High-precision photoelectric load servo stabilization system

Abstract

The invention relates to a high-precision photoelectric load servo stabilization system which is characterized in that an outer frame is connected with a carrier, and an inner frame is connected with a load supporting platform; the rotary biprism light beam pointing control module is installed on the load supporting platform and provides a light beam pointing adjusting function. The outer frame and the inner frame are connected through a passive vibration reduction and isolation array, and the passive vibration reduction and isolation array is composed of a plurality of sets of cross-shaped flexible parts which are symmetrically arranged, supports the inner frame and achieves passive high-frequency vibration isolation. The active vibration reduction and isolation array is connected between the outer frame and the inner frame through a coil component support and a permanent magnet component support, and the active vibration reduction and isolation array is composed of a plurality of sets of symmetrically-arranged voice coil motors and used for actively restraining six-degree-of-freedom low-frequency vibration of the inner frame. The system is used for providing a stable working environment and a light beam pointing control function for a photoelectric load carried on a carrier, and has the advantages of being good in vibration reduction and isolation effect, low in friction resistance, high in space utilization rate and good in light beam pointing control dynamic performance.

Description

Technical Field

[0001] The invention belongs to the technical field of photoelectric load servo control, and in particular relates to a high-precision photoelectric load servo stabilization system. Background Art

[0002] The optoelectronic servo stabilization system is equipped with optoelectronic payloads, including infrared imaging detection equipment, visible light imaging detection equipment, etc., which are used to image the target area and provide image information processing such as target detection, identification, capture, tracking or aiming to the information processing unit. The optoelectronic servo stabilization system is generally carried on moving carriers such as helicopters and fixed-wing aircraft. The carrier will be disturbed by itself and the environment. The isolation and suppression effect of the optoelectronic servo stabilization system on the disturbance directly affects the working effect of the optoelectronic payload.

[0003] In order to achieve beam pointing control and isolate the carrier disturbance, the current high-precision optoelectronic servo stabilization system mainly adopts a two-axis four-frame structure. Two DC torque motors are used to directly act on the inner pitch axis and the inner azimuth axis to control the movement of each axis system to offset the carrier disturbance. Since the DC torque motor is directly installed on the axis system, which is a moving part, the drive component is large, the internal optical sensor load is difficult to arrange, the system friction resistance is large, the dynamic performance is poor, and the stability effect and positioning accuracy of the servo stabilization system are affected. Summary of the invention

[0004] The purpose of the present invention is to provide a high-precision optoelectronic load servo stabilization system, which uses a rotating dual-prism beam pointing control module to complete beam or visual axis pointing control, and uses multiple groups of voice coil motors and cross-shaped flexible components in active and passive vibration reduction and isolation arrays to achieve six-degree-of-freedom vibration reduction and isolation, thereby solving the problems of large size, heavy weight, and large friction resistance of driving components in the prior art, improving the vibration reduction and isolation effect and directional accuracy, and providing convenience for the layout of optoelectronic loads.

[0005] The technical solution adopted by the present invention to solve the above technical problems is: a high-precision optoelectronic load servo stabilization system, including: an outer frame, an inner frame, a passive vibration reduction and isolation array, an active vibration reduction and isolation array, a coil component bracket, a permanent magnet component bracket, a load support platform, and a rotating double prism beam pointing control module; the outer frame is connected to the carrier, and the inner frame is connected to the load support platform; the rotating double prism beam pointing control module is installed on the load support platform, the load support platform is used to install the optoelectronic load, and the rotating double prism beam pointing control module is used to provide the optoelectronic load with a beam or visual axis pointing control function; the outer frame and the inner frame are connected to each other. The inner frame and the outer frame are mechanically connected through a passive vibration reduction and isolation array, which is used to support the inner frame and isolate the inner frame from the outer frame, so that the inner frame can perform three-degree-of-freedom translation and three-degree-of-freedom rotation relative to the outer frame, and passive isolation of high-frequency vibration is achieved at the same time; the active vibration reduction and isolation array is connected between the outer frame and the inner frame through a coil component bracket and a permanent magnet component bracket, wherein the active vibration reduction and isolation array is used to actively suppress the low-frequency vibration of the inner frame, the coil component bracket is used to connect one end of the active vibration reduction and isolation array to the inner frame, and the permanent magnet component bracket is used to connect the other end of the active vibration reduction and isolation array to the outer frame.

