JP4335111B2 - Angular velocity controller - Google Patents

Description

  The present invention relates to an angular velocity control device that performs vibration suppression control of a gimbal device, and more particularly to an angular velocity control device that can secure high spatial stability by eliminating the influence of flexural vibration.

  When a camera is mounted on an aircraft, a technique of installing the camera in a gimbal device (space stabilizing device) is generally used to prevent camera image blurring caused by vibrations of the airframe. The most important requirement for gimbal equipment is high spatial stability, but in recent years there has been a demand for mounting multiple cameras, side distance devices, etc. on an aircraft, and there has been a strong demand for smaller size, lighter weight and lower power consumption. It is like that.

  The problem in securing the space stability of the gimbal device is the vibration transmitted from the airframe and the deflection of the gimbal device itself due to this. In order to solve these problems, it is conceivable to use a method of using a vibration-proof mount or a method of increasing the rigidity of the gimbal, but both increase the weight of the device and cannot satisfy the above-mentioned demands. .

  Therefore, conventionally, a technique has been used in which an angular velocity sensor is attached to the camera installation portion of the gimbal device, and vibration correction control is performed based on a signal detected by the angular velocity sensor. Is disclosed.

Japanese Patent Laid-Open No. 11-252461

  However, in a control device using such an angular velocity sensor, the drive power for control is saturated and the control deviation increases due to the influence of the deflection of the gimbal device, and image blurring may occur in the camera image.

  The gimbal device is easily bent in the left-right direction for structural reasons, and the angular velocity sensor attached to the camera unit is greatly affected by the deflection as the visual axis of the camera approaches the vertical direction. When the deflection becomes large and the detected value of the angular velocity sensor exceeds a certain magnitude, the influence of the deflection cannot be attenuated in the control device, and the control deviation is deteriorated to cause image blurring.

  The present invention has been made to solve the above-described problems caused by the prior art, and an object thereof is to provide an angular velocity control device that can eliminate the influence of flexural vibration and ensure high spatial stability. To do.

  In order to solve the above-described problems and achieve the object, the present invention provides a space stabilizer having a main body that rotates in a horizontal direction, and a device storage that is supported by the main body and rotates in a direction perpendicular to the mounting surface. An angular velocity control device for performing vibration suppression control of the first angular velocity signal detected by the first angular velocity detection means provided in the main body portion and second angular velocity detection means provided in the device storage portion. Subtracting means for subtracting the detected angular velocity signal and outputting the angular velocity signal from which the angular velocity component in the mounting surface rotation direction has been removed, and filtering the angular velocity signal output by the subtracting means to remove the flexural vibration component Filter calculation means for outputting an angular velocity signal, an angle obtained by adding the angular velocity signal output from the filter calculation means and the angular velocity signal detected by the first angular velocity detection means Adding means for outputting a degree signal, characterized in that a compensating means for performing feedback control for vibration suppression output angular velocity signals based on the spatial stabilizer of the adding means.

  According to the present invention, since the feedback control is performed based on the angular velocity information from which the flexural vibration component is removed using the angular velocity signals from the two angular velocity detection units, it is possible to perform stable vibration correction control. Therefore, high spatial stability can be realized. Further, since the drive power for vibration correction control is less likely to be saturated, power saving can be realized.

Further, in the present invention, in the above invention, when the elevation angle of the device stored in the device storage unit is within a predetermined range, the angular velocity signal output from the filter calculation unit is input to the addition unit. further comprising a switching processing means for inhibiting said summing means, when the switching processing means suppresses the angular speed signal to said addition means, to directly outputs the detected angular velocity signal from the first angular velocity detecting means It is characterized by.

  According to the present invention, when the elevation angle of the device stored in the device storage unit is within a predetermined range, feedback control is performed using the angular velocity signal from the angular velocity detection unit that detects only the angular velocity in the horizontal direction. Thus, stable vibration correction control can be performed even when the elevation angle of the stored device is nearly vertical, and high spatial stability can be realized. Further, since the drive power for vibration correction control is less likely to be saturated, power saving can be realized.

