Inertial image stabilization control system and method

Abstract

The invention provides an inertial image stabilization control system. The system comprises a gyroscope stabilization shaft, a pitching gyroscope and a gyroscope stabilization shaft system motor, wherein the pitching gyroscope and the gyroscope stabilization shaft system motor are mounted on the gyroscope stabilization shaft; the gyro stabilization loop correction and motor power amplification module is connected between the pitching gyro and the gyro stabilization shafting motor; the gyro stabilizing shaft angle measurement module is connected with the gyro stabilizing shaft and is used for measuring the angular displacement of the gyro stabilizing shaft; the scanning reflecting mirror and the scanning reflecting mirror shaft system motor are arranged on the scanning reflecting mirror shaft; the scanning reflector shaft angle measurement module is connected with a scanning reflector shaft and used for measuring the angular displacement of the scanning reflector shaft, the angular displacement conversion unit is used for obtaining the angular displacement of a gyro stabilizing shaft and converting the angular displacement into a reflector instruction angle value, and the reflector position tracking correction and motor power amplification module is used for obtaining the reflector instruction angle value. And a reflector shaft system motor is driven to work according to the reflector instruction angle value. In this way, the inertial image stabilization function is achieved.

Description

Technical Field

[0001] The present disclosure relates to the field of automatic control technology, and in particular to an inertial image stabilization control system and method. Background Art

[0002] Airborne infrared search and tracking systems often use scanning mirrors to expand the search range and detect and track targets. In order to reduce the blur of infrared images caused by aircraft vibration and flight attitude changes, an inertial stabilized platform is required to isolate aircraft vibration and flight attitude changes. Since the scanning mirror has the characteristic of double light reflection angle in the pitch axis, the inertial stabilized platform often uses an inertial stabilized structure with an image stabilization mechanism.

[0003] The image stabilization mechanism usually has a gyro stabilization axis and a reflector axis on the pitch. A torque motor is installed on the gyro stabilization axis as a driving motor for pitch stabilization. The gyro stabilization axis and the reflector axis are driven by a mechanical steel belt reducer with a reduction ratio of 2:1. However, during transmission, the preload of the steel belt will pull the shaft system off-center, causing the bearing balls to move unsteadily in the raceway and bring about a large friction torque of the shaft system. The nonlinear characteristics of the friction torque will cause the shaft system to rotate unsteadily at low speeds, reduce the stabilization accuracy, and make the control quality of the control system poor. At the same time, the image stabilization mechanism is large in size and heavy in weight, making it difficult to meet the increasingly high requirements of airborne optoelectronic detection systems. Summary of the invention

[0004] The present invention provides an inertial image stabilization control system and method, aiming to solve the problems of low stabilization accuracy, complex structure and large volume of the image stabilization control mechanism in the prior art.

[0005] According to a first aspect of the present disclosure, there is provided an inertial image stabilization control system, comprising:

[0006] A pitch gyro axis system, comprising a gyro stabilization axis, a pitch gyro mounted on the gyro stabilization axis, and a gyro stabilization axis system motor mounted on one end of the gyro stabilization axis;

[0007] A pitch inertial stabilization module, comprising a gyro stabilization loop correction and motor power amplification module; the gyro stabilization loop correction and motor power amplification module is connected between the pitch gyro and the gyro stabilization shaft system motor;

[0008] A gyro stabilization axis angle measurement module, connected to the gyro stabilization axis, for measuring the angular displacement of the gyro stabilization axis;

[0009] A scanning reflector shaft system, comprising a scanning reflector shaft, a scanning reflector mounted on a middle section of the scanning reflector shaft, and a scanning reflector shaft system motor mounted on one end of the scanning reflector shaft;

[0010] A scanning mirror axis angle measurement module, connected to the scanning mirror axis, and used to measure the angular displacement of the scanning mirror axis;

[0011] The reflector position tracking module includes a reflector position tracking correction and motor power amplification module and an angular displacement conversion unit connected thereto, wherein the angular displacement conversion unit is used to obtain the angular displacement of the gyro stabilization axis and convert it into a reflector command angle value, and the reflector position tracking correction and motor power amplification module is used to obtain the reflector command angle value and drive the reflector axis system motor to work according to the reflector command angle value.

[0012] Preferably, the gyro stabilization axis angle measurement module comprises:

[0013] A first measuring pulley and a second measuring pulley, wherein the first measuring pulley is connected to the second measuring pulley via a first measuring steel belt, and the second measuring pulley is connected to an end of the gyro stabilization shaft away from the gyro stabilization shaft system motor;

[0014] A first grating ruler, mounted on one side of the first measuring steel belt;

[0015] The first grating reading unit is installed on the first grating ruler and is used to read the position change information on the first grating ruler to determine the angular displacement of the gyro stabilization axis.

