A miniaturized large-viewing-angle single-frame three-axis stabilized servo system

Abstract

The application relates to a small-sized large-view-angle single-frame three-axis stable servo system, which comprises a three-axis executing mechanism, a controller and a load; the three-axis executing mechanism comprises an outer frame, an azimuth motor, a roll motor, a pitch motor and an inner frame connector; the azimuth motor and the roll motor are connected through the outer frame, the azimuth motor performs azimuth rotation, and the roll motor performs roll rotation; the pitch motor and the roll motor are connected through the inner frame connector, the rotating shaft of the pitch motor is perpendicular to the rotating shaft of the roll motor, the pitch motor performs pitch rotation on the rotating shaft, and the load is installed at both ends of the rotating shaft of the pitch motor and comprises infrared / visible light load and laser radar load for performing target tracking and scanning tasks; the controller is used for performing stable servo control on the three-axis executing mechanism and control on the load tracking and scanning tasks; the application greatly increases the search and detection range of the stabilized load and significantly improves the performance of the stable servo system.

Description

Technical Field

[0001] This invention belongs to the field of stable servo technology, specifically relating to a miniaturized, large-angle single-frame three-axis stable servo system. Background Technology

[0002] A stabilized servo system is a device integrating optical, mechanical, and electronic technologies. It utilizes inertial sensors, controllers, and actuators to achieve stabilization, isolating disturbances from the fixed carrier, maintaining payload stability, and enabling target tracking. Stabilized servo technology is widely used in target detection, search, tracking, alignment, guidance, and locking systems. The stabilized servo system is a core component for target guidance and detection systems, optical axis stabilization, follow-up, and tracking. The performance of the servo control system directly impacts the reliability of the payload system and its ability to accurately identify and lock onto targets. Its ability to isolate disturbances depends on the control accuracy of the servo system, while its maneuverability depends on its speed.

[0003] Traditional stabilized servo systems are complex in structure and involve a variety of signals. Traditional stabilized servo structures use a three-frame or two-frame configuration, but the three-frame stabilization platform is bulky, heavy, and expensive. Currently, the frame-type servo transmission mechanism is the most researched and widely used. It uses a frame structure to achieve transmission and has advantages such as simple structure, easy assembly, and direct drive. However, it also has the disadvantage of not being able to achieve a large angle range search within a limited space. Summary of the Invention

[0004] Based on the above analysis, the present invention aims to disclose a miniaturized, large-angle single-frame three-axis stabilized servo system, which solves the problem that existing stabilized servo systems cannot achieve a large-angle range search within a limited space.

[0005] This invention discloses a miniaturized, large-angle, single-frame, three-axis stable servo system, comprising a three-axis actuator, a controller, and a load;

[0006] The three-axis actuator is a single-frame mechanical rotation structure directly driven by a torque motor, including an outer frame, an azimuth motor, a roll motor, a pitch motor, and an inner frame connector. The azimuth motor, mounted on the azimuth axis of the outer frame, performs azimuth rotation; the roll motor, mounted on the roll axis of the outer frame, performs roll rotation; the pitch motor and the roll motor are connected together through the inner frame connector, and the rotation axis of the pitch motor and the rotation axis of the roll motor are perpendicular to each other, and the pitch motor performs pitch rotation on the rotation axis.

[0007] The loads are mounted at both ends of the pitch motor's rotating shaft and include infrared / visible light loads and lidar loads; they are used to perform target tracking and scanning tasks under the drive of a three-axis actuator.

[0008] The controller is used to perform stable servo control on the three-axis motion of the three-axis actuator and to control the load tracking and scanning tasks.

[0009] Furthermore, the outer frame includes a central handle and two round base supports. The end of the central handle is provided with an arc-shaped end, which is fixedly connected to the round base supports. The two round base supports are perpendicular to each other and are provided with mounting holes. The first base support is perpendicular to the azimuth axis and is fixedly connected to the azimuth motor through the mounting holes. The second base support is perpendicular to the roll axis and is fixedly connected to the roll motor through the mounting holes.

[0010] Furthermore, the orientation motor is an external rotor flat permanent magnet synchronous motor; wherein, a mounting hole is provided on the rotating surface of the external rotor housing perpendicular to the rotation axis of the orientation motor; the stabilizing servo system is fixed to the corresponding position on the carrier through the mounting hole; a mounting hole is provided on the shaft end mounting shell perpendicular to the rotation axis of the orientation motor; the mounting hole corresponds to the mounting hole of the first base and is used to fix the orientation motor to the outer frame.

