using a linear regression method to calculate an unbalance amount of a pitch axis which is an intercept among straight equations. 8 steps,

A ninth step of fixing the pitch axis so that the pitch axis does not rotate when the calculation of the unbalance amount of the pitch axis is completed, and releasing the fixed stopper so that the yaw axis is rotatable;

When the fixing of the stopper is completed, the seventh step is performed for the yaw axis starting with the second step, and the torque value and the angle are converted after converting the current value obtained through the third to seventh steps into the torque amount. A tenth step of calculating an unbalance amount of the yaw axis, which is an intercept of the equation of the straight line by converting it into a straight line equation using the linear regression method,

And an eleventh step of correcting the unbalance amount by adding, subtracting, or changing the position of the weight to the opposite direction in which the torque acts through the calculated unbalance amount of the pitch axis and the yaw axis.

Here, when the correction of the unbalance amount of the biaxial gimbal is completed,

The second step to the eleventh step is re-measured, the imbalance amount is re-measured, and if the result of the remeasurement satisfies the balance standard, the adjustment is terminated.

Herein, the positions of the first, second, third and fourth specific angles are

0 degrees, 90 degrees, 180 degrees, and 270 degrees.

Here's another angle,

0.1 degrees.

Here again, the imbalance measured by the computer,

It can be displayed on a monitor and output via a printer.

Hereinafter, the configuration of the biaxial gimbal balance adjustment device according to the present invention will be described in detail with reference to FIG.

3 is a block circuit diagram schematically showing the configuration of the balance adjustment device of a two-axis gimbal according to the present invention.

Referring to FIG. 3, the biaxial gimbal balance adjusting device 100 according to the present invention includes a power supply unit 110, a current measuring unit 120, a computer 130, a monitor 140, and a printer. 150 and the operation panel 160.

The power supply unit 110 supplies necessary power to each component.

The current measuring unit 120 is electrically connected to the servo circuit 11 of the biaxial gimbal 10 and operated by a control signal input from the computer 130 to drive the servo circuit (not shown). 11) Measure the magnitude of current by receiving the yaw signal and the pitch signal (current) output from it. Here, the current measuring unit 120 uses a V / I converter that converts current to measure voltage.

The computer 130 controls each component as a whole, and when a test start command is input, the yaw and pitch axes are controlled from the minimum to the maximum angle by controlling the servo circuit 11 of the 2-axis gimbal 10 according to the tester's setting. The magnitude of the current input from the current measuring unit 120 is detected every 0.1 degrees while moving from the maximum angle to the minimum angle, and then converted into torque amounts, and then the respective unbalance amounts of the yaw and pitch axes are calculated. Herein, the computer 130 has an interface unit 131 in charge of input and output of signals to and from each component. Here, the computer 130 also converts the obtained current value into a torque amount, and then converts the torque amount and angle into a linear equation using a linear regression method to calculate an unbalance amount of the yaw axis and pitch axis, which are intercepts of the linear equation. do. Here, the current measurement can be set arbitrarily, but every 0.1 degrees for the reliability of the test. Here, the computer 130 may use a separate application program such as converting a current value into a torque amount or calculating an unbalance amount of a yaw axis and a pitch axis.

The monitor 140 displays the test progress result and the test result by the data output from the computer 130, the printer 150 outputs the test progress result and the test result by the data output from the computer 130, The operation panel 160 is a keyboard, and the examiner inputs a test start signal, a test end signal, and a test result output signal to the computer 130.

Hereinafter, a method for adjusting a balance of a biaxial gimbal according to the present invention will be described in detail with reference to FIGS. 4 to 7.

First, Equation 1 below is used to measure an unbalance amount with respect to X, Y, and Z axes of a two-axis gimbal using two driving angles of a yaw axis and a pitch axis.

Here, Kt represents the torque constant (grf-cm / A) of the servo motor, Ux and Uy can be measured by measuring the yaw axis, and Ux and Uz can be calculated by measuring the pitch axis. T1 to T7 are torque amount offsets as shown in FIGS. 4 and 5.

6 is an explanatory diagram showing the arrangement of each of the two-axis gimbal by the angle of the balance adjustment method of the two-axis gimbal according to the present invention, Figure 7 is a test progress result and the test result is displayed on the monitor of the balance adjustment device of the two-axis gimbal This is an exemplary view showing the appearance.

6 and 7, first, the computer 130, the current measuring unit 120, the two-axis gimbal 10, and other connections are connected in circuit, and then fixed with a stopper (not shown) to prevent the yaw axis from rotating. Let's do it.

Then, the fixed jig 1 of the biaxial gimbal 10 is fixed to 0 degrees as shown in FIG.

When the fixing of the biaxial gimbal 10 is completed, the inspector inputs the minimum and maximum angles of the pitch axis at 0 degrees of the biaxial gimbal 10 to the computer 130 through the operation panel 160, respectively. For example, a minimum angle of -10 degrees and a maximum angle of +10 degrees are entered around 0 degrees. The reason for fixing the 0, 90, 180, 270 degrees of the two-axis gimbal 10 is to determine the center of gravity in each direction with respect to gravity. Identifying the center of gravity can eventually resolve the imbalance that occurs on the opposite side of the center of gravity.

