CN206378749U - Electric mechanical powdered soil based on MPU6050 attitude transducers - Google Patents

Abstract

The utility model discloses an electromechanical stable tracking platform based on an MPU6050 attitude sensor, which comprises a carrier base, a driving mechanism, a sensor, a controller and camera equipment. The driving mechanism is arranged on the carrier base, and the driving mechanism includes a bracket and a connecting plate. and a drive motor, the drive motor includes a pitch motor, a roll motor and a yaw motor, the connection plate includes a pitch connection plate, a roll connection plate and a deflection connection plate, the bracket is arranged on the carrier base and connected with the pitch motor, the pitch motor passes through the pitch The connection plate is connected with the rolling motor, the rolling motor is connected with the deflection connection plate through the roll connection plate, the deflection connection plate is connected with the camera equipment through the deflection motor, and a fixed platform is arranged between the deflection motor and the camera equipment; The controller controls the steering and rotation speed of the three motors to realize the movement of the camera equipment in the three degrees of freedom directions of the X-axis, Y-axis, and Z-axis, thereby realizing the tracking function.

Description

Electromechanical stable tracking platform based on MPU6050 attitude sensor

Technical field:

The utility model relates to a tracking platform, in particular to an electromechanical stable tracking platform based on an MPU6050 attitude sensor.

Background technique:

The precise and stable tracking platform uses real-time detection of platform attitude and position changes as a means, accurately maintains the dynamic attitude reference through a series of electromechanical transmission mechanisms, and uses image detection equipment to realize automatic tracking of moving targets, because it effectively isolates the disturbance of the carrier itself , It has been widely used in aviation reconnaissance, seabed detection, precision equipment detection and other fields.

Because it can isolate carrier missiles, aircraft, tanks, and ship disturbances, continuously measure platform attitude and position changes, accurately maintain dynamic attitude references, and realize automatic tracking of maneuvering targets through image detection equipment, it has been obtained in modern weapon systems. Wide range of applications. For example, in the projectile guidance seeker, it is required to follow the main stable target line of sight to be able to isolate the disturbance of the projectile angular movement to the weapon firing line, and obtain stable target images through the image detection device installed on the stable tracking platform, which provides a large Field of view target acquisition and small field of view target recognition and tracking provide measurement and calculation benchmarks to improve the hit rate of launches on the move. Tanks, armored combat vehicles and other ground vehicles need frequent maneuvers, stops, fast aiming and shooting on the move. Their combat platforms not only It should have a high degree of maneuverability, and should also have the ability to stably aim, track, and shoot during movement. The stable tracking platform can be used to install a three-in-one viewing and aiming device with day vision, night vision, and ranging functions to obtain a stable field of view. The observer can have a clear insight into the battlefield situation. The antenna of the radar is bulky and often suffers from various interferences. In order to make it search according to the predetermined rule or realize the target tracking, a stable system is needed to isolate these interferences. The stable tracking platform has been widely used in deep-sea operations such as aerial reconnaissance photography observation equipment, airborne target indicator, space remote sensing detection and submarine sonar detection.

Utility model content:

The technical problem to be solved by the utility model is: to overcome the deficiencies of the prior art, to provide a simple structure, can be disassembled, through the movement of the camera device in the three degrees of freedom directions of the X axis, the Y axis and the Z axis, to realize the For the tracking of the target object, it has an electro-mechanical stable tracking platform based on the MPU6050 attitude sensor with small size, high precision and low cost.

The technical scheme of the utility model is: an electro-mechanical stable tracking platform based on the MPU6050 attitude sensor, including a carrier base, a drive mechanism, a sensor, a controller and a camera device, the drive mechanism and the camera device arranged on the carrier base Equipment connection, the controller is connected with the sensor and arranged on the carrier base, the drive mechanism includes a bracket, a connection plate and a drive motor, the drive motor includes a pitch motor, a roll motor and a deflection motor, and the connection plate It includes a pitch connection plate, a roll connection plate and a deflection connection plate. The bracket is arranged on the carrier base and connected to the pitch motor. The pitch motor is connected to the roll motor through the pitch connection plate. The roll motor passes through the roll The rotation connecting plate is connected with the deflection connecting plate, the deflection connecting plate is connected with the camera equipment through the deflection motor, a fixed platform is arranged between the deflection motor and the camera equipment, the sensor is arranged on the fixed platform, and the driving motor and the camera equipment The motor drive module is connected to the motor speed measurement module, the motor drive module and the motor speed measurement module are connected to the controller, and the controller is connected to the power supply module.

One end of the pitch connection plate is provided with a roll motor fixing plate, the deflection connection plate is a Z-shaped structure, and is connected with the roll connection plate by screws, and a transmission mechanism is arranged between the pitch motor and the pitch connection plate, A transmission mechanism is provided between the rolling motor and the rolling connecting plate, and a transmission mechanism is provided between the deflection motor and the fixed platform.

The pitch motors, roll motors and yaw motors are all hollow-shaft three-phase DC brushless motors, and are all equipped with motor speed measuring modules.

