CN202267481U - Miniature horizontal stabilized platform - Google Patents

Abstract

The utility model relates to a small horizontally stable platform, which comprises a base, on which a pitch frame, a roll frame and a gyro sensor for sensing the pitch and roll motion of the frame are arranged, and the inclination sensor can sense both pitch and roll. Group the data and send the data to the single-chip microcomputer for processing. The single-chip microcomputer restores the angle value and combines the pitch and roll angular velocity of the carrier obtained by the gyro sensor to convert it into the pitch and roll compensation pulse output of the platform, and then drives the corresponding drive device. The stable platform is adjusted on a horizontal plane. Compared with the prior art, the utility model has simple structure and low cost, and realizes the compensation of the zero point drift error through the inclination sensor, so that the precision of the platform is higher and the stability is better.

Description

A small horizontal stable platform

technical field

The utility model relates to a stable platform, in particular to a small horizontal stable platform.

Background technique

Since its birth, the stable platform has been the focus of research institutions in various related fields at home and abroad. At present, the stable platform has been widely used in many fields such as science, military, and business. In these applications, the basic functions of the stabilized platform are similar. Even if the target platform of the system is isolated from the angular motion interference of the carrier or base, it maintains relative stability in the inertial space and can make the stabilized object It moves along a certain law under the action of disturbance torque. The stabilized platform is a device used to keep the stabilized object stable relative to its orientation. Its main feature is the extensive use of gyroscopes as angular motion sensitive elements, and the technical means used belong to the category of inertial technology research. Its unique function is to isolate the movement of the carrier, continuously measure the change of the attitude and position of the platform, and accurately maintain the dynamic attitude reference of the carrier. For example, the Chinese utility model patent whose patent number is ZL94218035.6 (authorized announcement number is CN2204069Y) discloses a two-axis antenna device for a gyro-stabilized platform, which uses the gyro torque formed by the flywheel rotating on the gyro-stabilized platform to be in the opposite direction to the disturbance torque. , to maintain the original horizontal posture of the antenna device. However, the gyroscope has the defect of inevitable zero point drift, and this device does not provide a specific solution to eliminate the drift, resulting in low precision of the device and poor stability of the platform.

Utility model content

The technical problem to be solved by the utility model is to provide a small horizontal stable platform with low cost, high precision and can effectively eliminate the zero point drift of the gyro sensor for the above-mentioned prior art.

The technical solution adopted by the utility model to solve the above-mentioned technical problems is: the small horizontal stable platform includes a base, and the base is provided with a pitch frame, a roll frame and a gyro sensor for sensing the pitch and roll motion of the above-mentioned frame. An X-axis drive device is connected to the pitch frame, and a Y-axis drive device is connected to the roll frame, and it is characterized in that: a first single-chip microcomputer, a second single-chip microcomputer, a third single-chip microcomputer and an inclination sensor are also provided on the base, The inclination sensor is used to measure the angular deviation data of the horizontal platform in the two directions of pitch and roll, and the data is input to the first single-chip microcomputer for processing, and the second single-chip microcomputer receives the angular deviation data from the pitch direction of the first single-chip microcomputer, Combining the pitch angular velocity of the carrier obtained by the gyro sensor, converting it into a pitch compensation pulse and outputting it to the X-axis drive device; the third single-chip microcomputer receives the angular deviation data in the roll direction from the first single-chip microcomputer, and combining the gyro sensor The obtained carrier roll angular velocity is converted into a roll compensation pulse and output to the Y-axis driving device.

The X-axis driving device can adopt multiple driving modes. Preferably, the X-axis driving device includes an X-axis motor driver and an X-axis stepping motor connected to the X-axis motor driver, and the X-axis motor driver Receive and process the data from the second single-chip microcomputer, the X-axis stepper motor drives the pitch frame; the Y-axis driving device includes a Y-axis motor driver and a Y-axis stepper connected to the Y-axis motor driver The Y-axis stepping motor driver receives and processes data from the third single-chip microcomputer, and the Y-axis motor drives the rolling frame.

Further preferably, the tilt sensor is installed on the pitch frame. The stabilized platform is surrounded by a pitch frame, and the inclination sensor can directly sense the movement of the carrier and directly output the inclination angle signal.