In this state, when the inspector inputs a test start command to the computer 130 through the operation panel 160, the computer 130 controls the servo circuit 11 to move the pitch axis from the minimum angle to the maximum angle every 0.1 degrees. The current value input through the current measuring unit 120 is obtained.

In this case, the computer 130 checks the rotation angle of the pitch shaft by checking the rotation angle by a voltage output from a potentiometer (not shown) provided in the two-axis gimbal. That is, since the potentiometer outputs a voltage corresponding thereto according to the rotation angle of the pitch axis or the yaw axis, the computer 130 may check the rotation angles of the pitch axis and the yaw axis.

When the current value up to the maximum angle is obtained, the computer 130 again controls the servo circuit 11 to obtain the current value input through the current measuring unit 120 every 0.1 degrees while moving the pitch axis from the maximum angle to the minimum angle. do.

When the acquisition of the current values for all angles is complete, the computer 130 protrudes an alarm or a message to inform the examiner that the confirmation has been completed. This depends on the settings of the application and may wait when the current value is acquired and then operate when the inspector enters a separate command.

Then, the inspector fixes the biaxial gimbal 10 to a position of 90 degrees, and inputs the maximum and minimum angles of the pitch axis, respectively. For example, enter a minimum angle of -10 degrees and a maximum angle of +10 degrees around 90 degrees.

In this state, when the tester inputs a test start command to the computer 130, the computer 130 controls the servo circuit 11 to move the current measuring unit 120 every 0.1 degrees while moving the pitch axis from the minimum angle to the maximum angle. Acquire current value input through.

Then, the computer 130 acquires the current value input through the current measuring unit 120 every 0.1 degrees while moving the pitch axis from the maximum angle to the minimum angle.

When all current values are obtained, the computer 130 protrudes an alarm or a message to inform the inspector that the confirmation is finished.

The inspector then fixes the biaxial gimbal 10 to a 180 degree position and inputs the maximum and minimum angles of the pitch axis, respectively. For example, enter a minimum angle of -10 degrees and a maximum angle of +10 degrees around 180 degrees.

In this state, when the tester inputs a test start command to the computer 130, the computer 130 controls the servo circuit 11 to move the pitch axis from the minimum angle to the maximum angle and again from the maximum angle to the minimum angle. The current value input through the current measuring unit 120 is obtained. When the current value is obtained, the computer 130 protrudes an alarm or a message to inform the examiner that the confirmation has been completed.

The inspector then fixes the biaxial gimbal 10 to a position of 270 degrees and inputs the maximum and minimum angles of the pitch axis, respectively. For example, a minimum angle of -10 degrees and a maximum angle of +10 degrees are input based on 270 degrees.

In this state, when the tester inputs a test start command to the computer 130, the computer 130 controls the servo circuit 11 to move the pitch axis from the minimum angle to the maximum angle and again from the maximum angle to the minimum angle. The current value input through the current measuring unit 120 is obtained.

When the acquisition of the current value is completed, the computer 130 converts the current value into a torque amount at the obtained angle. Equation 2 below converts a current value into a torque amount in the computer 130.

Here, Tm is the torque amount of the servo motor, Kt is the torque constant (grf-cm / A) of the servo motor, and Im is the current A applied to the servo motor.

That is, the torque constant of the servo motor is stored in the computer 130, and the computer 130 calculates the amount of torque using Equation 2 through this.

Then, the computer 130 calculates an unbalance amount of the pitch axis, which is an intercept among the equations of the straight line, by converting the obtained torque and angle into the equation of the straight line using the linear regression method. In other words, B is an imbalance amount at y = Ax + B.

At this time, the unbalance amount of the obtained pitch axis is stored in the storage means (not shown) of the computer 130, and the test result is displayed on the monitor 140 as shown in FIG. In addition, according to the wishes of the inspector, the computer 130 outputs the inspection result through the printer 150.

On the other hand, when the calculation of the unbalance amount of the pitch axis is completed, the inspector is fixed with a stopper so that the pitch axis does not rotate again, and then performs the above steps sequentially to calculate the unbalance amount of the yaw axis.

When the computer 130 completes the calculation of the unbalance amount of the biaxial gimbal 10, the inspector adds the weight to the opposite direction of torque acting through the unbalance amount of the yaw and pitch axes calculated by the computer 130, Or change the position of the weight to correct the imbalance.

When the calibration is completed, the inspector repeats the above steps to re-measure the unbalance amount, and if the result of the remeasurement satisfies the balance standard, the adjustment is terminated. Continue the process of remeasurement.

Therefore, after checking the unbalance amount of the 2-axis gimbal as the amount of current applied to the servo motor through a separate system, the inspector can easily and accurately correct the unbalance amount of the 2-axis gimbal by correcting the unbalance amount according to the measured result. I can adjust it.