[0016] Preferably, the scanning mirror axis angle measurement module comprises:

[0017] A third measuring pulley and a fourth measuring pulley, wherein the third measuring pulley is connected to the fourth measuring pulley via a second measuring steel belt, and the fourth measuring pulley is connected to an end of the scanning reflector shaft away from the reflector shaft system motor;

[0018] A second grating ruler is installed at one end of the second measuring steel belt;

[0019] The second grating reading unit is installed on the second grating ruler and is used to read the position change information on the second grating ruler to determine the angular displacement of the scanning mirror axis.

[0020] Preferably, the gyro stabilization axis angle measurement module further includes:

[0021] A first steel belt pressing plate, installed at the connection between the first measuring belt wheel and the first measuring steel belt, and used to prevent the first measuring steel belt from sliding at the connection between the first measuring belt wheel and the first measuring steel belt;

[0022] The second steel belt pressing plate is installed at the connection between the second measuring belt wheel and the first measuring steel belt, and is used to prevent the first measuring belt from sliding at the connection between the second measuring belt wheel and the first measuring steel belt.

[0023] Preferably, the scanning mirror axis angle measurement module further includes:

[0024] A third steel belt pressing plate is installed at the connection between the third measuring belt wheel and the second measuring belt, and is used to prevent the second measuring belt from sliding at the connection between the third measuring belt wheel and the second measuring belt;

[0025] The fourth steel belt pressing plate is installed at the connection between the fourth measuring belt wheel and the second measuring steel belt, and is used to prevent the second measuring steel belt from sliding at the connection between the fourth measuring belt wheel and the second measuring steel belt.

[0026] Preferably, the first grating reading unit adopts a non-contact optical reading head.

[0027] Preferably, the rotation range of the first measuring pulley is not greater than the first preset rotation angle, so as to ensure that the first grating ruler is always located between the first measuring pulley and the second measuring pulley.

[0028] Preferably, the rotation range of the third measuring pulley is not greater than the second preset rotation angle, so as to ensure that the second grating ruler is always located between the third measuring pulley and the fourth measuring pulley.

[0029] According to a second aspect of the present disclosure, an inertial image stabilization control method is provided, which is implemented based on any of the above inertial image stabilization control systems, and includes:

[0030] Acquiring the angular displacement of the gyro stabilization axis according to the gyro stabilization axis angle measurement module;

[0031] converting the angular displacement of the gyro stabilization axis into a reflector command angle according to the angular displacement conversion unit;

[0032] According to the scanning mirror axis angle measurement module, the angular displacement of the scanning mirror axis is obtained;

[0033] The position error between the reflector command angle and the angular displacement of the scanning reflector axis is determined according to the reflector position tracking module, and according to the position error, the scanning reflector axis motor is driven to rotate until the position error is zero.

[0034] As a preferred embodiment, the step of converting the angular displacement of the gyro stabilization axis into a reflector command angle according to the angular displacement conversion unit includes:

[0035] According to the proportional relationship between the angular displacement of the gyro stabilization axis and the angular displacement of the scanning mirror axis preset in the angular displacement conversion unit, the angular displacement of the gyro stabilization axis is converted into a mirror command angle.

[0036] Compared with the prior art, the present invention achieves the following beneficial effects:

[0037] (1) The present invention discloses a high-precision angle measurement device using a grating ruler, which eliminates the mechanical steel belt reducer with a reduction ratio of 2:1. Half of the angular displacement of the gyro stabilization axis is used as the angular displacement command of the reflector axis, and the reflector position tracking loop always tracks this angular displacement command, thereby realizing a 2:1 mechanical transmission relationship in an electrical control manner.

[0038] (2) The pitch inertial stabilization loop in the present disclosure eliminates the mechanical steel belt reducer with a reduction ratio of 2:1, and adopts an electrical control method to realize the transmission of angular displacement instructions, so that the pitch inertial stabilization loop is no longer limited to a specific mechanical installation position. Electrical signals can be transmitted through wires or data buses, so the loop can be flexibly arranged at any suitable position on the platform. At the same time, traditional mechanical reducers usually take up a large space, and their design and manufacturing also involve difficult problems such as precise gear matching, lubrication systems, and durability considerations. The present disclosure removes the traditional mechanical reducer, thereby significantly reducing the total volume of the system and alleviating the design difficulty. The friction torque of the mirror shaft system and the disturbance torque of the base movement will no longer affect the pitch inertial stabilization loop, thereby improving the stability accuracy of the gyro stabilization axis. The mirror position tracking loop always tracks the pitch inertial stabilization loop, realizing the inertial image stabilization function and having a high control quality.