In addition, the present invention is characterized in that, in the above-mentioned invention, the filter calculation means includes a notch filter for removing a flexural vibration component caused by a specific conduction characteristic of the space stabilizer.

According to the present invention, since the notch filter is used to remove the influence caused by resonance or the like caused by the conduction characteristics of the space stabilizer, stable vibration correction control can be performed, thereby realizing high space stability. be able to.

  Further, the present invention is characterized in that, in the above invention, the filter calculation means comprises a notch filter for removing a flexural vibration component caused by a specific vibration condition of a device in which the space stabilization device is mounted. To do.

  According to the present invention, since the influence by the sine wave included in the vibration condition of the device in which the space stabilization device is mounted is removed by the notch filter, stable vibration correction control can be performed, and thus a high space Stability can be achieved.

Further, according to the present invention, in the above invention, drift component correction means for removing a drift component included in the angular velocity signal detected by the first angular velocity detection means and the angular velocity signal detected by the second angular velocity detection means. Is further provided.

  According to the present invention, since the drift component correction means that removes the influence of the drift component due to temperature change or the like is removed, stable vibration correction control can be performed, thereby realizing high spatial stability. Can do.

  According to the present invention, since the feedback control is performed based on the angular velocity information from which the flexural vibration component is removed using the angular velocity signals from the two angular velocity detection units, it is possible to perform stable vibration correction control. Thus, there is an effect that high spatial stability can be realized. In addition, since the drive power for vibration correction control is less likely to be saturated, there is an effect that power saving can be realized.

  Further, according to the present invention, when the elevation angle of the device stored in the device storage unit is within a predetermined range, feedback control is performed using the angular velocity signal from the angular velocity detection unit that detects only the angular velocity in the horizontal direction. Since it was comprised so that it might carry out, even if it is a case where the elevation angle of the stored apparatus is near perpendicular | vertical, stable vibration correction control can be performed, and there exists an effect that high spatial stability can be implement | achieved. In addition, since the drive power for vibration correction control is less likely to be saturated, there is an effect that power saving can be realized.

In addition, according to the present invention, since the influence due to resonance or the like due to the conduction characteristics of the space stabilizer is removed by the notch filter, stable vibration correction control can be performed, and thus high space stability can be achieved. There is an effect that it can be realized.

  In addition, according to the present invention, since the influence by the sine wave included in the vibration condition of the device in which the space stabilization device is mounted is removed by the notch filter, stable vibration correction control can be performed. There is an effect that high spatial stability can be realized.

  In addition, according to the present invention, the drift component correction means that eliminates the influence of the drift component caused by temperature changes and the like can be removed, so that stable vibration correction control can be performed, thereby realizing high spatial stability. There is an effect that can be done.

  Exemplary embodiments of an angular velocity control device according to the present invention will be explained below in detail with reference to the accompanying drawings. Here, the case where the angular velocity control device according to the present invention is used for vibration correction control of a gimbal device mounted on an aircraft will be described. In addition, it is assumed that a camera is installed in this gimbal device.

  Before describing the angular velocity control method according to the present embodiment, an outline of the gimbal device and a conventional angular velocity control method will be described.

  First, an outline of the gimbal device will be described. FIG. 1 is a sample diagram showing an outline of a gimbal device. As shown in the figure, the gimbal device has a rotating structure around an AZ (azimuth) axis that is oriented in the horizontal direction from 0 to 360 degrees and a rotating structure around an EL (elevation) axis that is oriented in the horizontal to vertical directions. . Driving torque motors are arranged on the AZ axis and the EL axis.

  The camera is housed in a portion that rotates about the EL axis. In the conventional angular velocity control system, an angular velocity sensor is also attached here, and a mechanism for detecting the magnitude of camera axis shake as an angular velocity has been adopted.

  The gimbal device is easy to bend in the lateral direction of the visual axis, which is the weakest direction of the structure. FIG. 2A is an explanatory diagram for explaining the influence of deflection when the camera is directed horizontally. As shown in the figure, when the camera visual axis is oriented in the horizontal direction, the camera visual axis moves to the left and right small on an arc centered on the body attachment portion.