As the key to the realization of the stable platform system, the first single-chip microcomputer, the second single-chip microcomputer and the third single-chip microcomputer all adopt AVR single-chip microcomputers. AVR single-chip microcomputer is a high-speed and low-power consumption single-chip microcomputer with high cost performance.

Compared with the prior art, the utility model has the advantages that: the stable platform is equipped with an inclination sensor on the basis of a gyro sensor, and the inclination sensor can sense two sets of data of pitch and roll, and deliver the data to the single chip microcomputer Processing, the single-chip microcomputer restores the angle value and combines the carrier pitch and roll angular velocity obtained by the gyro sensor, and converts it into the pitch and roll compensation pulse output of the platform, and then drives the corresponding drive device to adjust the stabilized platform on the horizontal plane. It can be seen that the structure of the utility model is simple, the cost is low, and the compensation of the zero point drift error of the gyro is also realized through the inclination sensor, so that the precision of the platform is higher and the stability is better.

Description of drawings

Fig. 1 is the structural representation of platform frame of the utility model embodiment;

Fig. 2 is a system block diagram of the utility model embodiment.

Detailed ways

The utility model is described in further detail below in conjunction with the accompanying drawings.

As shown in Figure 1, the carrier is installed on a stable plane 1, the inner frame, that is, the pitch frame 2, can rotate around the X axis, and the outer frame, that is, the roll frame 3, can rotate around the Y axis, and the pitch frame 2 and roll frame 3 are installed on the base. Seat 4 on. The X axis is set as the pitch axis, and the Y axis is set as the roll axis. In the two-axis two-frame structure, the instruments and equipment are placed on the frame system composed of the pitch frame 2 and the roll frame 3 that are orthogonal to each other. Through servo stabilization control, the interference from the base 4 is overcome to achieve a stable effect. This two-axis two-frame stabilizing structure is very effective for small load and high-precision stabilization.

As shown in Figure 2, the inclination sensor and the corresponding components are installed on the pitch frame, and there are two gyro sensors installed on the base, which are used to sense the pitch motion and roll motion of the carrier respectively.

The inclination sensor has the advantages of high resolution, small size, easy integration, and wide operating temperature range. The inclination sensor is essentially an acceleration sensor using the principle of inertia. It is mainly used to measure the inclination value of a very slow or stationary carrier, but there is a huge delay on a fast-moving carrier.

The working principle of the stable platform is as follows: the gyro sensor is used as the sensitive element to sense the pitch and roll motion of the carrier. When the carrier, that is, the base 4, shakes, the gyro sensor can sense the angular velocity of the carrier space movement, and the angular velocity is calculated by a single-chip microcomputer to obtain a pulse. After being amplified by the motor driver, the stepper motors connected to the X and Y axes are respectively driven to correct the movement of the platform, so as to ensure that the platform is in a horizontal state. Because the gyro sensor has the defect of inevitable zero drift, it is difficult to achieve the goal that the platform is always in a horizontal state only by the gyro sensor. In order to eliminate the influence of the zero point drift of the gyro sensor on the system, in this embodiment, an inclination sensor is installed on the pitch frame 2, and the zero point drift of the gyro sensor is corrected according to the signal of the inclination sensor, and the two are combined to achieve the purpose of platform level. The key point to realize the stable platform system is to realize the programming of the first single-chip microcomputer AVR0, the second single-chip microcomputer AVR1 and the third single-chip microcomputer ARV2, and the intelligent control is realized by the single-chip microcomputer, wherein the second single-chip microcomputer AVR1 controls the pitching motion, and the third single-chip microcomputer AVR2 controls the horizontal motion. Rolling motion, their functions are consistent with the design idea, and its main function is to confirm and receive the platform tilt angle value transmitted by the first single-chip microcomputer AVR0, and then combine the angular velocity of the carrier transmitted by the gyro sensor to drive the pitch and roll motors to keep the platform level .