[0039] It should be understood that the contents described in the summary of the invention are not intended to limit the key or important features of the embodiments of the present disclosure, nor are they intended to limit the scope of the present disclosure. Other features of the present disclosure will become easily understood through the following description. BRIEF DESCRIPTION OF THE DRAWINGS

[0040] The above and other features, advantages and aspects of the embodiments of the present disclosure will become more apparent with reference to the following detailed description in conjunction with the accompanying drawings. The accompanying drawings are used to better understand the present solution and do not constitute a limitation of the present disclosure. In the accompanying drawings, the same or similar reference numerals represent the same or similar elements, among which:

[0041] Figure 1 A schematic diagram of an inertial image stabilization control system according to an embodiment of the present disclosure is shown;

[0042] Figure 2 A control block diagram of a pitch inertial stabilization loop according to an embodiment of the present disclosure is shown;

[0043] Figure 3 A schematic diagram of high-precision angle measurement according to an embodiment of the present disclosure is shown;

[0044] Figure 4 A cascade control block diagram of a gyro stabilization loop and a mirror tracking loop according to an embodiment of the present disclosure is shown;

[0045] Figure 5A schematic diagram of the double angle of reflection of the sight line according to an embodiment of the present disclosure is shown;

[0046] Figure 6 A flow chart of an inertial image stabilization control method according to an embodiment of the present disclosure is shown;

[0047] Among them, 1. gyro stabilization axis, 2. pitch gyro, 3. gyro stabilization axis system motor, 4. gyro stabilization loop correction and motor power amplifier module, 5. first measuring pulley, 6. second measuring pulley, 7. first measuring steel belt, 8. first grating ruler, 9. first grating reading unit, 10. first steel belt pressure plate, 11. second steel belt pressure plate;

[0048] 12. scanning reflector shaft, 13. scanning reflector shaft motor, 14. scanning reflector, 15. third measuring pulley, 16. fourth measuring pulley, 17. second measuring steel belt, 18. second grating ruler, 19. second grating reading unit, 20. third steel belt pressing plate, 21. fourth steel belt pressing plate;

[0049] 22. Angular displacement conversion unit. 23. Reflector position tracking correction and motor power amplification module. DETAILED DESCRIPTION

[0050] In order to make the purpose, technical solution and advantages of the embodiments of the present disclosure clearer, the technical solution in the embodiments of the present disclosure will be clearly and completely described below in conjunction with the drawings in the embodiments of the present disclosure. Obviously, the described embodiments are part of the embodiments of the present disclosure, not all of the embodiments. Based on the embodiments in the present disclosure, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present disclosure.

[0051] In addition, the term "and / or" in this article is only a description of the association relationship between the associated objects, indicating that there can be three relationships. For example, A and / or B can represent: A exists alone, A and B exist at the same time, and B exists alone. In addition, the character " / " in this article generally indicates that the associated objects before and after are in an "or" relationship.

[0052] The following describes a specific implementation of an inertial image stabilization control system provided by the present disclosure in conjunction with the accompanying drawings.

[0053] Embodiment 1

[0054] like Figure 1 FIG. 1 is a schematic diagram of an inertial image stabilization control system disclosed in the present invention, wherein the inertial image stabilization control system comprises:

[0055] The pitch gyro axis system comprises a gyro stabilization axis (1), a pitch gyro (2) mounted on the gyro stabilization axis (1), and a gyro stabilization axis system motor (3) mounted at one end of the gyro stabilization axis (1); wherein the pitch gyro (2) is a sensor for measuring the angular velocity or angle change of an object in the direction of the pitch axis. In aviation, aerospace, navigation, and transportation vehicles, the pitch gyro is used to monitor and control attitude to ensure stability and navigation accuracy. It is also part of an inertial navigation system (INS), working together with a roll gyroscope and a yaw gyroscope to comprehensively monitor the spatial attitude of an object.

[0056] The pitch inertial stabilization module comprises a gyro stabilization loop correction and motor power amplification module (4); the gyro stabilization loop correction and motor power amplification module (4) is connected between the pitch gyro (2) and the gyro stabilization axis motor (3); and is used to ensure the stability and precise control of the system, specifically,

[0057] When the pitch gyro detects a change in angle or angular velocity, it outputs an electrical signal representing this change. However, this signal may be affected by noise, temperature changes, sensor aging, and other factors. The gyro stabilization loop correction circuit is responsible for filtering, compensating, and adjusting these signals to eliminate interference and improve signal accuracy. The control signal output by the gyro stabilization loop correction circuit is usually a low-level small signal that is not enough to drive the motor. The role of the motor power amplifier module is to receive these small signals and amplify them into a large enough current or voltage to effectively drive the gyro stabilization axis motor.