[0011] Furthermore, the rolling motor is an external rotor flat permanent magnet synchronous motor; wherein, a mounting hole is provided on the shaft end mounting shell perpendicular to the rotation axis of the rolling motor; the rolling motor is fixedly connected to the outer frame by corresponding connection of the mounting hole with the mounting hole of the second base; a mounting hole is provided on the rotation surface of the outer rotor housing perpendicular to the rotation axis of the rolling motor for connection with the inner frame connector.

[0012] Furthermore, the pitch motor is a sector-shaped transverse flux permanent magnet synchronous motor, with its outermost part being a stator ring support; the body of the stator ring support is a ring perpendicular to the rotation axis of the pitch motor, with an outer ring protrusion on the outer side of the ring; mounting holes are provided on the outer ring protrusion for connection with the inner frame connector; and the outer rotor of the roll motor is connected through the inner frame connector, so that the rotation axis of the roll motor is perpendicular to the rotation axis of the pitch motor; and it can realize rotational motion independently or coupled rotation.

[0013] Furthermore, the inner frame connector includes a first connector and a second connector fixedly connected thereto; the plane of the first connector is perpendicular to the plane of the second connector.

[0014] The first connector is a disc structure with mounting holes on it, which correspond to the mounting holes on the outer rotor rotating surface of the roll motor, and are used to fix the roll motor.

[0015] The connecting surface of the second connector matches the shape of the stator ring bracket and has mounting holes that correspond to the mounting holes on the stator ring bracket for fixing the pitch motor.

[0016] Furthermore, the pitch motor includes: a stator annular support, a sector-shaped transverse flux permanent magnet, a rotor core, a rotor winding connecting ring, a rotor winding coil, a motor control circuit board, a first bearing, a second bearing, a first load mounting plate and a second load mounting plate, and a rotor connecting shaft;

[0017] A fan-shaped transverse flux permanent magnet is attached to one side of the ring of the stator ring bracket; a second load mounting plate is located on the other side of the ring of the stator ring bracket; the ring of the stator ring bracket also has an inner annular protrusion.

[0018] The body of the first load mounting plate is a ring perpendicular to the rotation axis of the pitch motor, and is connected to the inner annular protrusion of the stator ring bracket through the first bearing.

[0019] The rotor core, rotor winding terminal ring, and rotor winding coil are sequentially installed between the sector-shaped transverse flux permanent magnet and the first load mounting plate; the rotor winding coil is attached to one side of the first load mounting plate, and the motor control circuit board is installed on the other side of the first load mounting plate.

[0020] The body of the second load mounting plate is a ring perpendicular to the rotation axis of the pitch motor, and is connected to the inner annular protrusion of the stator ring bracket through the second bearing.

[0021] The rotor connecting shaft passes through the center of the first bearing, the stator annular support, and the second bearing; one end of the rotor connecting shaft is fixedly connected to the first load mounting plate, and the other end is fixedly connected to the second load mounting plate.

[0022] Furthermore, the first load mounting plate is used to carry the infrared / visible light load; the infrared / visible light load is fixed on the first load mounting plate and placed in a sealed space consisting of the first load mounting plate, a dust cover, and a mounting cover.

[0023] Furthermore, the second load mounting plate sequentially mounts and fixes the heating and cooling components, the temperature regulating plate, the controller support circuit board, and the lidar load; the lidar load is placed in a sealed space consisting of the controller support circuit board, the dust cover, and the mounting cover.

[0024] Furthermore, it also includes fiber optic hybrid rotating slip rings;

[0025] The fiber optic hybrid rotary slip ring is installed in the inner annular protrusion of the stator annular bracket of the pitch motor. The first bearing and the second bearing are located on both sides of the fiber optic hybrid rotary slip ring. The rotor connecting shaft passes through the axis of the fiber optic hybrid rotary slip ring and does not contact the fiber optic slip ring.

