CN208384428U - Stable turntable system based on reversed bit shift compensation - Google Patents
Stable turntable system based on reversed bit shift compensation Download PDFInfo
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- CN208384428U CN208384428U CN201821032401.5U CN201821032401U CN208384428U CN 208384428 U CN208384428 U CN 208384428U CN 201821032401 U CN201821032401 U CN 201821032401U CN 208384428 U CN208384428 U CN 208384428U
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Abstract
Stable turntable system based on reversed bit shift compensation is related to inertial technology and servo motor high-precision control technical field.The utility model includes the high-precision positioning function and stability contorting function of azimuth axis and pitch axis, and institute's azimuth axis input terminal connection orientation gyroscope, orientation rotation become, output end connection orientation torque motor；Pitch axis input terminal connects pitch gyroscope, pitching rotation becomes, and output end connects pitching moment motor.The disturbed motion in orientation and pitch orientation that the utility model generates pedestal, it is detected by gyroscope and is input to control terminal, Gyroscope Random Drift is eliminated using Mean Filtering Algorithm and complementary filter algorithm, it is integrated into displacement signal and is sent into control terminal using reversed bit shift compensation algorithm generation opposing torque, keep stablizing so that being stablized object.
Description
Technical field
The utility model relates to inertial technologies and servo motor high-precision control technical field.
Background technique
Stable turntable be typically all for the purpose of stablizing photoelectric image, keep image relative target maintain stablize, usually according to
The inner looping that is formed by rate gyroscope as velocity feedback element realizes that most of research is proposed for Rate Feedback at present
Series of algorithms is observed and compensates for example, by using Gaussian RBF neural, uses Kalman filter prediction actual corners
Speed method, optimum control, variable-structure control, neural network and fuzzy control etc..
It is compensated using only gyroscope rate, very high to the speed ring response frequency requirement of system, lasting accuracy is poor,
Since gyroscope rate signal measurement process noise is big, dynamic property is good, and accelerometer measures process noise is small, dynamic property
Difference, control loop is high for filtering requirements real-time, data volume is few.
Utility model content
The utility model aim is to propose the stable turntable system based on reversed bit shift compensation.
The utility model includes azimuth axis control unit and pitch axis control unit, azimuth axis control unit and pitch axis control
Unit processed passes through communication unit respectively and connect with upper computer control system；Azimuth axis control unit passes through azimuth axis data calculation list
Member is connect with azimuth axis gyroscope；Pitch axis control unit is connect by pitch axis data calculation unit with pitch axis gyroscope；
The signal output end connection orientation axis driving unit of azimuth axis control unit, the signal output end connection side of azimuth axis driving unit
Position axle power torque motor, azimuth axis torque motor connection orientation axis rotary transformer, the position signal of azimuth axis rotary transformer are defeated
Outlet connection orientation axis control unit；The signal output end of pitch axis control unit connects pitch axis driving unit, and pitch axis drives
The signal output end of moving cell connects pitch axis torque motor, and pitch axis torque motor connects pitch axis rotary transformer, pitching
The position signal output end connection orientation axis control unit of axis rotary transformer.
The utility model calculates the zero migration of gyro rate using mean filter, carries out complementary filter in conjunction with accelerometer,
It is integrated into displacement signal and is sent into control unit progress Contrary compensation, to achieve the effect that stable objects.
The utility model includes the high-precision positioning function and stability contorting function of azimuth axis and pitch axis, the azimuth axis
Input terminal connection orientation gyroscope, orientation rotation become, output end connection orientation torque motor；The pitch axis input terminal connects pitching
Gyroscope, pitching rotation become, and output end connects pitching moment motor.
The utility model is characterized in that: the high-precision dual-axis turntable with stabilization function, orientation that pedestal is generated with
The disturbed motion of pitch orientation detects by gyroscope and is input to control terminal, uses Mean Filtering Algorithm and complementary filter
Algorithm eliminates Gyroscope Random Drift, is integrated into displacement signal feeding control terminal using reversed bit shift compensation algorithm and generates opposite force
Square keeps stablizing so that being stablized object.
While can realizing high accuracy positioning to turntable using the utility model, when pedestal relative inertness space generates fortune
When dynamic, it will moved together by strap turn platform shafting, gyroscope incudes the angle speed of turntable azimuth axle and pitching shafting
Signal is spent, the input terminal of negative-feedback to control system corrects the torque motor of amplification rear-guard moving platform by controller, and motor produces
Raw corresponding opposite direction torsional moment drives platform axle to tie up to and carries out position compensation, platform in the opposite direction of pedestal rotation
Shafting is restored to original position, to realize the stabilization function of platform.
Detailed description of the invention
Fig. 1 is a kind of structural schematic diagram of the utility model.
Specific embodiment
As shown in Figure 1, the utility model is equipped with azimuth axis control unit 3 and pitch axis control unit 9, azimuth axis control is single
Member 3 and pitch axis control unit 9 are connect by communication unit 14 with upper computer control system 13 respectively.Azimuth axis control unit is logical
It crosses azimuth axis data calculation unit 2 to connect with azimuth axis gyroscope 1, pitch axis control unit 9 passes through pitch axis data calculation list
Member 8 is connect with pitch axis gyroscope 7.
