Three-degree-of-freedom photoelectric pod driven by orthogonal decoupling torque

Abstract

The invention discloses a three-degree-of-freedom photoelectric pod driven by orthogonal decoupling torque, the pod at least comprises the following structures: a ball joint support, an orthogonal decoupling driving group, a relative attitude detection module and a driving control system, and under the constraint of a ball joint, only displacement degree-of-freedom constraint exists between a stabilized platform and a carrier; and the rotational degrees of freedom in three directions are driven by orthogonal decoupling driving groups distributed on the carrier stator and the stabilization platform rotor. The attitude of the stabilized platform relative to a carrier is measured through an inertia attitude measurement unit in a contact or non-contact measurement mode, target absolute attitude deviation obtained through photoelectric load measurement is combined and fed into a drive control system, control current is calculated and loaded into a spherical drive set, and the stable tracking function on an optical axis is achieved. Due to the fact that the driving torques in all directions are perpendicular to one another in orthogonal decoupling driving, the current driving conversionefficiency of the system is high, the driving torque error is low, and the control precision of the stabilized platform can be improved.

Description

technical field [0001] The invention relates to the field of photoelectric tracking, and more specifically relates to a three-degree-of-freedom photoelectric pod driven by orthogonal decoupling moments, which is used in the field of stabilization of photoelectric equipment and target tracking. Background technique [0002] The photoelectric pod equipment is widely used in remote sensing mapping, laser communication, security monitoring and other fields. It performs high-precision and stable control of the optical axis of the photoelectric load by isolating the vibration of the carrier, and realizes the tracking and measurement of the target. Since the target distance generally exceeds one kilometer, the degree of freedom that has the greatest impact on the optical axis in the six-degree-of-freedom movement in space is the rotational degree of freedom on the plane perpendicular to the optical axis. In theory, the two-degree-of-freedom rotational control of this plane can achie...

AI Technical Summary

Problems solved by technology

[0003] The existing pod structure is generally a two-axis two-frame or two-axis four-frame structure supported in series, and the driving direction is often unable to change relative to the carrier. However, the need for the optical axis to track the target in actual work will change the direction of the optical axis, so It is necessary to rely on the driving tangent compensation to achieve the stability of the optical axis. When the tangent compensation is too large and exceeds the tracking capability of the system, there will be a tracking blind zone

At the same time, the way of rotating motors in series makes the coupling of the system structure complex, the payload space is reduced, and the friction torque of multiple rotating parts directly affects the improvement of tracking accuracy

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