Disturbance compensation mechanism of two axis balance annular shelf
A technology of disturbance compensation and gimbal, which is applied in the direction of aerospace vehicle guides, transportation and packaging, and aircraft parts. The effect of compact structure and small volume of the system
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[0038] On a certain type of unmanned aerial vehicle, the front end is equipped with a two-axis balance ring frame with a Cartesian coordinate structure ( figure 1 The structure shown), the camera shoots the scene image at the front of the aircraft, and the three components of the angular velocity of the aircraft are: the x-axis angular velocity component It is a sinusoidal form with an amplitude of 1 radian / s and a frequency of 1.57 radians / s, and the y-axis angular velocity component It is a sinusoidal form with an amplitude of 1 radian / second and a frequency of 6.28 radian / second, and the z-axis angular velocity component It is a sinusoidal form with an amplitude of 1 radian / s and a frequency of 3.14 radians / s, and collects the camera pitch angular velocity ω 7 , camera azimuth velocity ω 9 data, the time response curve is as Figure 4A , Figure 4B shown. When the disturbance compensation device of the present invention is not used, and only the angular velocity fee...
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