A high-precision photoelectric load servo stabilization system

Abstract

The present invention relates to a high-precision optoelectronic load servo stabilization system, comprising: an outer frame connected to a carrier, and an inner frame connected to a load support platform; a rotating bi-prism beam pointing control module is installed on the load support platform, providing a beam pointing adjustment function; the outer frame and the inner frame are connected via a passive vibration reduction and isolation array, the passive vibration reduction and isolation array is composed of multiple groups of symmetrically arranged cross flexible components, supports the inner frame and realizes passive high-frequency vibration isolation; an active vibration reduction and isolation array is connected between the outer frame and the inner frame via a coil component bracket and a permanent magnet component bracket, the active vibration reduction and isolation array is composed of multiple groups of symmetrically arranged voice coil motors, and is used to actively suppress the six-degree-of-freedom low-frequency vibration of the inner frame; the system is used to provide a stable working environment and a beam pointing control function for the optoelectronic load carried on the carrier, and has the advantages of good vibration reduction and isolation effect, low friction resistance, high space utilization, and good dynamic performance of beam pointing control.

Description

Technical Field

[0001] The present 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] Electro-optical servo stabilization systems are equipped with electro-optical payloads, including infrared and visible light imaging detection equipment, to image the target area and provide this information to an information processing unit for target detection, identification, capture, tracking, or aiming. Electro-optical servo stabilization systems are typically installed on moving vehicles, such as helicopters and fixed-wing aircraft. These vehicles are subject to both their own and environmental disturbances, and the system's ability to isolate and suppress these disturbances directly impacts the performance of the electro-optical payload.

[0003] To achieve beam pointing control and isolate carrier disturbances, current high-precision optoelectronic servo stabilization systems primarily utilize a two-axis, four-frame structure. Two DC torque motors directly act on the inner pitch and azimuth axes, manipulating their respective axis motions to offset carrier disturbances. Because the DC torque motors are directly mounted on the moving axis, this results in bulky drive components, difficult placement of internal optical sensor loads, high system friction, and poor dynamic performance, all of which compromise the servo stabilization system's stability and positioning accuracy. Summary of the Invention

[0004] The purpose of the present invention is to provide a high-precision optoelectronic payload 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 isolation arrays to achieve six-degree-of-freedom vibration isolation, thereby solving the problems of large size, heavy weight and high friction resistance of driving components in the prior art, improving the vibration isolation effect and directional accuracy, and providing convenience for the layout of optoelectronic payloads.

[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 bi-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 bi-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 bi-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. The two frames 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 at the same time achieve passive isolation of high-frequency vibrations; 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 isolation scheme is separated from the shaft structure. The multiple voice coil motors and cross-shaped flexible components in the active and passive vibration isolation arrays reduce the structural mass, avoid the nonlinear friction generated by the original shaft system, and improve the vibration isolation effect. In addition, all vibration 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 of 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 conducive 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 bi-prism beam pointing control module, which has the advantages of compact structure, small motion 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 This 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 according to the present invention;

[0016] Figure 4 Schematic diagram of the rectangular parallelepiped structure layout of the passive vibration isolation array of the present invention;

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

[0018] Figure 6 Schematic diagram of the structure of the voice coil motor according to the present invention;

[0019] Figure 7 Schematic diagram of the rectangular parallelepiped structure layout of the active vibration 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 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 bracket 5, permanent magnet component bracket 6,

[0025] Load support platform 7, rotating bi-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 embodiments 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 bi-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 bi-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 bi-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 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, while realizing 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 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 compact structure, low moving mass, and excellent dynamic performance of rotating biprisms, in one embodiment, rotating biprism technology is preferred as the implementation method for the rotating biprism beam pointing control module 8. This module changes the beam direction by independently rotating two internal prisms on the same axis, providing beam or line-of-sight control for the optoelectronic payload. This prevents the inner frame 2 from becoming a component subject to significant movement, reduces power consumption for beam or line-of-sight control, and improves beam or line-of-sight control performance. The rotating biprism beam pointing control module has a field of view of 120°.

[0029] Because the rotating dual-prism beam pointing control module and the optoelectronic payload are mounted on the inner frame, vibration suppression of the inner frame is crucial. The outer frame 1 is connected to the carrier and directly receives disturbances from it. The inner and outer frames are mechanically connected only by the passive vibration isolation array 3, without a traditional shafting structure.

[0030] In one embodiment, the passive vibration 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 machined, cross-shaped flexible three-dimensional structure. This structure has a smaller radial dimension in application and can obtain the required multi-degree-of-freedom stiffness requirements through simple size adjustment and slotting design.