[0058] A gyro stabilization axis angle measurement module, connected to the gyro stabilization axis (1) and used to measure the angular displacement of the gyro stabilization axis (1);

[0059] A scanning reflector shaft system, comprising a scanning reflector shaft (12), a scanning reflector (14) mounted on the middle section of the scanning reflector shaft (12), and a scanning reflector shaft system motor (13) mounted on one end of the scanning reflector shaft (12);

[0060] A scanning reflector axis angle measurement module, connected to the scanning reflector axis (12), and used to measure the angular displacement of the scanning reflector axis (12);

[0061] A reflector position tracking module comprises a reflector position tracking correction and motor power amplification module (23) and an angular displacement conversion unit (22) connected thereto, wherein the angular displacement conversion unit (22) obtains the angular displacement of the gyro stabilization axis (1) from the gyro stabilization axis angle measurement module and converts it into a reflector command angle value, and data transmission is completed between the angular displacement conversion unit (22) and the gyro stabilization axis angle measurement module through data communication.

[0062] The reflector position tracking correction and motor power amplification module (23) is used to obtain the current reflector axis position information from the scanning reflector axis angle measurement module, convert it into a reflector command angle value, and drive the reflector axis system motor (13) to rotate according to the reflector command angle value. , To ensure that the reflector angular displacement is consistent with the reflector command angle. The reflector position tracking correction and motor power amplification module (23) and the scanning reflector axis angle measurement module complete data transmission through data communication.

[0063] According to the above embodiments, the present disclosure has the following technical effects:

[0064] (a) Eliminate the mechanical reducer and simplify the structure. Half of the angular displacement command is directly implemented as the angular displacement command of the mirror axis through electrical control, eliminating the need for a traditional mechanical reducer. This not only simplifies the mechanical structure of the system, but also reduces maintenance costs and potential mechanical failure points.

[0065] (b) The use of grating ruler for angle measurement ensures the high accuracy and stability of the angular displacement command of the mirror axis, thereby improving the positioning accuracy of the entire system.

[0066] (c) The mechanical steel belt reducer with a reduction ratio of 2:1 is eliminated, and the transmission of angular displacement instructions is realized by electrical control, so that the pitch inertial stabilization loop is no longer limited to a specific mechanical installation position. The electrical signal can be transmitted through wires or data buses, so the loop can be flexibly arranged at any suitable position on the platform. At the same time, traditional mechanical reducers usually take up a large space, and the design and manufacturing also involve precise gear matching, lubrication systems, and durability considerations. The present disclosure removes this part of the bulky components, thereby significantly reducing the total volume of the system and alleviating the design difficulty.

[0067] Furthermore, the control block diagram of the pitch inertial stabilization loop is as follows: Figure 2 As shown, the inertial image stabilization control system is installed on a carrier (such as an airplane, a ship, or other mobile platform) through a stabilization mechanism base to ensure that the system can remain relatively stable when the carrier moves.

[0068] When the attitude of a carrier (such as an airplane, a ship, etc.) changes, this change will be transmitted to the base of the image stabilization mechanism, causing the base to generate disturbances in the pitch direction relative to the inertial space. In order to offset this disturbance, the pitch gyro axis system (including the gyro stabilization axis (1), the pitch gyro (2) and the gyro stabilization axis system motor (3)) will generate angular motion relative to the base. The angular displacement signal output by the pitch gyro is amplified and corrected by the gyro stabilization loop correction and the motor power amplification module (4), and then driven by the motor driver to drive the gyro stabilization axis motor (3), and then drive the gyro stabilization axis (1) to rotate. At the same time, the pitch gyro continuously receives actual state information from the gyro stabilization axis and compares it with the set target state. If there is a deviation between the actual state information and the target state, the gyro stabilization axis (1) is further driven to rotate until the deviation is minimized or completely eliminated.