  FIG. 2-2 is a sample diagram of a camera image when the camera is oriented in the horizontal direction. As shown in the figure, when the camera is oriented in the horizontal direction, the camera image appears to be slightly rotated in the roll direction under the influence of the deflection. When an angular velocity sensor is mounted on the visual axis, this small rotation in the roll direction is not detected at all when the angular velocity sensor is oriented in the horizontal direction, and is detected as a roll direction rotation component as the elevation angle increases. Will come to be.

  The influence of gimbal device deflection increases as the camera viewing axis approaches vertical. FIG. 3A is an explanatory diagram for explaining the influence of deflection when the camera is directed in the vertical direction. As shown in the figure, when the camera visual axis is oriented in the vertical direction, the camera visual axis reciprocates greatly to the left and right while facing the outside of the arc.

  FIG. 3-2 is a sample diagram of a camera image when the camera is oriented in the vertical direction. As shown in the figure, when the camera is oriented in the vertical direction, the camera image appears to vibrate greatly in the left-right direction under the influence of deflection. When an angular velocity sensor is mounted on the visual axis, the sensor detects this large horizontal vibration as a flexural vibration component.

  When an angular velocity sensor is mounted on the camera visual axis, the angular velocity signal detected by the sensor includes an AZ axis rotation component in addition to the roll direction rotation component and the flexural vibration component. This is due to a lack of strength at the airframe mounting portion, an insufficient output of the torque motor, or the like.

  Here, the mechanism of occurrence and detection of deflection will be described. FIG. 4 is an explanatory diagram for explaining the mechanism of deflection generation and detection. The intensity of vibration transmitted to the gimbal device is expressed as acceleration (G) and is determined by the platform vibration condition 10 and the gimbal mechanism transmission characteristic 20.

  The platform vibration condition 10 represents the strength of vibration for each frequency of the platform (aircraft body). FIG. 5 is a sample diagram showing an example of the platform vibration condition 10. The figure shows that there is a random wave of a certain intensity at a frequency in the range of F1 to F2, and that there is a specifically strong sine wave at the frequency of F3. Such a sine wave is caused by, for example, engine characteristics.

  The gimbal mechanism transmission characteristic 20 represents the ease of transmission of vibration for each frequency of the gimbal device. FIG. 6 is a sample diagram showing an example of the gimbal mechanism transfer characteristic 20. The figure shows that vibration is amplified by resonance near the frequency of F0.

  The maximum deflection angle 40 is obtained by multiplying the strength of vibration transmitted to the gimbal device by the deflection angle 30 per 1G. This angle is the angle when the sensor is facing the vertical direction, and when the sensor is facing the camera visual axis direction, this angle converted to the angle around the visual axis is the sensor detection value. Maximum value.

  Next, a conventional angular velocity control method will be described. FIG. 10 is a functional block diagram showing a configuration of a conventional angular velocity control device. As shown in the figure, the angular velocity control device 101 is connected to a gimbal device 201.

  The gimbal device 201 is a device that stores a camera or the like and ensures space stability, and includes a visual axis angular velocity detection unit 210, an amplifier 230, and a torque motor 240. The visual axis angular velocity detection unit 210 is an angular velocity sensor that detects an angular velocity, and is attached so as to always face the visual axis direction of the camera.

  The amplifier 230 is an amplifying device that amplifies electric power for driving the torque motor based on a control signal from the angular velocity control device 101 in order to ensure space stability. The torque motor 240 is a device that drives the drive unit of the jingle device 201 to realize spatial stability.

  The angular velocity control device 101 is a control device that performs feedback control based on the signal detected by the visual axis angular velocity detection unit 210 so that there is no image blur of the camera installed in the gimbal device 201. , A noise removal filter 141, an AZ axis calculator 151, and a compensator 181.

  The drift component corrector 111 is an arithmetic unit that removes a drift component that fluctuates due to a temperature change or the like from the signal detected by the visual axis angular velocity detector 210. The noise removal filter 141 is an arithmetic unit that removes a noise component from the signal detected by the visual axis angular velocity detection unit 210.