[0006] Beneficial effects:

[0007] The above-mentioned high-precision photoelectric load servo stabilization system has the following beneficial effects:

[0008] (1) The vibration reduction and isolation scheme is separated from the shaft structure. The multiple voice coil motors and cross-shaped flexible components in the active and passive vibration reduction and isolation arrays reduce the structural mass, avoid the nonlinear friction generated by the original shaft system, and improve the vibration reduction and isolation effect. In addition, all vibration reduction and isolation components are arranged outside the inner frame, which is conducive to the spatial arrangement of the servo stabilization system and the optoelectronic load.

[0009] (2) The active vibration isolation array utilizes the layout of multiple voice coil motors to achieve active vibration suppression in three translational degrees of freedom and three rotational degrees of freedom, which is impossible to achieve with traditional multi-axis multi-frame structures.

[0010] (3) The passive vibration isolation array has a multi-unit three-dimensional symmetrical layout and has a close geometric center to the active vibration isolation array, which is beneficial to the decoupling of translational disturbance and rotational disturbance, and is conducive to the design of the internal frame, load arrangement and the realization of active vibration reduction control.

[0011] (4) The passive vibration isolation array is composed of a cross-shaped flexible component. The cross-shaped flexible component has the advantages of small radial size and easy design. It can reduce the undamped natural frequency of the rotation and translation of the servo stabilization system while making the stiffness of the rotational degree of freedom relatively smaller than the stiffness of the translational degree of freedom. This is conducive to using a small voice coil motor to better stabilize the more important internal frame rotation.

[0012] (5) The beam or visual axis direction is adjusted by using a rotating dual-prism beam pointing control module, which has the advantages of compact structure, small moving mass, and good dynamic performance. At the same time, the requirement for rotating the inner frame is eliminated, and the axis deviation between the coil component and the permanent magnet component of the voice coil motor is avoided, which is conducive to reducing the difficulty of motor design and selection. BRIEF DESCRIPTION OF THE DRAWINGS

[0013] Figure 1 It is an isometric diagram of the high-precision photoelectric load servo stabilization system of the present invention;

[0014] Figure 2 It is a schematic diagram of the installation of the high-precision photoelectric load servo stabilization system of the present invention;

[0015] Figure 3 is a schematic diagram of the cross-shaped flexible component of the present invention;

[0016] Figure 4 It is a schematic diagram of the rectangular parallelepiped structure layout of the passive vibration reduction and isolation array of the present invention;

[0017] Figure 5 It is a schematic diagram of the octahedral structure layout of the passive vibration reduction and isolation array of the present invention;

[0018] Figure 6 It is a structural schematic diagram of the voice coil motor of the present invention;

[0019] Figure 7 It is a schematic diagram of the rectangular parallelepiped structure layout of the active vibration reduction and isolation array of the present invention.

[0020] Reference numerals:

[0021] Outer frame 1, inner frame 2,

[0022] Passive vibration isolation array 3, cross-shaped flexible component 30,

[0023] Active vibration reduction and isolation array 4, voice coil motor 40, coil component 40-1, permanent magnet component 40-2, first voice coil motor 401, second voice coil motor 402, third voice coil motor 403, fourth voice coil motor 404, fifth voice coil motor 405, sixth voice coil motor 406, seventh voice coil motor 407, eighth voice coil motor 408,

[0024] Coil component support 5, permanent magnet component support 6,

[0025] Load support platform 7, rotating dual prism light beam pointing control module 8. DETAILED DESCRIPTION

[0026] In order to make the purpose, content and advantages of the present invention more clear, the specific implementation methods of the present invention are further described in detail below with reference to the accompanying drawings.