[0069] As a preferred embodiment, in order to accurately obtain the angular displacement of the gyro stabilization axis (1) and eliminate the mechanical steel belt transmission mechanism, the gyro stabilization axis angle measurement module in this embodiment includes:

[0070] A first measuring pulley (5), a second measuring pulley (6) and a first measuring steel belt for connecting the first measuring pulley (5) and the second measuring pulley (6), wherein the second measuring pulley (6) is connected to an end of the gyro stabilization shaft (1) away from the gyro stabilization shaft system motor (3);

[0071] A first grating ruler (8) is mounted on one side of the first measuring steel belt (7) and is used to record the position change of the first measuring steel belt (7) when it moves in a straight line; a first grating reading unit (9) is mounted on the first grating ruler (8) and is used to accurately read the position change information on the first grating ruler, thereby determining the linear displacement of the first measuring steel belt (7), and obtaining the angular displacement of the gyro stabilization axis (1) after conversion.

[0072] Specifically, combined Figure 3 As shown, the first grating ruler (8) is attached to one side of the first measuring steel belt (7), and the first grating reading unit (9) is placed close to the first grating ruler (8) on the same side of the first measuring steel belt (7). The first grating reading unit (9) adopts a reflective grating reading working mode, and the gap between the first grating reading unit (9) and the first grating ruler (8) is adjusted to ensure that the first grating reading unit (9) works normally.

[0073] In order to further improve the angular resolution and measurement accuracy, the first grating reading unit (9) of this embodiment can adopt a non-contact optical reading head. The reading head projects a laser beam onto the surface of the grating scale, and the surface of the grating scale can have very small intervals of scale lines (can be as small as 10nm). Every time the laser beam scans a scale line, the reading head outputs a pulse. Use a counter to record the number of pulses, and the linear motion displacement value of the steel belt (7) can be first measured. Further, according to the displacement value divided by the radius of the first measuring pulley, the angular displacement of the gyro stabilization axis (1) can be obtained. For example: if the radius of the measuring pulley is 2cm and the scale line interval is 20nm, the angular displacement measurement resolution is 1urad (approximately 0.2″).

[0074] As a preferred embodiment, in order to prevent the first measuring steel belt (7) from slipping and becoming unstable during operation, the gyro-stabilized axis angle measurement module is further provided with: a first steel belt pressure plate (10) installed at the connection between the first measuring pulley (5) and the first measuring steel belt (7); and a second steel belt pressure plate (11) installed at the connection between the second measuring pulley (6) and the first measuring steel belt (7) to prevent the first measuring steel belt (7) from slipping.

[0075] In addition, in order to ensure that the first grating ruler (8) is always between the two measuring pulleys, the rotation range of the first measuring pulley (6) should not be greater than the first preset rotation angle. Specifically, in this embodiment, the first preset rotation angle can be selected as 50 degrees.

[0076] As a preferred embodiment, in order to accurately obtain the angular displacement of the scanning mirror axis (12), the scanning mirror axis angle measurement module in this embodiment includes:

[0077] A third measuring pulley (15), a fourth measuring pulley (16) and a second measuring steel belt (17) for connecting the two, wherein the fourth measuring pulley (16) is connected to an end of the gyro stabilization shaft (1) away from the gyro stabilization shaft system motor (3);

[0078] A second grating ruler (18) is installed on one side of the second measuring steel belt (17) and is used to record the position change of the second measuring steel belt (17) when it moves in a straight line; a second grating reading unit (19) is installed on the second grating ruler (18) and is used to read the position change information on the second grating ruler (18), so as to determine the linear displacement of the second measuring steel belt (17), and further transform and determine the angular displacement of the scanning reflector axis (12).

[0079] As a preferred embodiment, in order to realize the reflector position tracking, the reflector position tracking correction and motor power amplification module (23) is connected to the second grating reading unit (19) and the scanning reflector shaft system motor (13), and the loop between the three constitutes a reflector position tracking loop.

[0080] It should be noted that the working mode of the second grating reading unit (19) is exactly the same as that of the first grating reading unit (9) mentioned above, and will not be repeated here.

[0081] As a preferred embodiment, similar to the above-mentioned gyro-stabilized axis angle measurement module, in order to prevent the second measuring steel belt (17) from slipping and becoming unstable during operation, the scanning reflector axis angle measurement module also includes: a third steel belt pressure plate (20), installed at the connection between the third measuring pulley (15) and the second measuring steel belt (17); a fourth steel belt pressure plate (21), installed at the connection between the fourth measuring pulley (16) and the second measuring steel belt (17), for preventing the second measuring steel belt (17) from slipping.

[0082] In addition, in order to ensure that the second grating scale (18) is always between the third measuring pulley (15) and the fourth measuring pulley (16), the rotation range of the third measuring pulley (15) should not be greater than the second preset rotation angle. Specifically, in this embodiment, the second preset rotation angle can be selected as 25 degrees.

