JPS61173842U - - Google Patents
Info
- Publication number
- JPS61173842U JPS61173842U JP5720885U JP5720885U JPS61173842U JP S61173842 U JPS61173842 U JP S61173842U JP 5720885 U JP5720885 U JP 5720885U JP 5720885 U JP5720885 U JP 5720885U JP S61173842 U JPS61173842 U JP S61173842U
- Authority
- JP
- Japan
- Prior art keywords
- angular velocity
- vibration isolating
- isolating device
- controlled
- detecting means
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Granted
Links
- 238000001514 detection method Methods 0.000 claims description 8
- 230000005484 gravity Effects 0.000 claims description 3
- 238000006073 displacement reaction Methods 0.000 claims 3
- 230000002238 attenuated effect Effects 0.000 claims 1
- 238000010586 diagram Methods 0.000 description 10
Landscapes
- Accessories Of Cameras (AREA)
- Vibration Prevention Devices (AREA)
Description
第１図は本考案の実施例による防振装置の構成
図、第２図ａ，ｂ，ｃは第１図のアクチユエータ
の具体的な構成を表わす図、第３図は第１図の位
置検出器の具体的な構成を表わす図、第４図は第
３図の位置検出器の検出利得の非線形特性を表わ
す図、第５図は第１図の角速度検出器の具体的な
構成を表わす図、第６図は第１図の合成器の具体
的な構成を表わす図、第７図は第１図の駆動器の
具体的な構成を表わす図、第８図は第１図の防振
装置のブロツク図、第９図はθｘからθｍへの周
波数伝達関数Ｇ（ｊω）を表わす図、第１０図は
θｘの変動の様子を表わす図、第１１図は従来の
防振装置例を表わす構成図である。
１……鏡筒部（被制御体）、２……本体ケース
（支持体）、３……アクチユエータ、４……回転
軸、５……ホール素子（感磁素子）、６……角速
度センサ、７……固定部材、１１……位置検出器
、１２……角速度検出器、１３……合成器、１４
……駆動器、４１……撮像素子、４２……画像信
号処理器、１０２……マグネツト、１０４ａ，１
０４ｂ……コイル、１７７……非線形回路、Ｇ…
…鏡筒部１の重心。
Figure 1 is a block diagram of a vibration isolator according to an embodiment of the present invention, Figures 2 a, b, and c are diagrams showing the specific configuration of the actuator in Figure 1, and Figure 3 is a position detection diagram of Figure 1. 4 is a diagram showing the nonlinear characteristics of the detection gain of the position detector in FIG. 3, and FIG. 5 is a diagram showing the specific configuration of the angular velocity detector in FIG. 1. , FIG. 6 is a diagram showing the specific configuration of the combiner in FIG. 1, FIG. 7 is a diagram showing the specific configuration of the driver in FIG. 1, and FIG. 8 is a diagram showing the specific configuration of the driver in FIG. Fig. 9 is a diagram showing the frequency transfer function G (jω) from θ x to θ m , Fig. 10 is a diagram showing the fluctuation of θ x , and Fig. 11 is an example of a conventional vibration isolator. FIG. DESCRIPTION OF SYMBOLS 1... Lens barrel part (controlled object), 2... Main body case (support body), 3... Actuator, 4... Rotating shaft, 5... Hall element (magnetic sensing element), 6... Angular velocity sensor, 7... Fixed member, 11... Position detector, 12... Angular velocity detector, 13... Synthesizer, 14
...Driver, 41...Image sensor, 42...Image signal processor, 102...Magnet, 104a, 1
04b...Coil, 177...Nonlinear circuit, G...
...Center of gravity of lens barrel section 1.
Claims (1)
記被制御体を回転駆動するアクチユエータ手段と
、前記被制御体と前記支持体との相対的な位置を
検出する位置検出手段と、前記被制御体に取りつ
けられ、慣性座標からみた前記アクチユエータ手
段の回転軸まわりの前記被制御体の角速度を検出
する角速度検出手段と、前記位置検出手段の出力
信号と前記角速度検出手段の出力信号を合成する
合成手段と、前記合成手段の合成信号に応じて前
記アクチユエータ手段に電力を供給する駆動手段
とを具備し、前記位置検出手段の検出利得を非線
形にし、前記被制御体と前記支持体の相対変位の
絶対値が小さい範囲の前記検出利得に比較して、
前記相対変位の絶対値が大きい範囲の前記検出利
得を２倍以上大きくしたことを特徴とする防振装
置。 (2) アクチユエータ手段の回転軸が被制御体の
重心もしくは重心の近傍を通つていることを特徴
とする実用新案登録請求の範囲第(1)項記載の防
振装置。 (3) 角速度検出手段として、振動型ジヤイロに
よる角速度センサを使用することを特徴とする実
用新案登録請求の範囲第(1)項記載の防振装置。 (4) 慣性座標における支持体の回転角に対する
被制御体の回転角の伝達特性を、第一の折点周波
数ｆ１以下の周波数範囲においては１とし、ｆ１
以上で第二の折点周波数ｆ２（６・ｆ１≦ｆ２）
以下の周波数範囲では−６ｄＢ／ｏｃｔで減衰さ
せ、ｆ２以上では−１２ｄＢ／ｏｃｔで減衰させ
るようにしたことを特徴とする実用新案登録請求
の範囲第(1)項記載の防振装置。 (5) 角速度検出手段が角速度センサと前記角速
度センサの出力信号の直流分をカツトする直流カ
ツトフイルタを有し、前記直流カツトフイルタの
折点周波数ｆ１をｆ１より小さくしたことを特徴
とする実用新案登録請求の範囲第(4)項記載の防
振装置。 (6) 被制御体と支持体の相対変位の絶対値が小
さい範囲において、ｆ１≦０．５Ｈｚ，ｆ２≧５
Ｈｚにしたことを特徴とする実用新案登録請求の
範囲第(4)項記載の防振装置。[Claims for Utility Model Registration] (1) Actuator means installed between a controlled body and a support body to rotationally drive the controlled body, and a means for controlling the relative position of the controlled body and the support body. a position detecting means for detecting, an angular velocity detecting means attached to the controlled body and detecting the angular velocity of the controlled body around the rotation axis of the actuator means as seen from inertial coordinates, an output signal of the position detecting means and the It comprises a combining means for combining the output signals of the angular velocity detecting means, and a driving means for supplying electric power to the actuator means in accordance with the combined signal of the combining means, the detection gain of the position detecting means is made non-linear, and the detection gain of the position detecting means is made non-linear. Compared to the detection gain in a range where the absolute value of the relative displacement between the control body and the support body is small,