[0027] like Figure 1 , Figure 2 As shown, the present invention provides a high-precision optoelectronic load servo stabilization system, comprising an outer frame 1, an inner frame 2, a passive vibration reduction and isolation array 3, an active vibration reduction and isolation array 4, a coil component bracket 5, a permanent magnet component bracket 6, a load support platform 7, and a rotating double prism beam pointing control module 8, wherein the outer frame 1 is connected to the carrier, and the inner frame 2 is connected to the load support platform 7; the rotating double prism beam pointing control module 8 is installed on the load support platform 7, the load support platform 7 is used to install the optoelectronic load, and the rotating double prism beam pointing control module 8 is used to provide the optoelectronic load with a beam or visual axis pointing control function; there is no axis system structure between the outer frame 1 and the inner frame 2, and only a passive The vibration reduction and isolation array 3 is mechanically connected, and the passive vibration reduction and isolation array 3 is used to support the inner frame, and isolate the inner frame 2 from the outer frame 1, so that the inner frame 2 can perform three-degree-of-freedom translation and three-degree-of-freedom rotation relative to the outer frame 1, and at the same time realize passive isolation of high-frequency vibration; the active vibration reduction and isolation array 4 is connected between the outer frame 1 and the inner frame 2 through the coil component bracket 5 and the permanent magnet component bracket 6, wherein the active vibration reduction and isolation array 4 is used to actively suppress the low-frequency vibration of the inner frame 2, the coil component bracket 5 is used to connect one end of the active vibration reduction and isolation array 4 to the inner frame 2, and the permanent magnet component bracket 6 is used to connect the other end of the active vibration reduction and isolation array 4 to the outer frame 1.

[0028] Considering the characteristics of the rotating double prism with compact structure, small motion mass and good dynamic performance, in one embodiment, the rotating double prism technology is preferentially used as the implementation mode of the rotating double prism beam pointing control module 8, which changes the beam pointing through the independent coaxial rotation of the two internal prisms, and is used to provide the beam or visual axis pointing control function for the photoelectric load. This avoids the inner frame 2 from becoming a component that moves in a large range, reduces the power consumption of the beam or visual axis pointing control, and improves the beam or visual axis pointing control performance. The field of view width of the rotating double prism beam pointing control module is 120°.

[0029] Since the rotating dual prism beam pointing control module and the optoelectronic load are installed on the inner frame, it is very important to suppress the vibration of the inner frame. The outer frame 1 is connected to the carrier and will directly receive the disturbance from the carrier. The inner frame and the outer frame are mechanically connected only through the passive vibration isolation array 3, without the traditional shaft system structure.

[0030] In one embodiment, the passive vibration reduction and isolation array 3 is composed of multiple groups of cross-shaped flexible components 30. Figure 3As shown, the cross-shaped flexible component 30 is a mechanically processed, "cross"-shaped flexible three-dimensional structure. This structure has a smaller radial dimension in application, and the required multi-degree-of-freedom rigidity requirements can be obtained through simple size adjustment and slotting and other designs.

[0031] In this embodiment, there are several arrangements of the multiple cross-shaped flexible components. Preferably, one of the arrangements is: eight groups of cross-shaped flexible components 30 are selected, such as Figure 4 As shown, eight groups of cross-shaped flexible components 30 have a three-dimensional symmetrical layout, and are respectively distributed near the vertices of the cuboid, with the central axis of the cross-shaped flexible component 30 pointing to the center of the cuboid, and the two ends of the cross-shaped flexible component 30 are respectively connected to the outer frame 1 and the inner frame 2. The eight groups of cross-shaped flexible components 30 together realize the high-frequency vibration isolation of the six degrees of freedom of the inner frame 2. The cuboid refers to a virtual cuboid composed of eight groups of cross-shaped flexible components 30.