[0083] As a preferred embodiment, Figure 4 The angular displacement conversion unit (22) receives data from the first grating reading unit (9), calculates the required mirror command angle, and sends it to the mirror position tracking correction and motor power amplification module (23). The mirror position tracking correction and motor power amplification module (23) receives the mirror command angle value, and adjusts the position of the scanning mirror (14) according to the mirror command angle value to ensure that it always accurately tracks the movement of the gyro stabilization axis.

[0084] Specifically, the reflector position tracking correction and motor power amplification module (23) compares the received reflector command angle value with the reflector shaft angular displacement obtained from the second grating reading unit (19) to obtain a position error. The position error is PID corrected and power amplified to drive the scanning reflector shaft system motor (13) to work until the position error is reduced to a value close to zero. The reflector position tracking loop always keeps the reflector angular displacement consistent with the reflector command angle.

[0085] When the angular displacement conversion unit (22) sets the proportional coefficient between the angular displacement of the gyro stabilization axis and the angular displacement of the reflector axis to 0.5, that is, the angular displacement of the gyro stabilization axis is twice the angular displacement of the reflector axis, this embodiment realizes a transmission relationship from the gyro stabilization axis to the reflector axis with a ratio of 2:1.

[0086] The aiming line usually refers to the path of the light beam reflected from the scanning mirror (14). When the scanning mirror (14) rotates, it changes the direction of the incident light beam so that the reflected light beam propagates along a specific path. This path aiming line, such as Figure 5 As shown, the aiming line is represented by an arrow. When the base of the image stabilization mechanism has a disturbance θ relative to the inertial space in the pitch direction d When the gyro stabilization axis (1) rotates relative to the base by -θ d To keep the gyro-stabilized axis (1) stable relative to the inertial space. Due to the 2:1 follow-up relationship between the gyro-stabilized axis (1) and the scanning mirror axis (12), the scanning mirror axis (12) will rotate relative to the base. Since the scanning reflector (14) has the characteristic of reflecting light at a double angle in the pitch axis, the aiming line rotates -θ relative to the base. d The base motion and the reflector axis motion are superimposed, and the aiming line in the pitch direction in the inertial space remains unchanged. Then the image seen through the reflector will not change in the pitch direction, which is inertial image stabilization.

[0087] According to the embodiments of the present disclosure, the following technical effects are achieved:

[0088] (1) The present invention realizes a 2:1 mechanical transmission relationship by means of electrical control, and replaces the mechanical steel belt transmission mechanism with a high-precision electrical angle measurement. After the mechanical steel belt transmission mechanism is eliminated, the pitch inertial stabilization loop can be placed at other positions of the inertial image stabilization platform, which reduces the volume. The pitch inertial stabilization loop and the reflector position tracking loop can be designed separately, which simplifies the design and reduces the design difficulty;

[0089] (2) There is no mechanical transmission relationship between the pitch inertial stabilization loop and the reflector position tracking loop. The friction torque of the reflector axis and the disturbance torque of the base motion will not be transmitted to the pitch inertial stabilization loop. At the same time, the axis friction torque added by the mechanical steel belt transmission mechanism does not exist. The gyro stabilized axis only needs to overcome the friction torque added by the axis support and the measuring steel belt transmission, which improves the stability accuracy of the gyro stabilized axis. The reflector position tracking loop always tracks the pitch inertial stabilization loop with a half-angle relationship, realizing the inertial image stabilization function and having a high control quality.

[0090] The above is an introduction to the embodiments of the device disclosed in the present invention. Figure 6 A specific implementation of an inertial image stabilization control method disclosed in the present invention is introduced.

[0091] Embodiment 2

[0092] like Figure 6FIG. 1 is a schematic diagram of an inertial image stabilization control method disclosed in the present invention. The method is implemented based on the inertial image stabilization control system described in the first embodiment, and specifically includes:

[0093] S1: Acquire the angular displacement of the gyro stabilization axis according to the gyro stabilization axis angle measurement module.

[0094] As a preferred implementation, according to the gyro stabilization axis angle measurement module, obtaining the angular displacement of the gyro stabilization axis includes:

[0095] According to the first grating reading unit (9) in the gyro stabilization axis angle measurement module, the position change information on the first grating ruler is read, thereby determining the linear displacement of the first measurement steel belt (7), and obtaining the angular displacement of the gyro stabilization axis (1) after conversion.

[0096] Specifically, the angular displacement of the gyro stabilization axis (1) can be obtained by dividing the linear displacement of the first measuring steel belt (7) by the radius of the first measuring pulley.

[0097] S2: Convert the angular displacement of the gyro stabilization axis into a reflector command angle according to the angular displacement conversion unit.