[0026] This invention can achieve at least one of the following beneficial effects:

[0027] The miniaturized, large-angle single-frame three-axis stabilization servo system provided by this invention adopts a single-frame mechanical rotation structure with direct drive of torque motors. The axes are defined from the inside out as azimuth, roll, and pitch. The azimuth motor is mounted on the azimuth axis of the outer frame, the roll motor is mounted on the roll axis of the outer frame, and the rotation of the pitch axis is achieved by the support frame and bearings of the pitch motor. This fully utilizes the extra space in the load axis, achieving three-axis rotation compared to the traditional two-frame system. The hidden inner ring frame significantly reduces the internal dimensions, providing greater rotational space for the stabilized load. It effectively realizes the azimuth, roll, and pitch movements of the load components and their coupled movements, greatly increasing the search and detection range of the stabilized load and significantly improving the performance of the stabilization servo system.

[0028] Furthermore, considering the physical layout of electrical and mechanical actuators such as motors, angle sensors, inertial measurement units, and temperature control spaces, the space is limited and dispersed. Traditional frame-type assembly methods lack sufficient electromechanical integration, resulting in low space utilization. To meet the requirements of lightweight and compact design, the electrical system was rationally designed, utilizing the principle of separating high-voltage and low-voltage wiring to make full and efficient use of space, and designing the electronic system within the limited space. The connection methods of each component were optimized, effectively improving assembly manufacturability and reducing assembly costs. Attached Figure Description

[0029] The accompanying drawings are for illustrative purposes only and are not intended to limit the invention. Throughout the drawings, the same reference numerals denote the same parts.

[0030] Figure 1 This is a block diagram of a stable servo system in an embodiment of the present invention;

[0031] Figure 2 This is an exploded view of the stable servo system in an embodiment of the present invention;

[0032] Figure 3 This is an assembly diagram of the stable servo system in an embodiment of the present invention;

[0033] Figure 4 This is a block diagram illustrating the stable control principle in an embodiment of the present invention;

[0034] Figure 5 This is a hardware schematic diagram of the integrated controller in an embodiment of the present invention;

[0035] Figure 6 This is a schematic diagram illustrating the working control process of the stable servo system in this embodiment of the invention.

[0036] Figure 7 This is a schematic diagram illustrating the structure and wiring method of the fiber optic hybrid rotating slip ring in an embodiment of the present invention.

[0037] Figure 8 This is an electrical schematic diagram of the system for data transmission using a fiber optic hybrid rotating slip ring in an embodiment of the present invention. Detailed Implementation

[0038] Preferred embodiments of the present invention will now be described in detail with reference to the accompanying drawings, which form part of this application and, together with the embodiments of the present invention, serve to illustrate the principles of the present invention.

[0039] One embodiment of the present invention discloses a miniaturized, large-view-angle single-frame, three-axis stabilized servo system, such as... Figure 1 As shown, it includes a three-axis actuator, a controller, and a load;

[0040] The three-axis actuator is a single-frame mechanical rotation structure directly driven by a torque motor, including an outer frame, an azimuth motor, a roll motor, a pitch motor, and an inner frame connector. The azimuth motor, mounted on the azimuth axis of the outer frame, performs azimuth rotation; the roll motor, mounted on the roll axis of the outer frame, performs roll rotation; the pitch motor and the roll motor are connected together through the inner frame connector, and the rotation axis of the pitch motor and the rotation axis of the roll motor are perpendicular to each other, and the pitch motor performs pitch rotation on the rotation axis.

[0041] The loads, including infrared / visible light loads and lidar loads, are mounted at both ends of the pitch motor's rotating shaft; they are used to perform target tracking and scanning tasks under the drive of the three-axis actuator.

[0042] The controller is used to perform stable servo control on the three-axis motion of the three-axis actuator and to control the tracking and scanning of the load.

[0043] like Figure 2 The image shown is an exploded view of a stable servo system. Figure 3 Assembly diagram for a stable servo system.

[0044] Specifically, such as Figure 2 As shown, the three-axis actuator is defined from the outside to the inside as azimuth, roll, and pitch.

[0045] The outer frame has a symmetrical structure, including a central handle and two round bases. The end of the central handle has an arc-shaped end, which is fixedly connected to the round base. The two round bases are perpendicular to each other and are provided with mounting holes. The first base is perpendicular to the azimuth axis and is fixedly connected to the azimuth motor through the mounting holes. The second base is perpendicular to the roll axis and is fixedly connected to the roll motor through the mounting holes.