As described above, according to the apparatus for adjusting the balance of a two-axis gimbal according to the present invention and the method thereof, after electrically connecting the separate system and the two-axis gimbal, the magnitude of the current applied to the servo motor of the two-axis gimbal in the system By measuring the unbalance amount of the yaw axis and the pitch axis, the inspector can adjust the unbalance amount of the biaxial gimbal by changing or repositioning the weight on the biaxial gimbal based on the measured unbalance amount.

Claims (7)

In a two-axis gimbal including a servo motor, a servo circuit, a yaw axis, and a pitch axis, A power supply for supplying necessary power to each component; A current measuring unit electrically connected to the servo circuit of the two-axis gimbal and operated by an input control signal to receive a yaw signal and a pitch signal output from the servo circuit when the servo motor is driven, and measure a magnitude of current. Wow, When the test start command is input, the control unit controls the two-axis gimbal servo circuit according to the tester's setting, and moves the yaw and pitch axes from the minimum angle to the maximum angle and the maximum angle to the minimum angle. A computer for calculating an unbalance amount of each of the yaw axis and the pitch axis by using the magnitude of the current input from the measuring unit; A monitor for displaying a test progress result and a test result by data output from the computer; A printer for outputting a test progress result and a test result by data output from the computer; And a manipulation panel for inputting, by the computer, a test start signal, a test end signal, and a test result output signal to the computer. The method of claim 1, The computer, The balance adjustment device of the two-axis gimbal, characterized in that it further comprises an interface that is responsible for the input and output of the signal. In the adjustment method of the balance adjustment device of the two-axis gimbal, A first step of circuit-connecting the computer with the current measuring unit and the two-axis gimbal, and fixing it with a stopper to prevent the yaw shaft from rotating; A second step of fixing the biaxial gimbal to a position of a first specific angle; A third step of respectively inputting the minimum and maximum angles of the pitch axis at the position of the first specific angle of the biaxial gimbal to the computer via an operation panel; A fourth step of obtaining a current value input through the current measuring unit at a predetermined angle while moving the pitch axis from the minimum angle to the maximum angle and again from the maximum angle to the minimum angle when the input of the test start command is completed; When the acquisition of the current value is completed in the fourth step, the biaxial gimbal is fixed to the position of the second specific angle, the maximum and minimum angles of the pitch axis at the position of the second specific angle are respectively inputted, and then the pitch axis is minimized. A fifth step of acquiring a current value input through the current measuring unit at a predetermined angle while moving from an angle to a maximum angle and again from a maximum angle to a minimum angle; When the acquisition of the current value is completed in the fifth step, the biaxial gimbal is fixed to the position of the third specific angle, the maximum and minimum angles of the pitch axis at the position of the third specific angle are respectively inputted, and then the pitch axis is minimized. A sixth step of acquiring a current value input through the current measuring unit at a predetermined angle while moving from an angle to a maximum angle and again from a maximum angle to a minimum angle; When the acquisition of the current value is completed in the sixth step, the biaxial gimbal is fixed to the position of the fourth specific angle, and then the maximum and minimum angles of the pitch axis at the fourth specific angle are respectively input, and then the pitch axis is minimized. A seventh step of obtaining a current value input through the current measuring unit at a predetermined angle while moving from an angle to a maximum angle and a maximum angle to a minimum angle again; The current value obtained through the third to seventh steps is converted into torque amount, and then the torque amount and angle are converted into an equation of a straight line by using a linear regression method to calculate an unbalance amount of a pitch axis which is an intercept among straight equations. 8 steps, A ninth step of fixing the pitch axis so that the pitch axis does not rotate when the calculation of the unbalance amount of the pitch axis is completed, and releasing the fixed stopper so that the yaw axis is rotatable; After the fixing of the stopper is completed, the yaw axis is performed from the second step to the seventh step, and after converting the current value obtained through the third to seventh steps into torque amount, torque amount and angle A tenth step of calculating the unbalance amount of the yaw axis which is the intercept of the equation of the straight line by converting And an eleventh step in which the inspector adds, subtracts, or changes the position of the weight to correct an unbalance amount by calculating an unbalance amount between the calculated pitch axis and the yaw axis. How to balance the gimbal. The method of claim 3, wherein When the correction of the unbalance amount of the two-axis gimbal is completed, And re-measuring the imbalance amount by performing the second to eleventh steps again, ending the adjustment if the remeasurement result satisfies the balance standard, and performing the eleventh step again if the balance standard is not satisfied. Balance adjustment method of 2-axis gimbal to be. The method of claim 3, wherein The position of the first, second, third, fourth specific angle, A balance adjustment method for a biaxial gimbal, which is 0 degrees, 90 degrees, 180 degrees, or 270 degrees. The method of claim 3, wherein Constant angle, Balance adjustment method for a two-axis gimbal, characterized in that 0.1 degrees. The method of claim 3, wherein The imbalance measured by the computer, The balance adjustment method of the two-axis gimbal, characterized in that displayed on the monitor, and can be output through the printer.