The specific working steps of the stable platform are as follows: firstly, the inclination sensor senses two sets of data of pitch and roll, and transmits these two sets of data to the first single-chip microcomputer AVR0, and the first single-chip microcomputer AVR0 obtains the data from the inclination sensor and processes the data Processing, the data processing process is to convert the obtained two sets of data into the required corresponding angle, that is, the angle at which the platform deviates from the horizontal position. Platform sensitivity, this design adopts the method of taking the average value of multiple data. Then, the first single-chip microcomputer AVR0 sends the processed data to the second single-chip microcomputer AVR1 and the third single-chip microcomputer AVR2 through the serial port. Then, AVR1 and AVR2 combine the angular velocity value of the carrier detected by the gyro sensor to convert it into a motor rotation drive pulse. Finally, the single-chip microcomputer Send pulses to the X-axis driving device and the Y-axis driving device, and the driving device drives to adjust the two-axis two frames, so that the stable platform is in a horizontal position. In this embodiment, the X-axis driving device includes an X-axis motor driver and an X-axis stepping motor connected to the X-axis motor driver, and the X-axis motor driver receives and processes data from the second single-chip microcomputer AVR1, and the X-axis stepping motor Drive the pitch frame; the Y-axis driving device includes a Y-axis motor driver and a Y-axis stepping motor connected to the Y-axis motor driver, and the Y-axis stepping motor driver receives and processes data from the third single-chip AVR2, and the Y-axis motor drives the horizontal roll frame. Whenever the stepping motor receives a pulse, the motor rotates (forward or backward) by one step, so the second single-chip AVR1 and the third single-chip AVR2 also need to determine the direction of rotation of the motor during processing. In addition, the second single-chip AVR1 and the third single-chip AVR2 also need to calculate the number and frequency of pulses sent to the motor. The number of pulses is difficult to determine because the carrier is always moving, so the solution is to send pulses until the platform is level. The frequency of the sending level can be controlled by the length of the time interval between sending two pulses. In addition, it is necessary to calculate the time interval (Delay) of the sending level, which can be calculated according to the motor gear radius, the pitch axis (roll axis) gear radius, the step size of the stepping motor and the timer constant ( TIMER_DELAY_CONST) is calculated by combining the size of the compensation angle.

Due to the characteristics of the inclination sensor and the gyro sensor, that is, the hysteresis of the inclination sensor and the zero drift of the gyro, this design uses the inclination sensor to correct the zero drift of the gyro.

The above descriptions are only the preferred embodiments of the present utility model. It should be pointed out that for those skilled in the art, without departing from the principle of the present utility model, various modifications or improvements can be made to the present utility model. It is considered within the protection scope of the present utility model.

Claims (4)

1. A small horizontally stable platform, comprising a base, the base is provided with a pitch frame, a roll frame and a gyro sensor that perceives the above-mentioned frame pitch and roll motion, the pitch frame is connected with an X-axis driving device, so A Y-axis driving device is connected to the rolling frame, and it is characterized in that: the base is also provided with a first single-chip microcomputer, a second single-chip microcomputer, a third single-chip microcomputer and an inclination sensor, and the inclination sensor is used to measure the pitch of the horizontal platform. Angle deviation data in the two directions of roll and roll, the data is input to the first single-chip microcomputer for processing, the second single-chip microcomputer receives the angle deviation data from the pitch direction of the first single-chip microcomputer, combined with the carrier pitch angular velocity obtained by the gyro sensor, Convert it into a pitch compensation pulse and output it to the X-axis driving device; the third single-chip microcomputer receives the angular deviation data in the rolling direction from the first single-chip microcomputer, and converts it into a rolling angular velocity combined with the carrier rolling angular velocity obtained by the gyro sensor. The compensation pulse is output to the Y-axis driving device. 2. The small horizontal stable platform according to claim 1, characterized in that: said X-axis driving device comprises an X-axis motor driver and an X-axis stepping motor connected to the X-axis motor driver, and said X-axis motor The driver receives and processes data from the second single-chip microcomputer, and the X-axis stepper motor drives the pitch frame; the Y-axis driving device includes a Y-axis motor driver and a Y-axis connected to the Y-axis motor driver A stepping motor, the Y-axis stepping motor driver receives and processes data from the third microcontroller, and the Y-axis motor drives the rolling frame. 3. The small horizontal stable platform according to claim 1 or 2, characterized in that: said inclination sensor is mounted on said pitch frame. 4. The small horizontal stable platform according to claim 1 or 2, characterized in that: the first single-chip microcomputer, the second single-chip microcomputer and the third single-chip microcomputer all adopt AVR single-chip microcomputer.

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