The motor speed measurement module includes an A3144 Hall sensor, a magnet and an LM393 voltage comparator. The Hall sensor is arranged on the drive motor and connected to the LM393 voltage comparator. The magnet is arranged on the transmission mechanism.

The controller is a STM32F103RCT6 single-chip microcomputer, the sensor is an MPU6050, the motor drive module is an SI4599 chip, and the power supply module includes a 3S battery, a 78D33 chip and an IRF9328 chip.

The power supply voltage of the 3S battery is 12V, the 78D33 chip is connected with the 3S battery and outputs 3V voltage, and the IRF9328 chip is connected with the 3S battery and outputs 12V voltage.

The beneficial effects of the utility model are:

1. The MPU-6050 attitude sensor of the utility model transmits the change of the attitude of the fixed platform to the controller in real time. The controller outputs the control signal according to the PID algorithm to control the steering and speed of the three motors. The motor drives the transmission mechanism to realize the camera equipment at X Axis, Y-axis, and Z-axis move in three degrees of freedom directions, so as to realize the tracking function. It has the characteristics of small size, high precision, and low cost.

2. The camera equipment of the utility model moves in the direction of pitch motor (X axis), roll motor (Y axis) and yaw motor (Z axis), so that the equipment carried on the fixed platform remains stable on the geographic coordinate system to eliminate Phase shift induced by platform carrier for improved stability.

3. The sensor of this utility model uses MPU6050 as the core component, which integrates a 3-axis MEMS gyroscope and a 3-axis MEMS accelerometer, and has its own digital motion processing function, thereby reducing the complexity of MCU fusion calculation data and sensor synchronization , posture sensing and other loads, the processing results can be read directly from the DMP register, with fast response and small size.

4. The utility model installs a small magnetic steel on the rotating mechanism of the driving motor, and adopts the A3144 Hall sensor to sense the rotation information of the magnetic steel, so as to realize the purpose of monitoring the motor speed, and the detection is convenient and fast.

5. The pitching motor of the X-axis of the utility model is at the bottom of the platform, which requires relatively large torque. Therefore, the X-axis pitching motor uses a 2804-type brushless DC motor, and the other two motors use a 2212-type brushless DC motor to ensure Able to respond quickly.

Description of drawings:

Figure 1 is a schematic structural diagram of an electro-mechanical stable tracking platform based on the MPU6050 attitude sensor.

Figure 2 is a block diagram of the electrical connection of the electro-mechanical stable tracking platform based on the MPU6050 attitude sensor.

Figure 3 is a circuit connection diagram of the motor drive module.

detailed description:

Embodiment: See Fig. 1, Fig. 2 and Fig. 3, in the figure, 1-carrier base, 2-sensor, 3-camera equipment, 4-pitch motor, 5-roll motor, 6-yaw motor, 7-pitch Connecting plate, 8-rolling connecting plate, 9-deflection connecting plate, 10-support, 11-fixed platform, 12-screw, 13-rolling motor fixing plate.

The electro-mechanical stable tracking platform based on the MPU6050 attitude sensor includes a carrier base 1, a driving mechanism, a sensor 2, a controller, and an imaging device 3. The driving mechanism set on the carrier base 1 is connected to the imaging device 3, and the controller is connected to the sensor. 2 Connect and set on the carrier base 1, the driving mechanism includes a bracket 10, a connecting plate and a driving motor, the driving motor includes a pitch motor 4, a rolling motor 5 and a yaw motor 6, the connecting plate includes a pitch connecting plate 7, a rolling connection The plate 8 and the deflection connecting plate 9, the bracket 10 are arranged on the carrier base 1 and connected with the pitching motor 4, the pitching motor 4 is connected with the rolling motor 5 through the pitching connecting plate 7, and the rolling motor 5 is connected with the rolling connecting plate 8 The deflection connecting plate 9 is connected, and the deflection connecting plate 9 is connected with the imaging device 3 through the deflection motor 6. A fixed platform 11 is arranged between the deflection motor 6 and the imaging device 3. The sensor 2 is arranged on the fixed platform 11. The drive motor and the motor drive module It is connected with the motor speed measurement module, the motor drive module and the motor speed measurement module are connected with the controller, and the controller is connected with the power supply module.

One end of the pitch connecting plate 7 is provided with a roll motor fixing plate 13, the deflection connecting plate 9 has a Z-shaped structure, and is connected with the rolling connecting plate 8 by screws 12, and a transmission mechanism is arranged between the pitch motor 4 and the pitch connecting plate 7 A transmission mechanism is provided between the rolling motor 5 and the rolling connecting plate 8, and a transmission mechanism is provided between the deflection motor 6 and the fixed platform 9.

The pitch motor 4 , the roll motor 5 and the yaw motor 6 are all hollow-shaft three-phase DC brushless motors, and are all provided with a motor speed measuring module.