[0098] As a preferred implementation, the angular displacement of the gyro stabilization axis can be converted into a mirror command angle based on the proportional relationship between the angular displacement of the gyro stabilization axis and the angular displacement of the scanning mirror axis preset in the angular displacement conversion unit. The proportional coefficient selected in this embodiment is 0.5, that is, the angular displacement of the gyro stabilization axis is twice the angular displacement of the scanning mirror axis.

[0099] S3: Obtain the angular displacement of the scanning mirror axis according to the scanning mirror axis angle measurement module.

[0100] As a preferred implementation, according to the scanning mirror axis angle measurement module, obtaining the angular displacement of the scanning mirror axis includes:

[0101] According to the second grating reading unit (19) in the scanning reflector axis angle measurement module, the position change information on the second grating scale is read, thereby determining the linear displacement of the second measuring steel belt (17), and after conversion, the angular displacement of the scanning reflector axis (1) is obtained.

[0102] Specifically, the angular displacement of the gyro stabilization axis (1) can be obtained by dividing the linear displacement of the second measuring steel belt (17) by the radius of the third measuring pulley.

[0103] S4: determining the position error between the reflector command angle and the angular displacement of the scanning reflector axis according to the reflector position tracking module, and driving the scanning reflector axis motor to rotate according to the position error until the position error is 0.

[0104] As a preferred embodiment, the reflector position tracking correction and motor power amplification module (23) compares the received reflector command angle value with the reflector shaft angular displacement obtained by the second grating reading unit (19) to obtain a position error. The position error is PID corrected and power amplified to drive the scanning reflector shaft system motor (13) to work until the position error is reduced to a value close to zero. The reflector position tracking loop always keeps the reflector angular displacement consistent with the reflector command angle.

[0105] Since the proportional coefficient between the angular displacement of the gyro stabilization axis and the angular displacement of the reflector axis is set to 0.5 in S2 in this embodiment, that is, the angular displacement of the gyro stabilization axis is twice the angular displacement of the reflector axis, this embodiment realizes a transmission relationship with a ratio of 2:1 from the gyro stabilization axis to the reflector axis.

[0106] According to the embodiments of the present disclosure, the following technical effects are achieved:

[0107] (1) High-precision electrical transmission based on high-precision angle measurement replaces the mechanical transmission mechanism, achieving a transmission relationship with a ratio of 2:1 from the gyro stabilization axis to the reflector axis, simplifying the design and reducing the size.

[0108] (2) The mirror position tracking loop always tracks the pitch inertial stabilization loop, realizing the inertial image stabilization function with high control quality.

[0109] It should be noted that, for the aforementioned method embodiments, for the sake of simplicity of description, they are all expressed as a series of action combinations, but those skilled in the art should be aware that the present disclosure is not limited by the described order of actions, because according to the present disclosure, certain steps can be performed in other orders or simultaneously. Secondly, those skilled in the art should also be aware that the embodiments described in the specification are all optional embodiments, and the actions and modules involved are not necessarily required by the present disclosure.

[0110] In the technical solution disclosed herein, the acquisition, storage and application of user personal information involved are in compliance with the provisions of relevant laws and regulations and do not violate public order and good morals.

[0111] It should be understood that the various forms of processes shown above can be used to reorder, add or delete steps. For example, the steps recorded in this disclosure can be executed in parallel, sequentially or in different orders, as long as the desired results of the technical solution of this disclosure can be achieved, and this document is not limited here.

[0112] The above specific implementations do not constitute a limitation on the protection scope of the present disclosure. It should be understood by those skilled in the art that various modifications, combinations, sub-combinations and substitutions can be made according to design requirements and other factors. Any modification, equivalent substitution and improvement made within the spirit and principle of the present disclosure shall be included in the protection scope of the present disclosure.

Claims

1. An inertial image stabilization control system, characterized in that: include: A pitch gyro axis system, comprising a gyro stabilization axis (1), a pitch gyro (2) mounted on the gyro stabilization axis (1), and a gyro stabilization axis system motor (3) mounted at one end of the gyro stabilization axis (1); A pitch inertial stabilization module comprises a gyro stabilization loop correction and motor power amplification module (4); the gyro stabilization loop correction and motor power amplification module (4) is connected between the pitch gyro (2) and the gyro stabilization axis system motor (3); A gyro stabilization axis angle measurement module, connected to the gyro stabilization axis (1) and used to measure the angular displacement of the gyro stabilization axis (1); A scanning reflector shaft system, comprising a scanning reflector shaft (12), a scanning reflector (14) mounted on the middle section of the scanning reflector shaft (12), and a scanning reflector shaft system motor (13) mounted on one end of the scanning reflector shaft (12); A scanning reflector axis angle measurement module, connected to the scanning reflector axis (12), and used to measure the angular displacement of the scanning reflector axis (12); A reflector position tracking module comprises a reflector position tracking correction and motor power amplification module (23) and an angular displacement conversion unit (22) connected thereto, wherein the angular displacement conversion unit (22) is used to obtain the angular displacement of the gyro stabilization axis (1) and convert it into a reflector command angle value, and the reflector position tracking correction and motor power amplification module (23) is used to obtain the reflector command angle value and drive the reflector axis system motor (13) to work according to the reflector command angle value.