  The AZ axis calculator 151 is a calculator that converts the angular velocity component around the visual axis detected by the visual axis angular velocity detection unit 210 into an angular velocity component around the AZ axis. The compensation unit 181 is an arithmetic unit that calculates a control amount necessary for realizing the angular velocity command 0 rad / s and transmits the control amount to the amplifier 230 of the jingle device 201.

  The reason why the AZ axis calculator 151 converts the angular velocity is that the vibration correction control in the jingle device 201 is performed in the direction around the AZ axis. This conversion is 1 / cos when the elevation angle of the camera is θEL. (ΘEL) was multiplied by the angular velocity signal. For this reason, the closer the visual axis of the camera is to the vertical direction, the more the signal is amplified. When the elevation angle is 85 degrees, the signal is amplified 11 times.

  As already described, the flexural vibration component in the angular velocity signal detected by the visual axis angular velocity detector 210 increases as the visual axis of the camera approaches the vertical direction. This is further amplified by the conversion of the AZ axis calculator 151. For this reason, in the conventional angular velocity control method, when the visual axis of the camera approaches the vertical direction, the deviation from the commanded angular velocity increases, and the drive command to the amplifier 230 is saturated, resulting in a state where the space cannot be stabilized. It was.

  In order to stabilize the space, it is effective to remove the flexural vibration component from the signal detected by the visual axis angular velocity detection unit 210. However, since the flexural vibration component has a frequency close to that of the AZ axis rotation component, the noise removal filter 141 is used. Could not be removed.

  Next, the angular velocity control method according to the present embodiment will be described. FIG. 7 is a sample diagram showing an outline of the gimbal device according to the present embodiment. As shown in the figure, in the angular velocity control method according to the present embodiment, in addition to the visual axis angular velocity detector 210, an AZ-axis angular velocity detector 220, which is another angular velocity detector, is provided.

  The AZ-axis angular velocity detection unit 220 is attached to the AZ-axis turning unit near the body attachment surface, not the part that rotates around the EL axis. Since this position is close to the airframe mounting surface, it is hardly affected by deflection.

  FIG. 8 is a functional block diagram illustrating the configuration of the angular velocity control device according to the present embodiment. As shown in the figure, the angular velocity control device 100 is connected to a gimbal device 200. Note that the angular velocity control device 100 may exist inside or outside the gimbal device 200.

  The gimbal device 200 stores a camera or the like and secures space stability, and includes a visual axis angular velocity detection unit 210, an AZ axis angular velocity detection unit 220, an amplifier 230, and a torque motor 240. The visual axis angular velocity detection unit 210 is an angular velocity sensor that detects an angular velocity, and is attached so as to always face the visual axis direction of the camera. The AZ-axis angular velocity detection unit 220 is also an angular velocity sensor that detects an angular velocity, and is attached to the AZ-axis turning unit near the airframe mounting surface and detects only the AZ-axis rotation component.

  The amplifier 230 is an amplifying device that increases or decreases the power for driving the torque motor based on a control signal from the angular velocity control device 101 in order to ensure space stability. The torque motor 240 is a device that drives the drive unit of the jingle device 200 to realize spatial stability.

  The angular velocity control device 100 is a control device that performs feedback control based on the signal detected by the visual axis angular velocity detection unit 210 so as to eliminate camera shake installed in the gimbal device 200, and includes a drift component corrector 110a, It includes a drift component corrector 110b, a visual axis calculator 120, a subtractor 130, a filter calculator 140, an AZ axis calculator 150, a switching processor 160, an adder 170, and a compensator 180.

  The drift component correctors 110a and 110b are arithmetic units that remove drift components that vary due to temperature changes or the like from the signals detected by the visual axis angular velocity detector 210 and the AZ axis angular velocity detector 220, respectively. The visual axis calculator 120 is an arithmetic unit that converts the angular velocity signal detected by the AZ axis angular velocity detector 220 into an AZ axis rotation component around the visual axis of the camera.

  The subtractor 130 is an arithmetic unit that subtracts the angular velocity signal detected by the AZ axis angular velocity detector 220 from the angular velocity signal detected by the visual axis angular velocity detector 210. The angular velocity signal of the calculation result is in a state in which the AZ axis rotation component is removed and the roll direction rotation component and the flexural vibration component remain.