[0031] In this embodiment, there are several arrangements of the multiple cross-shaped flexible components. Preferably, one of the arrangements is to select eight groups of cross-shaped flexible components 30, such as Figure 4 As shown, eight groups of cross-shaped flexible components 30 are arranged in a three-dimensionally symmetrical pattern, located near the vertices of a rectangular parallelepiped. The central axes of the cross-shaped flexible components 30 point toward the center of the rectangular parallelepiped, and the ends of the cross-shaped flexible components 30 are connected to the outer frame 1 and the inner frame 2, respectively. Together, these eight groups of cross-shaped flexible components 30 achieve high-frequency vibration isolation in six degrees of freedom for the inner frame 2. The term "rectangle" refers to a virtual cube formed by the 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, six groups of cross-shaped flexible components 30 are arranged in a three-dimensionally symmetrical pattern, located near the vertices of an octahedron. The central axes of the cross-shaped flexible components 30 point toward the center of the octahedron, and the ends of the cross-shaped flexible components 30 are connected to the outer frame 1 and the inner frame 2, respectively. Together, these six groups of cross-shaped flexible components 30 achieve high-frequency vibration isolation for the six degrees of freedom of the inner frame 2. The octahedron refers to a virtual octahedron formed by these six groups of cross-shaped flexible components 30.

[0033] With the above-described flexible component layout, a simpler inner frame counterweight design can be used to decouple translational and rotational disturbances, facilitating both active vibration suppression and passive vibration isolation. Furthermore, the stiffness characteristics of the cross-shaped flexible component 30 ensure that the stiffness of the inner frame's rotational degree of freedom is relatively lower than that of its translational degree of freedom. This facilitates better active vibration suppression of the inner frame's rotational motion using the small voice coil motor 40 in the active vibration isolation array 4.

[0034] The active vibration reduction and isolation array 4 is not used to achieve a 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 voice coil motor 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. The coil component 40-1 of each voice coil motor is connected to the outside of the inner frame 2 through the coil component bracket 5, and the permanent magnet component 40-2 of each voice coil motor is connected to the inside 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 allow for six degrees of freedom of movement. A relatively large relative movement is allowed along the central axis of the permanent magnet component 40-2, and a relatively small relative movement is allowed in the other degrees of freedom. When there is no relative movement between the coil component 40-1 and the permanent magnet component 40-2, 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 rotates relative to the outer frame to a certain extent when the system is operating, the rotation angle is always small, so it can be assumed that the positive direction of the driving force of each group of voice coil motors does not change during operation. When terms such as "larger," "smaller," and "small amount" are mentioned in this application, those skilled in the art understand the scope of these terms in the field and how these scopes may change with changing application scenarios.

[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 the 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, second, third, and fourth voice coil motors 401, 402, 403, and 404 all have the same positive direction of motor drive force. Together, they provide control torque for roll rotation around the x-axis, control torque for pitch rotation around the y-axis, and control force for translation in the z-direction. When the first and second voice coil motors 401, 402 generate positive thrust, and the third and fourth voice coil motors 403, 404 generate negative thrust, a positive pitch control torque can be applied to the inner frame 2. When the first and third voice coil motors 401, 403 generate positive thrust, and the second and fourth voice coil motors 402, 404 generate negative thrust, a positive roll control torque can be applied to the inner frame 2. When the first, second, third, and fourth voice coil motors 401, 402, 403, and 404 generate negative thrust, a positive z-axis control force can be applied to the inner frame 2. The fifth, sixth, seventh, and eighth voice coil motors 405, 406, 407, and 408 voice coil motors have coplanar positive motor drive force directions. Together, they provide rotational control torque about the z-axis and translational control forces in the x- and y-directions. When the fifth and eighth voice coil motors 405, 408 generate positive thrust, and the sixth and seventh voice coil motors 406, 407 generate negative thrust, a positive azimuth control torque can be applied to the inner frame 2. When the fifth and eighth voice coil motors 405, 406, and 407 generate positive thrust, a positive y-axis control force can be applied to the inner frame 2. When the sixth and seventh voice coil motors 406, 407 generate positive thrust, a positive x-axis control force 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 isolation array, an active vibration isolation array, a coil component bracket, a permanent magnet component bracket, a load support platform, and a rotating bi-prism beam pointing control module; the system is used to provide a stable working environment and beam pointing control function for the optoelectronic payload carried on a carrier; the optoelectronic payload is installed on the inner frame; the multiple groups of voice coil motors in the active vibration isolation array in the system can achieve 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 direction of the visual axis, which reduces the driving force requirement and the rotation angle of the inner frame, which is beneficial to improving the working efficiency of the motor and the stability of the inner frame; the passive vibration 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 bi-prism beam pointing control module in the system provides the optoelectronic payload with the function of adjusting the beam or the direction of the visual axis, and has the advantages of compact structure, small moving 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 bi-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 bi-prism beam pointing control module (8) is installed on the load support platform (7), the load support platform (7) is used to install a photoelectric load, and the rotating bi-prism beam pointing control module (8) is used to provide a beam or visual axis pointing control function for the photoelectric load; the outer frame and the inner frame are mechanically connected through 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 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 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); 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), or, The passive vibration reduction and isolation array (3) is composed of six groups of cross-shaped flexible components (30), and 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).

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

3. The high-precision photoelectric load servo stabilization system according to claim 1, 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) 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), 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 motors (40) allow 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, 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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