[0032] Another arrangement is to select six groups of cross-shaped flexible components 30, such as Figure 5 As shown, the six groups of cross-shaped flexible components 30 have a three-dimensional symmetrical layout and are respectively distributed near the vertices of the octahedron. The central axis of the cross-shaped flexible component 30 points to the center of the octahedron, and the two ends of the cross-shaped flexible component 30 are respectively connected to the outer frame 1 and the inner frame 2. The six groups of cross-shaped flexible components 30 together realize the high-frequency vibration isolation of the six degrees of freedom of the inner frame 2. The octahedron refers to a virtual octahedron composed of six groups of cross-shaped flexible components 30.

[0033] Under the above-mentioned layout of the flexible components, the decoupling of the translation disturbance and the rotation disturbance can be achieved through a simpler design of the inner frame counterweight, which is beneficial to the active suppression and passive isolation of vibration. At the same time, the stiffness characteristics of the cross-shaped flexible component 30 make the stiffness of the rotational freedom degree of the inner frame relatively smaller than the stiffness of the translational freedom degree, which is beneficial to better perform active vibration suppression of the rotation of the inner frame with the help of the small voice coil motor 40 in the active vibration reduction and isolation array 4.

[0034] The active vibration reduction and isolation array 4 is not used to realize a relatively large rotation orientation of the inner frame, but is only used for active vibration suppression, and is composed of multiple groups of voice coil motors 40. Figure 6 As shown, each group of voice coil motors 40 includes a coil component 40-1 and a permanent magnet component 40-2, wherein the permanent magnet component 40-2 is nested inside the coil component 40-1, and the coil component 40-1 of each group of voice coil motors is connected to the outer side of the inner frame 2 through the coil component bracket 5, and the permanent magnet component 40-2 of each group of voice coil motors is connected to the inner side of the outer frame 1 through the permanent magnet component bracket 6.

[0035] The coil component 40-1 and the permanent magnet component 40-2 of the voice coil motor 40 are allowed to move in six degrees of freedom, a relatively large relative movement is allowed in the central axis direction of the permanent magnet component 40-2, and a relatively small relative movement is allowed in other degrees of freedom. When the relative movement between the above-mentioned coil component 40-1 and the permanent magnet component 40-2 does not occur, the direction of the driving force generated by the voice coil motor 40 is parallel to the central axis of the permanent magnet component 40-2. Although the inner frame will rotate relative to the outer frame to a certain extent when the system is working, the rotation angle is always small, so it can be considered that the positive direction of the driving force of each group of voice coil motors does not change during operation. When the words "larger", "smaller", "small amount" and the like are mentioned in this application, those skilled in the art understand the scope of the words in the field, and the changes in the scope as the application scenario changes.

[0036] like Figure 7 As shown, the layout structure of the eight groups of voice coil motors 40 of the active vibration isolation array 4 is similar to a rectangular parallelepiped. The voice coil motors 40 are located near the vertices of the rectangular parallelepiped. The central axes of the permanent magnet components 40-2 of the eight groups of voice coil motors 40 have at least three non-parallel orientations, thereby having different positive directions of driving force.

[0037] like Figure 7 As shown, in one example, the positive direction of the driving force of the first voice coil motor 401, the second voice coil motor 402, the third voice coil motor 403, and the fourth voice coil motor 404 points to the negative direction of the z-axis, the positive direction of the driving force of the fifth voice coil motor 405 points to the positive direction of the y-axis, the positive direction of the driving force of the sixth voice coil motor 406 points to the positive direction of the x-axis, the positive direction of the driving force of the seventh voice coil motor 407 points to the negative direction of the x-axis, and the positive direction of the driving force of the eighth voice coil motor 408 points to the negative direction of the y-axis.