  The filter computing unit 140 is a computing device that removes a flexural vibration component from the angular velocity signal, and includes a notch filter 140a and a low-pass filter 140b. The notch filter 140a performs an operation of removing an acceleration component caused by a specific frequency such as F3 in FIG. 5 or F0 in FIG. Then, the low-pass filter 140b performs an operation of removing other flexural vibration components.

  In this embodiment, the subtractor 130 filters out the flexural vibration component from the angular velocity signal in the state where the AZ axis rotation component is removed. In the state where AZ axis rotation components are mixed, it is difficult to remove only the flexural vibration component whose frequency characteristics are close to this, but if the AZ axis rotation component is removed in advance, the flexural vibration component can be easily filtered. Can be removed.

  The AZ axis computing unit 150 is a computing unit that converts an angular velocity signal around the visual axis that is only a rotation component in the roll direction into an angular velocity signal around the AZ axis. The switching processor 160 is a switch that disconnects the signal from the AZ axis calculator 150 when the elevation angle of the camera exceeds a predetermined value.

  As already described, the output of the AZ axis computing unit 150 is amplified as the camera's elevation angle increases and the camera approaches the vertical direction. As a result, space stabilization may not be possible. Therefore, in the angular velocity control method according to the present embodiment, when the elevation angle of the camera exceeds a predetermined value, the signal from the AZ axis calculator 150 is cut and the angular velocity detected by the AZ axis angular velocity detector 220 is detected. Control is performed using only signals.

  The adder 170 is an arithmetic unit that adds the angular velocity signal composed of the AZ axis rotational component detected by the AZ axis angular velocity detection unit 220 and the angular velocity signal composed of the roll direction rotational component output from the AZ axis computing unit 150. The compensation unit 180 is an arithmetic unit that calculates a control amount necessary for realizing the angular velocity command 0 rad / s with respect to the angular velocity signal output from the adder 170 and transmits the calculated control amount to the amplifier 230 of the jingle device 200.

  Next, the operation of the angular velocity control apparatus 100 according to the present embodiment will be described. FIG. 9 is an explanatory diagram for explaining the operation of the angular velocity control apparatus 100 according to the present embodiment.

  As shown in the figure, when the visual axis angular velocity detection unit 210 of the gimbal device 200 detects an angular velocity signal composed of an AZ axis rotation component, a roll direction rotation component, and a flexural vibration component (step S101), Is transmitted to the drift component corrector 110a of the angular velocity control apparatus 100, and drift components that vary due to temperature changes or the like are removed (step S102). Here, the angular velocity signal from which the drift component has been removed is transmitted to the subtractor 130.

  At the same time, when the angular velocity signal consisting only of the AZ-axis rotation component is detected by the AZ-axis angular velocity detector 220 of the gimbal device 200 (step S103), this signal is transmitted to the drift component corrector 110b of the angular velocity controller 100. Then, the drift component that fluctuates due to a temperature change or the like is removed (step S104). Here, the angular velocity signal from which the drift component has been removed is transmitted to the visual axis calculator 120 and the adder 170.

The angular velocity signal transmitted to the visual axis calculator 120 is converted into an AZ-axis rotation component around the camera visual axis (step S105) and transmitted to the subtractor 130.

The subtractor 130 subtracts the AZ-axis rotation component of the angular velocity signal transmitted from the visual axis calculator 120 from the angular velocity signal transmitted from the drift component corrector 110a, and the angular velocity composed of the roll direction rotation component and the flexural vibration component. A signal is generated (step S106) and transmitted to the filter computing unit 140.

  The filter calculator 140 removes the flexural vibration component from the angular velocity signal transmitted from the subtractor 130 to generate an angular velocity signal consisting only of the roll direction rotation component (step S107), and transmits it to the AZ axis calculator 150. The AZ axis computing unit 150 converts the transmitted signal into a component around the AZ axis (step S108) and transmits it to the switching processor 160.