[0046] The dimensions of the two round bases match the size of the mounting ends of the azimuth motor and the roll motor, and the size of the middle handle ensures that other components of the stable servo system will not be obstructed or collided when the roll motor is performing a roll rotation.

[0047] The orientation motor is an external rotor flat permanent magnet synchronous motor; it includes an external rotor housing, internal permanent magnets, stator coil windings, stator and circuit board mounting plate, control circuit board and shaft end mounting shell.

[0048] The outer rotor housing, which is perpendicular to the rotation axis of the azimuth motor, has mounting holes on its rotating surface. The stabilizing servo system is fixed to the corresponding position on the carrier through these mounting holes. Similarly, the shaft end mounting housing, which is perpendicular to the rotation axis of the azimuth motor, has mounting holes. These mounting holes correspond to the mounting holes of the first base plate and are used to fix the azimuth motor to the outer frame.

[0049] The roll motor is an external rotor flat permanent magnet synchronous motor; similar to the azimuth motor, it also includes an external rotor housing, internal permanent magnets, stator coil windings, stator and circuit board mounting plate, control circuit board and shaft end mounting shell.

[0050] The shaft end mounting housing, which is perpendicular to the rotation axis of the roll motor, is provided with mounting holes. The roll motor is fixedly connected to the outer frame by correspondingly connecting the mounting holes of the second base. Similarly, the rotation surface of the outer rotor housing, which is perpendicular to the rotation axis of the roll motor, is provided with mounting holes for connecting to the inner frame connector.

[0051] The azimuth motor and roll motor adopt an external rotor flat permanent magnet synchronous motor, which is highly efficient, low in energy consumption, lightweight and small in size, making it very suitable for applications in miniaturized scenarios.

[0052] The external rotor permanent magnet synchronous motor has the advantages of high torque output and low torque ripple. The miniaturized embedded electronic coarse and fine magneto-electric encoders, with the help of AS5048A and absolute magneto-electric encoders, read the angular position with different precision, respectively for real-time reading of electrical angle and high-precision frame rotation information reflecting attitude angle.

[0053] Since the azimuth motor and the roll motor are both hollow-structured external rotor flat permanent magnet synchronous motors, in this embodiment, in order to ensure that the relevant cables do not affect the rotation of the azimuth motor and the roll motor, the power supply control leads, signal leads and power supply leads of the azimuth motor and the roll motor all pass through the hollow structure of the external rotor flat permanent magnet synchronous motor.

[0054] Therefore, in this embodiment, the outer rotor and shaft end mounting housing of the azimuth motor and the roll motor, as well as the first and second base supports of the outer frame, have through holes at positions corresponding to the rotation axis, so that the motor control leads, signal leads and power supply leads can pass through them.

[0055] The pitch motor is a sector-shaped transverse flux permanent magnet synchronous motor, with its outermost part being a stator ring support. The body of the stator ring support is a ring perpendicular to the rotation axis of the pitch motor, with an outer ring protrusion on the outer side of the ring. Mounting holes are provided on the outer ring protrusion for connection with the inner frame connector. The outer rotor of the roll motor is connected through the inner frame connector, so that the rotation axis of the roll motor is perpendicular to the rotation axis of the pitch motor. It can achieve rotational motion independently or coupled rotation.

[0056] Preferably, the inner frame connector includes a first connector and a second connector fixedly connected thereto; the plane of the first connector is perpendicular to the plane of the second connector.

[0057] The first connector is a disc structure with mounting holes on it, which correspond to the mounting holes on the outer rotor rotating surface of the roll motor, and are used to fix the roll motor.

[0058] The connecting surface of the second connector matches the shape of the stator ring bracket and has mounting holes that correspond to the mounting holes on the stator ring bracket for fixing the pitch motor.

[0059] Specifically, the pitch motor includes: a stator annular support, a sector-shaped transverse flux permanent magnet, a rotor core, a rotor winding connecting ring, a rotor winding coil, a motor control circuit board, a first bearing, a second bearing, a first load mounting plate, a second load mounting plate, and a rotor connecting shaft;

[0060] Among them, the stator ring support is located at the outermost part of the pitch motor. The body is a ring perpendicular to the rotation axis of the pitch motor. The inner side of the ring has an inner ring protrusion, and the outer side of the ring has an outer ring protrusion.