2. The system according to claim 1, characterized in that The gyro stabilization axis angle measurement module comprises: A first measuring pulley (5) and a second measuring pulley (6), wherein the first measuring pulley (5) and the second measuring pulley (6) are connected via a first measuring steel belt (7), and the second measuring pulley (6) is connected to an end of the gyro stabilization shaft (1) away from the gyro stabilization shaft system motor (3); A first grating ruler (8) mounted on one side of the first measuring steel belt (7); A first grating reading unit (9) is mounted on the first grating ruler (8) and is used to read position change information on the first grating ruler to determine the angular displacement of the gyro stabilization axis (1).

3. The system according to claim 1, characterized in that The scanning mirror axis angle measurement module comprises: a third measuring pulley (15) and a fourth measuring pulley (16), wherein the third measuring pulley (15) and the fourth measuring pulley (16) are connected via a second measuring steel belt (17), and the fourth measuring pulley (16) is connected to an end of the scanning reflector shaft (12) away from the reflector shaft system motor (13); A second grating ruler (18) is installed on one side of the second measuring steel belt (17); The second grating reading unit (19) is mounted on the second grating ruler (18) and is used to read the position change information on the second grating ruler (18) to determine the angular displacement of the scanning reflector axis (12).

4. The system according to claim 2, characterized in that The gyro stabilization axis angle measurement module also includes: A first steel belt pressing plate (10) is installed at the connection between the first measuring belt wheel (5) and the first measuring steel belt (7) and is used to prevent the first measuring steel belt (7) from sliding at the connection between the first measuring belt wheel (5) and the first measuring steel belt (7); The second steel belt pressure plate (11) is installed at the connection between the second measuring belt wheel (6) and the first measuring steel belt (7) to prevent the first measuring belt (7) from sliding at the connection between the second measuring belt wheel (6) and the first measuring steel belt (7).

5. The system according to claim 3, characterized in that The scanning mirror axis angle measurement module also includes: A third steel belt pressing plate (20) is installed at the connection between the third measuring belt wheel (15) and the second measuring belt (17) to prevent the second measuring belt (17) from sliding at the connection between the third measuring belt wheel (15) and the second measuring belt (17); The fourth steel belt pressing plate (21) is installed at the connection between the fourth measuring belt wheel (16) and the second measuring belt (17) to prevent the second measuring belt (17) from sliding at the connection between the fourth measuring belt wheel (16) and the second measuring belt (17).

6. The system according to claim 2, characterized in that The first grating reading unit (9) adopts a non-contact optical reading head.

7. The system according to claim 2, characterized in that The rotation range of the first measuring pulley (5) is not greater than a first preset rotation angle, so as to ensure that the first grating ruler (8) is always located between the first measuring pulley (5) and the second measuring pulley (6).

8. The system according to claim 3, characterized in that The rotation range of the third measuring belt wheel (15) is not greater than the second preset rotation angle, so as to ensure that the second grating ruler (18) is always located between the third measuring belt wheel (15) and the fourth measuring belt wheel (16).

9. An inertial image stabilization control method, implemented based on the inertial image stabilization control system according to any one of claims 1 to 8, characterized in that: include: Acquiring the angular displacement of the gyro stabilization axis according to the gyro stabilization axis angle measurement module; converting the angular displacement of the gyro stabilization axis into a reflector command angle according to the angular displacement conversion unit; According to the scanning mirror axis angle measurement module, the angular displacement of the scanning mirror axis is obtained; The position error between the reflector command angle and the angular displacement of the scanning reflector axis is determined according to the reflector position tracking module, and according to the position error, the scanning reflector axis motor is driven to rotate until the position error is zero.

10. The method according to claim 9, characterized in that The step of converting the angular displacement of the gyro stabilization axis into a reflector command angle according to the angular displacement conversion unit comprises: According to the proportional relationship between the angular displacement of the gyro stabilization axis and the angular displacement of the scanning mirror axis preset in the angular displacement conversion unit, the angular displacement of the gyro stabilization axis is converted into a mirror command angle.

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