  The switching processor 160 transmits an angular velocity signal to the adder 170 when the camera elevation angle is smaller than a predetermined angle, and from the AZ axis computing unit 150 when the camera elevation angle is larger than the predetermined angle. The operation of separating the angular velocity signal is taken (step S109).

  The adder 170 adds the angular velocity signal transmitted from the drift component corrector 110b and the angular velocity signal transmitted from the switching processor 160 to generate an angular velocity signal composed of the AZ axis rotation component and the roll direction rotation component. (Step S110). However, when the elevation angle of the camera is greater than a predetermined angle and the switching processor 160 disconnects the input, an angular velocity signal consisting only of the AZ axis rotation component is output.

  The compensator 180 obtains a correction amount necessary for realizing the angular velocity command 0 rad / s with respect to the magnitude of the angular velocity signal transmitted from the adder 170 and transmits the correction amount to the amplifier 230 of the gimbal device 200. By repeating this series of operations, the angular velocity control device 100 performs vibration correction control of the gimbal device 200.

  As described above, in the present embodiment, since the feedback control is performed based on the angular velocity information from which the flexural vibration component is removed using the angular velocity signals from the two angular velocity detection units, stable vibration correction control is performed. Therefore, high spatial stability can be realized.

  The angular velocity control device according to the present invention can also be applied to a case where devices other than the camera are stored in the gimbal device. Also, the present invention can be applied when the gimbal device is mounted on a vehicle other than an aircraft.

(Appendix 1) An angular velocity control device that performs vibration suppression control of a space stabilizer having a main body portion that rotates in a horizontal direction and a device storage portion that is supported by the main body portion and rotates in a direction perpendicular to the mounting surface,
Subtracting the angular velocity signal detected by the first angular velocity detection means arranged in the main body from the angular velocity signal detected by the second angular velocity detection means arranged in the device storage unit, the attachment Subtracting means for outputting an angular velocity signal from which the angular velocity component in the surface rotation direction has been removed;
Filter operation means for filtering the angular velocity signal output from the subtracting means and outputting the angular velocity signal from which the flexural vibration component has been removed;
Adding means for outputting an angular velocity signal obtained by adding the angular velocity signal output by the filter calculating means and the angular velocity signal detected by the first angular velocity detecting means;
Compensating means for performing feedback control for vibration suppression of the space stabilizer based on the angular velocity signal output from the adding means.

(Additional remark 2) When the elevation angle of the apparatus stored in the apparatus storage part is in the predetermined range, the switching processing means for suppressing the input to the adding means of the angular velocity signal output from the filter calculating means is further provided. Prepared,
Said addition means, when the switching processing means suppresses the angular speed signal to said addition means, according to Note 1, wherein the outputting the detected angular velocity signal from the first angular velocity detecting means as it is Angular velocity control device.

(Supplementary note 3) The angular velocity control device according to Supplementary note 1 or 2, wherein the filter calculation means includes a notch filter for removing a flexural vibration component caused by a specific conduction characteristic of the space stabilizer.

(Supplementary Note 4) The supplementary note 1, 2 or 3 is characterized in that the filter calculation means includes a notch filter for removing a flexural vibration component caused by a specific vibration condition of a device in which the space stabilization device is mounted. An angular velocity control device according to claim 1.

(Supplementary Note 5) The apparatus further comprises drift component correction means for removing drift components included in the angular velocity signal detected by the first angular velocity detection means and the angular velocity signal detected by the second angular velocity detection means. The angular velocity control device according to any one of appendices 1 to 4.

(Appendix 6) An angular velocity control method for performing vibration suppression control of a space stabilizer having a main body portion that rotates in a horizontal direction and a device storage portion that is supported by the main body portion and rotates in a direction perpendicular to the mounting surface,
Subtracting the angular velocity signal detected by the first angular velocity detection means arranged in the main body from the angular velocity signal detected by the second angular velocity detection means arranged in the device storage unit, the attachment A subtraction step of outputting an angular velocity signal from which the angular velocity component in the surface rotation direction is removed;
Filtering the angular velocity signal output from the subtraction step, and outputting the angular velocity signal from which the flexural vibration component has been removed;
An addition step of outputting an angular velocity signal obtained by adding the angular velocity signal output by the filter calculation step and the angular velocity signal detected by the first angular velocity detection means;
A compensation step for performing feedback control for vibration suppression of the space stabilizer based on the angular velocity signal output by the adding step.