[0061] A sector-shaped transverse flux permanent magnet is attached to one side of the ring of the stator ring bracket; the second load mounting plate is located on the other side of the ring of the stator ring bracket.

[0062] The body of the first load mounting plate is a ring perpendicular to the rotation axis of the pitch motor. It is connected to the inner ring protrusion of the stator ring bracket through the first bearing. The outer ring of the first bearing is fixedly connected to the inner edge of the ring of the first load mounting plate, and the inner ring is fixedly connected to the inner ring protrusion.

[0063] A rotor core, a rotor winding terminal block, and a rotor winding coil are sequentially installed between a sector-shaped transverse flux permanent magnet and a first load mounting plate; the rotor winding coil is attached to one side of the first load mounting plate, and the motor control circuit board is installed on the other side of the first load mounting plate; the first load mounting plate rotates with the rotation of the pitch motor.

[0064] The body of the second load mounting plate is a ring perpendicular to the rotation axis of the pitch motor. It is connected to the inner annular protrusion of the stator ring bracket through a second bearing. The outer ring of the second bearing is fixedly connected to the inner edge of the ring of the second load mounting plate, and the inner ring is fixedly connected to the inner annular protrusion.

[0065] The rotor connecting shaft is located at the rotation axis of the pitch motor and passes through the center of the first bearing, the stator annular support, and the second bearing; one end of the rotor connecting shaft is fixedly connected to the first load mounting plate, and the other end is fixedly connected to the second load mounting plate; so that when the pitch motor rotates, the first load mounting plate and the second load mounting plate rotate synchronously.

[0066] Specifically, the first load mounting plate is used to carry the infrared / visible light load; the infrared / visible light load is fixed on the first load mounting plate and placed in a sealed space consisting of the first load mounting plate, a dust cover, and a mounting cover.

[0067] Specifically, the second load mounting plate sequentially fixes the controller bearing circuit board and the lidar load;

[0068] More specifically, the connection method is as follows: the heating and cooling components, temperature adjustment plate, controller bearing circuit board and lidar load are fixedly installed in sequence on the second load mounting plate, and the lidar load is placed in a sealed space composed of controller bearing circuit board, dust cover and mounting cover.

[0069] The controller is located on the controller carrier circuit board and includes an inertial measurement unit, a stabilization controller, and a comprehensive controller.

[0070] An inertial measurement unit (IMU) is used to measure the inertial information of a stable servo system.

[0071] A stabilization controller is used to provide stable servo control for the three-axis motion of a three-axis actuator.

[0072] The integrated controller is used to switch states according to the target scanning and target tracking mission instructions, control the stabilization controller to perform scanning and tracking stabilization control, and receive visible light / infrared image information and radar information output by the payload.

[0073] The temperature control board is used to control the temperature of the heating and cooling components; to ensure the high-precision output of the IMU, so as to stabilize the temperature environment in which the inertial measurement unit is located.

[0074] The heating and cooling components include a heating element made of polyimide, which is attached to the heated body in a patch manner; a cooling device using a Boltter effect double-layer semiconductor cooling chip, which is attached to the heat conductor; and a temperature sensor using a positive temperature coefficient platinum resistance thermometer, which is mounted in a quadrilateral shape at the position corresponding to the inertial measurement unit, to collect the temperature at the installation position of the inertial measurement unit.

[0075] Specifically, the inertial measurement unit (IMU) uses the high-precision ADIS16480, which is a MEMS device that integrates a gyroscope (GYRO) and an accelerometer (ACC).

[0076] The stabilization controller is used to execute the stabilization servo algorithm; it includes a PS unit and a PL unit, wherein the PS unit executes the stabilization servo algorithm; and the PL unit executes temperature acquisition and control, angle acquisition of the three rotating axes, and acquisition of axis attitude sensors.

[0077] Preferably, the stabilization controller uses an XC7Z045 processor. The control method for the three-axis motors working in conjunction with the stabilization controller uniformly employs a control unit based on an STM32H750 processor. This, combined with motor pole angle sensors and power drive devices, drives the azimuth and roll motors (PMSM flat permanent magnet synchronous motors) and the pitch motor (fan-shaped transverse flux permanent magnet synchronous motors) to perform the corresponding rotations. The shaft-end sensing units, including the motor pole angle sensors, measure the motor's rotation angle and monitor voltage, current, and other key electrical signals.