A vibration isolating device characterized in that the detection gain in a range where the absolute value of the relative displacement is large is increased by two or more times. (2) The vibration isolating device according to claim 1, wherein the rotation axis of the actuator means passes through the center of gravity of the controlled object or near the center of gravity. (3) The vibration isolating device according to claim (1) of the utility model registration, characterized in that an angular velocity sensor using a vibrating gyro is used as the angular velocity detection means. (4) The transfer characteristic of the rotation angle of the controlled body to the rotation angle of the support body in inertial coordinates is set to 1 in the frequency range below the first corner frequency f1 , and f1
With the above, the second corner frequency f 2 (6・f 1 ≦ f 2 )
The vibration isolating device according to claim (1) of claim 1, wherein the vibration isolating device is attenuated by -6 dB/oct in the following frequency ranges and -12 dB/oct in frequencies above f2 . (5) A utility model characterized in that the angular velocity detection means includes an angular velocity sensor and a DC cut filter that cuts the DC component of the output signal of the angular velocity sensor, and the corner frequency f 1 of the DC cut filter is made smaller than f 1 . A vibration isolating device according to registered claim (4). (6) In the range where the absolute value of the relative displacement between the controlled body and the support body is small, f 1 ≦0.5Hz, f 2 ≧5
Hz. The vibration isolating device according to claim (4) of the utility model registration.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP1985057208U JPH075727Y2 (en) | 1985-04-17 | 1985-04-17 | Anti-vibration device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP1985057208U JPH075727Y2 (en) | 1985-04-17 | 1985-04-17 | Anti-vibration device |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| JPS61173842U true JPS61173842U (en) | 1986-10-29 |
| JPH075727Y2 JPH075727Y2 (en) | 1995-02-08 |
Family
ID=30581523
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| JP1985057208U Expired - Lifetime JPH075727Y2 (en) | 1985-04-17 | 1985-04-17 | Anti-vibration device |
Country Status (1)
| Country | Link |
|---|---|
| JP (1) | JPH075727Y2 (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112272806A (en) * | 2019-08-13 | 2021-01-26 | 深圳市大疆创新科技有限公司 | Holder control method and device, holder and storage medium |
Citations (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPS5080845A (en) * | 1973-11-15 | 1975-07-01 | ||
| JPS5685464U (en) * | 1979-12-05 | 1981-07-09 |
-
1985
- 1985-04-17 JP JP1985057208U patent/JPH075727Y2/en not_active Expired - Lifetime
Patent Citations (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPS5080845A (en) * | 1973-11-15 | 1975-07-01 | ||
| JPS5685464U (en) * | 1979-12-05 | 1981-07-09 |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112272806A (en) * | 2019-08-13 | 2021-01-26 | 深圳市大疆创新科技有限公司 | Holder control method and device, holder and storage medium |
Also Published As
| Publication number | Publication date |
|---|---|
| JPH075727Y2 (en) | 1995-02-08 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CA2088205A1 (en) | Camera apparatus | |
| JPS61173842U (en) | ||
| JPS61173843U (en) | ||
| US5321986A (en) | Polar loop implementation for a two degree of freedom gyro | |
| JPH0369729U (en) | ||
| JP2995759B2 (en) | Motor rotation detector | |
| JPH04166586A (en) | Sound insulating window | |
| JPH0633989Y2 (en) | Rate gyro for model | |
| JP2645081B2 (en) | Actuator weightlessness test equipment | |
| JPH0467716U (en) | ||
| JPS60225210A (en) | Servo device | |
| JPH06294805A (en) | Angle velocity sensor | |
| JPH041852B2 (en) | ||
| JPH052362Y2 (en) | ||
| JPH0544727Y2 (en) | ||
| JPS61255173A (en) | Photographic device | |
| JPS63126901U (en) | ||
| JPH06175192A (en) | Light quantity controller | |
| JPS6365312A (en) | Angular velocity sensor | |
| JPH02149999U (en) | ||
| JPS58136843U (en) | Mirror position detection device | |
| JPS60255082A (en) | Controller of motor | |
| JPH0628406B2 (en) | Imaging device | |
| JPS61256870A (en) | Photographing device | |
| JPS63181912U (en) |