In addition, the output end connection orientation axis driving unit 4 of azimuth axis control unit 3, the output of azimuth axis driving unit 4
End connection orientation axle power torque motor 5,5 connection orientation axis rotary transformer 6 of azimuth axis torque motor, azimuth axis rotary transformer
Position signal output end connection orientation axis control unit.
The output end of pitch axis control unit 9 connects pitch axis driving unit 10, the output end of pitch axis driving unit 10
Pitch axis torque motor 11 is connected, pitch axis torque motor 11 connects pitch axis rotary transformer 12, pitch axis rotary transformer
Position signal output end connection orientation axis control unit.
Working principle of the utility model is:
After this product is connect with upper computer control system, upper computer control system exports control instruction with RS422 interface, leads to
After letter unit receives the control instruction of upper computer control system, its information is carried out to the rotation side for being decomposed into orientation and pitch axis
To and position, be sent to control unit.Control unit is completed to sample motor actual current, location information, by position ring
(P), speed ring (PI), electric current loop (PI) closed loop are adjusted, are controlled using high performance control algorithm motor, single by driving
First driving moment motor orderly rotates, and drives turntable rotation, and in real time to the state and reality of upper computer control system passback turntable
Border turned position.
When pedestal generates the disturbance in orientation and pitching shafting, gyroscope incudes the disturbance angular speed and acceleration of pedestal
Meter sends data to data calculation unit by RS485, and it is quiet that data calculation unit by mean filter method calculates gyroscope
State zero migration carries out complementary filter amendment in conjunction with random drift of the accelerometer to gyroscope itself, and passes through speed ratio
The example factor and time integral constant give the displacement that revised data are integrated into control unit needs, input control unit,
Control unit carries out opposing torque compensation by three close-loop control.Wherein, electric current loop is pi regulator, has faster response and resists
Interference characteristic；Speed ring uses PDFF algorithm, which has the strong feature of low speed disturbance rejection；Position ring is designed as PF adjusting
Device, in addition position ring velocity feed forward and feed forward of acceleration penalty coefficient, the input of energy quick response system position, accurately follow in real time
Location information, guarantee the accurate position control of platform stage body.Experiment proves that generating the sine for being not more than 7 degree of 5Hz in pedestal
When disturbance, the hot spot outside 7m can be stablized in 5mm.
Claims (1)
1. the stable turntable system based on reversed bit shift compensation, it is characterised in that controlled including azimuth axis control unit and pitch axis
Unit, azimuth axis control unit and pitch axis control unit pass through communication unit respectively and connect with upper computer control system；Orientation
Axis control unit is connect by azimuth axis data calculation unit with azimuth axis gyroscope；Pitch axis control unit passes through the pitching number of axle
It is connect according to solving unit with pitch axis gyroscope；
The signal output end of the signal output end connection orientation axis driving unit of azimuth axis control unit, azimuth axis driving unit connects
Connect azimuth axis torque motor, azimuth axis torque motor connection orientation axis rotary transformer, the position letter of azimuth axis rotary transformer
Number output end connection orientation axis control unit；
The signal output end of pitch axis control unit connects pitch axis driving unit, and the signal output end of pitch axis driving unit connects
Pitch axis torque motor is connect, pitch axis torque motor connects pitch axis rotary transformer, the position letter of pitch axis rotary transformer
Number output end connection orientation axis control unit.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201821032401.5U CN208384428U (en) | 2018-07-02 | 2018-07-02 | Stable turntable system based on reversed bit shift compensation |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201821032401.5U CN208384428U (en) | 2018-07-02 | 2018-07-02 | Stable turntable system based on reversed bit shift compensation |
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| Publication Number | Publication Date |
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| CN208384428U true CN208384428U (en) | 2019-01-15 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201821032401.5U Active CN208384428U (en) | 2018-07-02 | 2018-07-02 | Stable turntable system based on reversed bit shift compensation |
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Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111123831A (en) * | 2019-12-05 | 2020-05-08 | 河北汉光重工有限责任公司 | Method for eliminating coupling drift of inner shaft gyroscope in double-shaft servo control system |
| CN111896935A (en) * | 2020-08-05 | 2020-11-06 | 西安应用光学研究所 | Reverse scanning stability compensation method adopting staring type detector photoelectric search system |
| CN114123894A (en) * | 2021-11-19 | 2022-03-01 | 九江精密测试技术研究所 | Indexing mechanism three-loop control method based on Kalman |
-
2018
- 2018-07-02 CN CN201821032401.5U patent/CN208384428U/en active Active
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111123831A (en) * | 2019-12-05 | 2020-05-08 | 河北汉光重工有限责任公司 | Method for eliminating coupling drift of inner shaft gyroscope in double-shaft servo control system |
| CN111123831B (en) * | 2019-12-05 | 2022-12-02 | 河北汉光重工有限责任公司 | Method for eliminating coupling drift of inner shaft gyroscope in double-shaft servo control system |
| CN111896935A (en) * | 2020-08-05 | 2020-11-06 | 西安应用光学研究所 | Reverse scanning stability compensation method adopting staring type detector photoelectric search system |
| CN111896935B (en) * | 2020-08-05 | 2024-03-15 | 西安应用光学研究所 | Reverse scanning stability compensation method adopting gaze type detector photoelectric search system |
| CN114123894A (en) * | 2021-11-19 | 2022-03-01 | 九江精密测试技术研究所 | Indexing mechanism three-loop control method based on Kalman |
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