[0078] The specific stability control chart is as follows Figure 4 As shown; in Figure 4 In this system, the XC7Z045 processor communicates with the pitch axis electrical unit, roll axis electrical unit, and azimuth axis electrical unit via communication interfaces to perform stable control of the pitch, roll, and azimuth motors. The specific stable control method employs the FOC vector control algorithm.

[0079] Specifically, the integrated controller is used to execute its own stable servo system calibration algorithm and target load tracking and scanning tasks.

[0080] In this embodiment, a comprehensive controller based on TMS320C6657D is used; such as Figure 5 As shown, the TMS320C6657D, combined with DDRIII, employs more on-chip memory and ultra-high bandwidth integrated peripherals. It implements an SRIO bus for inter-processor communication. The SRIO port on the DSP is a high-rate, low-pin interconnect solution designed for embedded systems. Furthermore, the rapid I / O data transfer is entirely implemented in hardware, without processor intervention, enabling a highly efficient board-level homogeneous interconnect multiprocessor system.

[0081] The TMS320C6657D implements the SRIO bus for inter-processor communication, and the data transmission of Rapid I / O is entirely implemented in hardware. A pair of transmit and receive differential signal pairs on the DSP's SRIO port constitutes a full-duplex port, which can operate at baud rates of 1.25Gbps, 2.5Gbps, and 3.125Gbps.

[0082] like Figure 6 As shown, during the operation of the stabilization servo system, the integrated controller switches states according to the target scanning and target tracking task instructions to control the stabilization controller for scanning stabilization control or tracking stabilization control. In stabilization control, the stabilization controller collects command angle information, state monitoring information, and inertial navigation information. Based on the FOC vector algorithm, it generates rotation commands to the PMSM motor drive of the three motors, which drive the pitch, roll, and azimuth motors to rotate to control the payload to search for or track the target. The payload obtains visible light / infrared image information and radar information, which are output to the integrated controller for corresponding image processing or radar data processing.

[0083] Specifically, to achieve the transmission of large-capacity, multi-channel data such as image data, radar data, and stabilization control data, and to avoid damage to the transmission medium caused by the rotation of the movable joint, this embodiment also includes a fiber optic hybrid rotating slip ring (SRIO).

[0084] The fiber optic hybrid rotary slip ring is installed in the inner annular protrusion of the stator annular bracket of the pitch motor. The first bearing and the second bearing are located on both sides of the fiber optic hybrid rotary slip ring. The rotor connecting shaft passes through the axis of the fiber optic hybrid rotary slip ring and does not contact the fiber optic slip ring.

[0085] More specifically, in order to connect the fiber optic hybrid rotating slip ring with the control information or power supply signal of the roll motor, coaxial through holes are provided on the inner annular protrusion, outer annular protrusion, inner frame connector, and outer rotor of the roll motor stator ring bracket, so that the lead wire of the fiber optic hybrid rotating slip ring can be connected to the circuit board of the roll motor through the coaxial through holes.

[0086] The fiber optic hybrid rotating slip ring comprises a fiber optic channel and a physical wire channel. Its key feature is that it solves the speed limitation problem of mechanical slip rings and also provides a channel for power and monitoring electrical signals. The fiber optic portion of the hybrid rotating slip ring transmits data information at different wavelengths from 800nm ​​to 1440nm, used for stable transmission of high-speed information from infrared / visible light and lidar. The physical wire channel, a 0.5 square millimeter diameter wire slip ring, is used to transmit system power and monitoring information. This allows for smooth, non-interfering, and infinitely 360-degree rotation between external power supply and internal high-speed information.

[0087] Specifically, the fiber optic hybrid rotating slip ring structure includes eight physical wire brush channels and two fiber optic channels. Four wires in the wire brush channels are used for external 28V power supply, and the internal power supply includes the direct power supply for three motors and the secondary power supply for each processor. The remaining four wires are serial RS422 communication signals used to transmit various monitoring information inside the stable servo. The two fiber optic channels are for high-speed information and video streams, specifically including high-speed communication information for payloads such as infrared / visible light and lidar.

[0088] The structure and wiring method of the fiber optic hybrid rotary slip ring are as follows: Figure 7 As shown.

