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Gyro-stabilized platform for high-speed rolling carrier and control method thereof

A technology of gyro-stabilized platform and platform, which is applied in assisting non-electrical speed/acceleration control, navigation through speed/acceleration measurement, etc., can solve problems such as electromagnetic interference of controllers and gyroscopes, and achieves overcoming instant stuck, accurate guarantee The effect of attitude datum

Inactive Publication Date: 2012-06-13
NORTHWESTERN POLYTECHNICAL UNIV
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

The controller and driver of this method do not use electrical isolation design, and the work of the drive motor produces serious electromagnetic interference on the work of the controller and gyroscope, and this document does not propose a corresponding control method based on the operating characteristics of the high-speed rolling carrier

Method used

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  • Gyro-stabilized platform for high-speed rolling carrier and control method thereof
  • Gyro-stabilized platform for high-speed rolling carrier and control method thereof
  • Gyro-stabilized platform for high-speed rolling carrier and control method thereof

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Embodiment Construction

[0025] The present invention will be further described below in conjunction with the accompanying drawings and embodiments.

[0026] The structural reference of the embodiment of the device of the present invention figure 1 , consists of a platform body 1, a servo motor 2, an encoder 3 and a servo drive controller 4. The rotor of the servo motor, the rotor of the encoder and the platform body are coaxially connected; the stator of the servo motor and the stator of the encoder are connected with the carrier shell. Servo motors are installed at the end positions of the carrier. The control circuit and drive circuit of the servo drive controller are designed separately and installed at the end of the servo motor. The encoder is connected with the rotor shaft of the servo motor by a shaft sleeve, which is convenient and reliable. The overall structure of the device is compact, the volume is small, it is easy to be transplanted between different carriers, it is convenient for in...

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Abstract

The invention discloses a gyro-stabilized platform for a high-speed rolling carrier and a control method thereof. The platform body is provided with a stabilized object and a gyroscope; the gyroscope measures the angular motion information of the platform body; an encoder measures the information of a rotor of a servo motor relative to a stator of the servo motor; and a servo drive controller analyzes the angular motion state of the platform body relative to a reference plane according to the angular motion information, performs space vector transformation on current by use of the angle information provided by the encoder and the phase current of the servo motor detected in real time according to a PID control strategy, and controls the output torque of the servo motor to counteract the corresponding rotation of the platform body. The gyro-stabilized platform disclosed by the invention is applied to a high-speed rolling carrier, and can accurately ensure the attitude reference in severe operation conditions.

Description

technical field [0001] The invention relates to a gyro-stabilized platform. Background technique [0002] The gyro-stabilized platform can isolate the disturbance of the carrier and establish a stable reference plane under the moving state of the carrier, so that the equipment installed on the platform will not be unable to work normally due to the shaking and rolling caused by the moving carrier. Its main feature is that the inertial measurement unit is used as the angular motion sensitive element to continuously measure the change of the attitude position of the platform, and the angular movement of the platform body and the carrier is isolated through the servo actuation mechanism, so as to accurately maintain the attitude reference of the platform body. [0003] The gyro-stabilized platform integrates multiple technologies such as inertial navigation, data acquisition and signal processing, precision mechanical dynamics modeling and simulation, and motor motion control. ...

Claims

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Application Information

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IPC IPC(8): G05D13/60G01C21/18
Inventor 林辉王德成齐蓉
Owner NORTHWESTERN POLYTECHNICAL UNIV
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