  As described above, the angular velocity control device according to the present invention is useful for vibration suppression control of the gimbal device, and is particularly suitable when it is necessary to eliminate the influence of flexural vibration and ensure high spatial stability. Yes.

It is a sample figure which shows the general form of a gimbal apparatus. It is explanatory drawing for demonstrating the influence of the deflection | deviation in case the camera is facing the horizontal direction. It is a sample figure of a camera picture in case a camera has turned to the horizontal direction. It is explanatory drawing for demonstrating the influence of the deflection | deviation in case the camera is facing the perpendicular direction. It is a sample figure of a camera image in case a camera has faced the perpendicular direction. It is explanatory drawing for demonstrating the generation | occurrence | production and detection mechanism of a bending. It is a sample figure which shows an example of platform vibration conditions. It is a sample figure which shows an example of a gimbal mechanism transmission characteristic. It is a sample figure which shows the general form of the gimbal apparatus which concerns on a present Example. It is a functional block diagram which shows the structure of the angular velocity control apparatus which concerns on a present Example. It is explanatory drawing for demonstrating operation | movement of the angular velocity control apparatus which concerns on a present Example. It is a functional block diagram which shows the structure of the conventional angular velocity control apparatus.

Explanation of symbols

10 Platform vibration conditions 20 Gimbal mechanism transmission characteristics 30 Deflection angle per 1 G 40 Maximum deflection angle 50 Deflection angles around visual axis 100, 101 Angular velocity control devices 110a, 110b, 111 Drift component corrector 120 Visual axis calculator 130 Subtractor 140 Filter calculator 140a Notch filter 140b Low-pass filter 141 Noise removal filter 150, 151 AZ axis calculator 160 Switching processor 170 Adder 180, 181 Compensator 200 Gimbal device 210, 201 Visual axis angular velocity detector 220 AZ axis angular velocity detector 230 Amplifier 240 Torque motor

Claims (5)

A space stabilizer attached to a moving body, wherein the movable body and a main body that rotates in a horizontal direction with respect to the mounting surface of the space stabilizer around the azimuth axis, and an elevation shaft supported by the main body an angular velocity controller for vibration suppression control of the spatial stabilizer and a device storage unit which rotates in a direction perpendicular to the mounting surface around a,
Based on the angular velocity signal in the rotation direction around the azimuth axis detected by the first angular velocity detecting means arranged in the main body, from the second angular velocity detecting means arranged in the device storage unit Subtracting means for removing an angular velocity component in a rotational direction around the azimuth axis from the detected angular velocity signal;
Filter arithmetic means for removing a flexural vibration component from the angular velocity signal output by the subtracting means;
An arithmetic means for converting the angular velocity signal output from the filter arithmetic means into an angular velocity signal in a rotation direction around the azimuth axis;
Feedback control for suppressing vibration of the space stabilizer in the rotation direction around the azimuth axis based on the angular velocity signal output from the arithmetic means and the angular velocity signal detected by the first angular velocity detection means. An angular velocity control device comprising: compensation means for performing The elevation angle of the device stored in the device storage section when in the predetermined range, further comprising a switching processing means for inhibiting an input to the compensation means outputs the angular velocity signal of the filtering unit The angular velocity control device according to claim 1, wherein The angular velocity control device according to claim 1, wherein the filter calculation unit includes a notch filter for removing a flexural vibration component caused by a specific conduction characteristic of the space stabilizer.   The said filter calculating means is provided with the notch filter for removing the flexural vibration component resulting from the peculiar vibration condition of the apparatus by which a space stabilizer is mounted. Angular velocity control device. Claims, characterized in that further comprising a drift component correcting means for removing a drift component contained in the detected angular velocity signal by the detected angular velocity signal and the second angular velocity detecting means by the first angular velocity detecting means The angular velocity control apparatus as described in any one of 1-4.

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