[0089] Figure 7 On the pitch axis, the infrared / visible light load and lidar load at the axis end, the payload information and stable servo information in the controller's carrying circuit board, the comprehensive control information and power monitoring information are output through a fiber optic hybrid rotating slip ring, and after passing through the roll axis and azimuth axis, they are interacted with through the user interface.

[0090] The roller shaft's end actuator is the roller motor, and the end sensing unit is the motor's magnetic pole angle sensor. The roller motor drives the rotation of the roller shaft, and the motor's magnetic pole angle sensor monitors the rotation angle of the roller shaft and feeds it back to the stability controller for closed-loop control.

[0091] The azimuth axis's end actuator is the azimuth motor, and the end sensing unit is the motor's magnetic pole angle sensor. The azimuth motor executes the rotation of the azimuth axis; the motor's magnetic pole angle sensor monitors the rotation angle of the azimuth axis and feeds it back to the stability controller for closed-loop control.

[0092] The user interface is the external interface of the stable servo system. The servo system obtains external system power through the user interface to power the stable servo system. The load information obtained by the visible light / infrared load and the lidar load is output through the load information fiber optic interface for user use. The monitoring information of the stable servo system is also sent to the monitoring system.

[0093] The electrical principle of a system for data transmission based on a fiber optic hybrid rotating slip ring is as follows: Figure 8 As shown, the elevation axis end where the infrared / visible light payload is located is the positive end, and the elevation axis end where the lidar payload is located is the negative end. In applications where large amounts of data and signals are transmitted from a fixed position to a rotating position using a fiber optic hybrid rotating slip ring, mechanical performance can be improved, system operation simplified, and damage to the optical fiber caused by rotation of the stabilizing system's axis ends can be avoided.

[0094] In summary, the miniaturized, large-angle single-frame three-axis stabilization servo system provided by this invention adopts a single-frame mechanical rotation structure with direct torque motor drive. The axes are defined from the inside out as azimuth, roll, and pitch. The azimuth motor is mounted on the azimuth axis of the outer frame, the roll motor is mounted on the roll axis of the outer frame, and the rotation of the pitch axis is achieved by the support frame and bearings of the pitch motor. This fully utilizes the extra space in the load axis, achieving three-axis rotation compared to the traditional two-frame system. The hidden inner ring frame significantly reduces the internal dimensions, providing greater rotational space for the stabilized load. It effectively realizes the azimuth, roll, and pitch movements of the load components and their coupled movements, greatly increasing the search and detection range of the stabilized load and significantly improving the performance of the stabilization servo system.

[0095] The above description is only a preferred embodiment of the present invention, but the scope of protection of the present invention is not limited thereto. Any changes or substitutions that can be easily conceived by those skilled in the art within the scope of the technology disclosed in the present invention should be included within the scope of protection of the present invention.

Claims

1. A miniaturized, large-angle, single-frame, three-axis stabilized servo system, characterized in that, Includes a three-axis actuator, controller, and load; The three-axis actuator is a single-frame mechanical rotation structure directly driven by a torque motor, including an outer frame, an azimuth motor, a roll motor, a pitch motor, and an inner frame connector. The azimuth motor, mounted on the azimuth axis of the outer frame, performs azimuth rotation; the roll motor, mounted on the roll axis of the outer frame, performs roll rotation; the pitch motor and the roll motor are connected together through the inner frame connector, and the rotation axis of the pitch motor and the rotation axis of the roll motor are perpendicular to each other, and the pitch motor performs pitch rotation on the rotation axis. The loads are mounted at both ends of the pitch motor's rotating shaft and include infrared / visible light loads and lidar loads; they are used to perform target tracking and scanning tasks under the drive of a three-axis actuator. The controller is used to perform stable servo control on the three-axis motion of the three-axis actuator and to control the load tracking and scanning tasks.

2. The stable servo system according to claim 1, characterized in that, The outer frame includes a central handle and two round base supports. The end of the central handle has an arc-shaped end, which is fixedly connected to the round base supports. The two round base supports are perpendicular to each other and are provided with mounting holes. The first base support is perpendicular to the azimuth axis and is fixedly connected to the azimuth motor through the mounting holes. The second base support is perpendicular to the roll axis and is fixedly connected to the roll motor through the mounting holes.