[0038] The first voice coil motor 401, the second voice coil motor 402, the third voice coil motor 403, and the fourth voice coil motor 404 have the same positive direction of the motor driving force, and they jointly provide a control torque for rotation in the roll direction around the x-axis, a control torque for rotation in the pitch direction around the y-axis, and a control force for translation in the z-direction. When the first voice coil motor 401 and the second voice coil motor 402 generate a positive thrust, and the third voice coil motor 403 and the fourth voice coil motor 404 generate a negative thrust, a positive pitch control torque can be applied to the inner frame 2. When the first voice coil motor 401 and the third voice coil motor 403 generate a positive thrust, and the second voice coil motor 402 and the fourth voice coil motor 404 generate a negative thrust, a positive roll control torque can be applied to the inner frame 2. When the first voice coil motor 401, the second voice coil motor 402, the third voice coil motor 403, and the fourth voice coil motor 404 generate a negative thrust, a positive z-axis control force can be applied to the inner frame 2. The fifth voice coil motor 405, the sixth voice coil motor 406, the seventh voice coil motor 407, and the eighth voice coil motor 408 have coplanar positive directions of motor driving forces, and they jointly provide control torques for rotation around the z-axis azimuth axis, and control forces for translation in the x and y directions. When the fifth voice coil motor 405 and the eighth voice coil motor 408 generate positive thrusts, and the sixth voice coil motor 406 and the seventh voice coil motor 407 generate negative thrusts, positive azimuth control torques can be applied to the inner frame 2. When the fifth voice coil motor 405 generates positive thrusts and the eighth voice coil motor 408 generates negative thrusts, positive y-axis control forces can be applied to the inner frame 2. When the sixth voice coil motor 406 generates positive thrusts and the seventh voice coil motor 407 generates negative thrusts, positive x-axis control forces can be applied to the inner frame 2. By utilizing the eight voice coil motors of the active vibration reduction and isolation array 4, active control forces and torques of six degrees of freedom can be applied to the inner frame 2, thereby achieving active suppression of low-frequency disturbances of six degrees of freedom and improving the vibration reduction and isolation effect.

[0039] In summary, a high-precision optoelectronic payload servo stabilization system is provided, which includes an outer frame, an inner frame, a passive vibration reduction and isolation array, an active vibration reduction and isolation array, a coil component bracket, a permanent magnet component bracket, a load support platform, and a rotating dual-prism beam pointing control module; the system is used to provide a stable working environment and beam pointing control function for the optoelectronic payload mounted on a carrier; the optoelectronic payload is installed on the inner frame; the multiple groups of voice coil motors in the active vibration reduction and isolation array in the system can realize active suppression of the six-degree-of-freedom low-frequency disturbance of the inner frame; the voice coil motor does not provide the function of adjusting the beam or the visual axis pointing, which reduces the driving force requirement and the rotation angle of the inner frame, and is beneficial to improving the working efficiency of the motor and the stability of the inner frame; the passive vibration reduction and isolation array uses multiple groups of cross-shaped flexible components to achieve passive vibration isolation of the six-degree-of-freedom high-frequency disturbance of the inner frame, and has the advantages of symmetrical and reliable structure, high space utilization efficiency, and low friction resistance; the rotating dual-prism beam pointing control module in the system provides the optoelectronic payload with the function of adjusting the beam or the visual axis pointing, and has the advantages of compact structure, small motion mass, and good dynamic performance.

[0040] The above is only a preferred embodiment of the present invention. It should be pointed out that for ordinary technicians in this technical field, several improvements and modifications can be made without departing from the technical principles of the present invention. These improvements and modifications should also be regarded as the scope of protection of the present invention.