The motor speed measurement module includes A3144 Hall sensor, magnetic steel and LM393 voltage comparator. The Hall sensor is set on the drive motor and connected to the LM393 voltage comparator. The magnetic steel is set on the transmission mechanism.

The controller is STM32F103RCT6 microcontroller, the sensor is MPU6050, the motor drive module is SI4599 chip, the power module includes 3S battery, 78D33 chip and IRF9328 chip.

The 3S battery power supply voltage is 12V, the 78D33 chip is connected to the 3S battery and outputs 3V voltage, and the IRF9328 chip is connected to the 3S battery and outputs 12V voltage.

The STM32 controller receives the attitude information of the fixed platform 11 measured by the MPU6050 in real time, and at the same time performs analytical calculations, outputs the PWM control signal through the PID algorithm, and adjusts the attitude of the fixed platform 11 through the motor drive (the drive motor rotates through the gear to drive the connecting plate to move). Speed (install a small magnetic steel on the motor rotating mechanism, and use the A3144 Hall sensor to sense the rotation information of the magnetic steel, so as to achieve the purpose of monitoring the motor speed. Since the signal output by the Hall sensor is a sinusoidal signal, it needs to be determined by the LM393 voltage comparator. It is shaped into a square wave signal, and then the square wave is sent to the controller) and fed back to the controller to further modify the output signal, and finally achieve the stability of the fixed platform.

As shown in Figure 3: The motor drive module uses the chip SI4599 as the core. When PitchA is high and PitchAN is low, PitchAout outputs a high level of 12V. When PitchA is low and PitchAN is high, PitchAout The low level output of 0V realizes the conversion of 0-3V square wave into 0-12V square wave, so as to realize the function of enhancing the driving ability; the driving motor is a hollow shaft three-phase DC brushless motor, which is aimed at the three-phase Three SI4599 chips are used for driving, and a total of 9 SI4599 chips are required.

The power supply module is powered by 12V of 3S battery, and 3.3V is converted by 78D33 to supply power for the control circuit (controller, sensor, Hall sensor), and the other circuit provides 12V power for the motor drive module through IRF9328.

The above is only a preferred embodiment of the utility model, and does not limit the utility model in any form. Any simple modification, equivalent change and modification made to the above embodiments according to the technical essence of the utility model, All still belong to within the scope of the technical solution of the utility model.

Claims (6)

1. a kind of electric mechanical powdered soil based on MPU6050 attitude transducers, including carrier aircraft base, drive mechanism, Sensor, controller and picture pick-up device, the drive mechanism being arranged on carrier aircraft base are connected with picture pick-up device, the control Device is connected with sensor and is arranged on carrier aircraft base, it is characterized in that：The drive mechanism includes support, connecting plate and driving electricity Machine, the motor includes pitching motor, rolling motor and deflection motor, and the connecting plate includes pitch linkage plate, rolling Connecting plate and deflection connecting plate, the support are arranged on carrier aircraft base and are connected with pitching motor, and the pitching motor passes through Pitch linkage plate and rolling motor connection, the rolling motor are connected by rolling connecting plate with deflection connecting plate, the deflection Connecting plate is connected by deflection motor with picture pick-up device, and fixed platform, institute are provided between the deflection motor and picture pick-up device State sensor to set on the stationary platform, the motor is connected with motor drive module and motor speed measuring module, the electricity Machine drive module and motor speed measuring module are connected with controller, and the controller is connected with power module.

2. the electric mechanical powdered soil according to claim 1 based on MPU6050 attitude transducers, its feature It is：One end of the pitch linkage plate is provided with rolling motor fixing plate, and the deflection connecting plate is zigzag configuration, and and rolling Connecting plate is connected by screw, and is provided with transmission mechanism between the pitching motor and pitch linkage plate, the rolling motor with Transmission mechanism is provided between rolling connecting plate, transmission mechanism is provided between the deflection motor and fixed platform.

3. the electric mechanical powdered soil according to claim 1 based on MPU6050 attitude transducers, its feature It is：The pitching motor, rolling motor and deflection motor are hollow shaft three-phase direct-current brushless motor, and are provided with motor survey Fast module.

4. the electric mechanical powdered soil according to claim 3 based on MPU6050 attitude transducers, its feature It is：The motor speed measuring module includes A3144 Hall sensors, magnet steel and LM393 voltage comparators, and the Hall sensor is set Put on motor, and be connected with LM393 voltage comparators, the magnet steel is arranged on transmission mechanism.

5. the electric mechanical powdered soil according to claim 1 based on MPU6050 attitude transducers, its feature It is：The controller is STM32F103RCT6 single-chip microcomputers, and the sensor is MPU6050, and the motor drive module is SI4599 chips, the power module bag 3S batteries, 78D33 chips and IRF9328 chips.

6. the electric mechanical powdered soil according to claim 5 based on MPU6050 attitude transducers, its feature It is：The 3S battery power voltages are 12V, and the 78D33 chips are connected with 3S batteries and export 3V voltages, the IRF9328 Chip is connected with 3S batteries and exports 12V voltages.