3. The stable servo system according to claim 2, characterized in that, The orientation motor is an external rotor flat permanent magnet synchronous motor; wherein, a mounting hole is provided on the rotating surface of the external rotor housing perpendicular to the rotation axis of the orientation motor; the stable servo system is fixed to the corresponding position on the carrier through the mounting hole; a mounting hole is provided on the shaft end mounting shell perpendicular to the rotation axis of the orientation motor; the mounting hole corresponds to the mounting hole of the first base and is used to fix the orientation motor to the outer frame.

4. The stable servo system according to claim 2, characterized in that, The rolling motor is an external rotor flat permanent magnet synchronous motor; wherein, a mounting hole is provided on the shaft end mounting shell perpendicular to the rotation axis of the rolling motor; the rolling motor is fixedly connected to the outer frame by corresponding connection of the mounting hole with the mounting hole of the second base; a mounting hole is provided on the rotation surface of the outer rotor housing perpendicular to the rotation axis of the rolling motor for connection with the inner frame connector.

5. The stable servo system according to claim 2, characterized in that, The pitch motor is a sector-shaped transverse flux permanent magnet synchronous motor, with its outermost part being a stator ring support. The body of the stator ring support is a ring perpendicular to the rotation axis of the pitch motor, with an outer ring protrusion on the outer side of the ring. Mounting holes are provided on the outer ring protrusion for connection with the inner frame connector. The outer rotor of the roll motor is connected through the inner frame connector, so that the rotation axis of the roll motor is perpendicular to the rotation axis of the pitch motor. It can achieve rotational motion independently or coupled rotation.

6. The stable servo system according to claim 5, characterized in that, The inner frame connector includes a first connector and a second connector fixedly connected thereto; the plane of the first connector is perpendicular to the plane of the second connector. The first connector is a disc structure with mounting holes on it, which correspond to the mounting holes on the outer rotor rotating surface of the roll motor, and are used to fix the roll motor. The connecting surface of the second connector matches the shape of the stator ring bracket and has mounting holes that correspond to the mounting holes on the stator ring bracket for fixing the pitch motor.

7. The stable servo system according to claim 5, characterized in that, The pitch motor includes: a stator annular support, a sector-shaped transverse flux permanent magnet, a rotor core, a rotor winding connecting ring, a rotor winding coil, a motor control circuit board, a first bearing, a second bearing, a first load mounting plate, a second load mounting plate, and a rotor connecting shaft; A fan-shaped transverse flux permanent magnet is attached to one side of the ring of the stator ring bracket; a second load mounting plate is located on the other side of the ring of the stator ring bracket; the ring of the stator ring bracket also has an inner annular protrusion. The body of the first load mounting plate is a ring perpendicular to the rotation axis of the pitch motor, and is connected to the inner annular protrusion of the stator ring bracket through the first bearing. The rotor core, rotor winding terminal ring, and rotor winding coil are sequentially installed between the sector-shaped transverse flux permanent magnet and the first load mounting plate; the rotor winding coil is attached to one side of the first load mounting plate, and the motor control circuit board is installed on the other side of the first load mounting plate. The body of the second load mounting plate is a ring perpendicular to the rotation axis of the pitch motor, and is connected to the inner annular protrusion of the stator ring bracket through the second bearing. The rotor connecting shaft passes through the center of the first bearing, the stator annular support, and the second bearing; one end of the rotor connecting shaft is fixedly connected to the first load mounting plate, and the other end is fixedly connected to the second load mounting plate.

8. The stable servo system according to claim 7, characterized in that, The first load mounting plate is used to carry the infrared / visible light load; the infrared / visible light load is fixed on the first load mounting plate and placed in a sealed space consisting of the first load mounting plate, a dust cover, and a mounting cover.

9. The stable servo system according to claim 8, characterized in that, The second load mounting plate sequentially mounts and fixes the heating and cooling components, temperature control plate, controller support circuit board, and lidar load; the lidar load is placed in a sealed space consisting of the controller support circuit board, dust cover, and mounting cover.

10. The stable servo system according to claim 8, characterized in that, It also includes fiber optic hybrid rotating slip rings; The fiber optic hybrid rotary slip ring is installed in the inner annular protrusion of the stator annular bracket of the pitch motor. The first bearing and the second bearing are located on both sides of the fiber optic hybrid rotary slip ring. The rotor connecting shaft passes through the axis of the fiber optic hybrid rotary slip ring and does not contact the fiber optic slip ring.

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