Claims

1. A high-precision photoelectric load servo stabilization system, characterized in that: include: An outer frame (1), an inner frame (2), a passive vibration reduction and isolation array (3), an active vibration reduction and isolation array (4), a coil component bracket (5), a permanent magnet component bracket (6), a load support platform (7), and a rotating double prism beam pointing control module (8); the outer frame (1) is connected to a carrier, and the inner frame (2) is connected to the load support platform (7); the rotating double prism beam pointing control module (8) is installed on the load support platform (7), the load support platform (7) is used to install an optoelectronic load, and the rotating double prism beam pointing control module (8) is used to provide a beam or visual axis pointing control function for the optoelectronic load; the outer frame and the inner frame are mechanically connected via the passive vibration reduction and isolation array (3), and the passive vibration reduction and isolation The array (3) is used to support the inner frame and to isolate the inner frame (2) from the outer frame (1), so that the inner frame (2) can perform three-degree-of-freedom translation and three-degree-of-freedom rotation relative to the outer frame (1), while achieving passive isolation of high-frequency vibrations; the active vibration reduction and isolation array (4) is connected between the outer frame (1) and the inner frame (2) through a coil component bracket (5) and a permanent magnet component bracket (6), wherein the active vibration reduction and isolation array (4) is used to actively suppress low-frequency vibrations of the inner frame (2), the coil component bracket (5) is used to connect one end of the active vibration reduction and isolation array (4) to the inner frame (2), and the permanent magnet component bracket (6) is used to connect the other end of the active vibration reduction and isolation array (4) to the outer frame (1).

2. A high-precision photoelectric load servo stabilization system according to claim 1, characterized in that: The field width of the rotating double prism light beam pointing control module (8) is 120°.

3. The high-precision photoelectric load servo stabilization system according to claim 1 is characterized in that: The active vibration reduction and isolation array (4) is composed of eight groups of voice coil motors (40), each group of voice coil motors (40) comprises a coil component (40-1) and a permanent magnet component (40-2), wherein the permanent magnet component (40-2) is nested inside the coil component (40-1), the coil component (40-1) of each group of voice coil motors is connected to the outside of the inner frame (2) through a coil component bracket (5), and the permanent magnet component (40-2) of each group of voice coil motors is connected to the inside of the outer frame (1) through a permanent magnet component bracket (6); the layout of the eight groups of voice coil motors (40) is similar to a rectangular parallelepiped, the voice coil motors (40) are located near the vertices of the rectangular parallelepiped, and the central axes of the permanent magnet components (40-2) of the eight groups of voice coil motors (40) have at least three non-parallel directions; the voice coil motor (40) allows the coil component (40-1) to move with six degrees of freedom relative to the permanent magnet component (40-2), wherein the allowed movement space in the direction of the central axis is the largest.

4. The high-precision photoelectric load servo stabilization system according to claim 1 is characterized in that: The passive vibration reduction and isolation array (3) is composed of eight groups of cross-shaped flexible components (30), the layout structure is a rectangular parallelepiped, the cross-shaped flexible components (30) are symmetrically distributed near the vertices of the rectangular parallelepiped, and the central axis of the cross-shaped flexible components (30) points to the center of the rectangular parallelepiped; the two ends of the cross-shaped flexible components (30) are respectively connected to the outer frame (1) and the inner frame (2).

5. The high-precision photoelectric load servo stabilization system according to claim 1 is characterized in that: The passive vibration reduction and isolation array (3) is composed of six groups of cross-shaped flexible components (30), the layout structure is an octahedron, the cross-shaped flexible components (30) are symmetrically distributed near the vertices of the octahedron, and the central axis of the cross-shaped flexible components (30) points to the center of the octahedron; the two ends of the cross-shaped flexible components (30) are respectively connected to the outer frame (1) and the inner frame (2).

6. The high-precision photoelectric load servo stabilization system according to claim 1, characterized in that: The cross-shaped flexible component (30) in the passive vibration reduction and isolation array (3) is a machined, three-dimensional flexible structure in the shape of a cross.

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