Controllable pendulum system based biaxial horizontal stabilized platform and control method thereof

A technology with horizontal stability and platform, applied in the field of control and inertial navigation, it can solve the problems of gyro drift principle error and high cost of gyro, and achieve the effect of no principle error, simple implementation and high precision

Inactive Publication Date: 2011-04-20
BEIHANG UNIV
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Problems solved by technology

[0003] The purpose of the present invention is to solve the problems existing in the prior art, and propose a two-axis horizontally stable platform based on a controllable ...

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  • Controllable pendulum system based biaxial horizontal stabilized platform and control method thereof
  • Controllable pendulum system based biaxial horizontal stabilized platform and control method thereof
  • Controllable pendulum system based biaxial horizontal stabilized platform and control method thereof

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Embodiment Construction

[0036] The present invention will be described in detail below in conjunction with the accompanying drawings. The present invention proposes a two-axis horizontally stable platform based on a controllable pendulum system, such as figure 1 As shown, the two-axis horizontally stabilized platform includes a mechanical device and a controller. The mechanical device includes a controllable pendulum system A1, a controllable pendulum system B2, a table body 3, an outer frame 4, a control motor A5, a control motor B6 and a base 7.

[0037] The centers of the table body 3 and the outer frame 4 are the coordinate origin O of any rectangular coordinate system in space, and the planes of the table body 3 and the outer frame 4 are perpendicular to the z-axis direction. The outer frame 4 is a rectangular frame, and the table body 3 is at the center of the outer frame 4 .

[0038] The intersection points of the edge of the table body 3 and the positive and negative axis directions of the ...

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Abstract

The invention provides a controllable pendulum based biaxial horizontal stabilized platform and a control method thereof, relating to a gyroscope free horizontal stabilized platform and a control method thereof. The biaxial horizontal stabilized platform comprises a mechanical device and a controller, wherein the mechanical device comprises a controllable pendulum system A, a controllable pendulum system B, a platform body, an outer frame, a control motor A, a control motor B and a pedestal. The biaxial horizontal stabilized platform overcomes the defects that the traditional biaxial horizontal stabilized platform adopts a gyroscope which has high cost and causes principle error by gyroscopic drift, and the like. A local horizontal platform can be realized by adopting the controllable pendulum systems with sensitivity to a local vertical line instead of a gyroscope, so that the horizontal platform has the advantages of simple structure, low cost, high sensitivity and the like.

Description

technical field [0001] The invention belongs to the fields of control and inertial navigation, and in particular relates to a two-axis horizontal stable platform (without gyro stable platform) based on a controllable pendulum system and a control method thereof. Background technique [0002] At present, the most widely used stable platform system is the gyro-stabilized platform. The motion angle of the table body relative to the inertial space is sensed by the gyroscope, and the angle is compensated by the closed-loop control torque motor, so as to overcome the influence of the carrier motion and ensure the local level of the table body. However, high-precision gyroscopes are complicated in technology, high in cost, large in size and weight, and have irregular random constant value drift, and the error accumulates over time. The existing gyro-free platform uses at least 12 accelerometers, and the angular motion information synthesis algorithm is immature, and the control imp...

Claims

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Application Information

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IPC IPC(8): G05D1/08
Inventor 李帆张飞舟沈程智李进赵建辉以光衢
Owner BEIHANG UNIV
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