CN107121151A - A kind of device for testing stable platform and method of testing towards experimental teaching - Google Patents
A kind of device for testing stable platform and method of testing towards experimental teaching Download PDFInfo
- Publication number
- CN107121151A CN107121151A CN201710245898.2A CN201710245898A CN107121151A CN 107121151 A CN107121151 A CN 107121151A CN 201710245898 A CN201710245898 A CN 201710245898A CN 107121151 A CN107121151 A CN 107121151A
- Authority
- CN
- China
- Prior art keywords
- platform
- spindle motor
- angle
- testing
- stabilized platform
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Granted
Links
Classifications
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C25/00—Manufacturing, calibrating, cleaning, or repairing instruments or devices referred to in the other groups of this subclass
- G01C25/005—Manufacturing, calibrating, cleaning, or repairing instruments or devices referred to in the other groups of this subclass initial alignment, calibration or starting-up of inertial devices
-
- G—PHYSICS
- G09—EDUCATION; CRYPTOGRAPHY; DISPLAY; ADVERTISING; SEALS
- G09B—EDUCATIONAL OR DEMONSTRATION APPLIANCES; APPLIANCES FOR TEACHING, OR COMMUNICATING WITH, THE BLIND, DEAF OR MUTE; MODELS; PLANETARIA; GLOBES; MAPS; DIAGRAMS
- G09B25/00—Models for purposes not provided for in G09B23/00, e.g. full-sized devices for demonstration purposes
Landscapes
- Engineering & Computer Science (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Manufacturing & Machinery (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Business, Economics & Management (AREA)
- Educational Administration (AREA)
- Educational Technology (AREA)
- Theoretical Computer Science (AREA)
- Testing Of Devices, Machine Parts, Or Other Structures Thereof (AREA)
Abstract
The present invention relates to the technical field of stabilized platform teaching experiment, and in particular to a kind of device for testing stable platform and method of testing towards experimental teaching, S1：A non-horizontal interference signal source is provided to stabilized platform, angle of pitch α 1, the roll angle β 1 for obtaining stabilized platform is calculated；S2：Stabilized platform adjusts itself posture, keeps platform to be in stability, and obtain angle of pitch α 2, the roll angle β 2 for measuring stabilized platform by motor code-disc；S3：The error for comparing α 1 and α 2 is calculated, β 1 and β 2 error obtains the global error level of stabilized platform, completes teaching test.Therefore, the non-horizontal interference signal source technical principle of the measuring method is simple, and economic benefit is obvious, it is easy to which teaching is promoted, and application field is extensive.
Description
Technical field
The present invention relates to the technical field of stabilized platform teaching experiment, and in particular to a kind of stabilization towards experimental teaching is put down
Platform test device and method of testing.
Background technology
In the prior art, MEMS gyro stabilized platform is that one kind surely takes aim at steady picture, and the instrument of stabilization shock insulation is widely used in
Every field, its core technology includes the measurement and servo-stabilization control of the physical quantitys such as angle, angular speed, stabilized platform skill
Art combines sensor measurement techniques and stability control techniques vividly.During teacher's experiment is given lessons, based on this
Experimentation, and experimental principle explanation, applicant devise a multi-functional, small size, low cost, portable stabilization put down
Platform teaching instrument, helps to measure the student's progress element of instruction demonstration and skills training with control direction.
A kind of stabilized platform experiment device for teaching for being designed in the application, and in particular to multi-functional MEMS gyro is stable flat
Platform is a equipment for being integrated with the functions such as stabilized platform, three-axle table, centrifuge.Stabilized platform functional training student's posture solution
Calculate and gesture stability technical ability；Three-axle table and the main training of students demarcation test sensor technical ability of centrifuge function.
Traditional stabilized platform method of testing includes static tracking and testing and dynamic rocking test, and static test mainly will
Stabilized platform is positioned in high precision turntable, is set an incident angle by high precision turntable, is allowed stabilized platform to follow this
Known location, the high-precision code-disc measurement position tracking accuracy carried using stabilized platform, dynamic test is referred to stabilized platform
It is positioned on high-precision tilter, tilter does periodic motion according to the angle signal of a sinusoidal variations, is waved by regulation
The dynamic characteristic that the rolling period measurement stabilized platform of platform is followed.
During teaching experiment, it is to realize the function presentation that the non-horizontal interference signal in stabilized platform function, which is obtained,
Key, common shaking interference signal source producing method uses six degree of freedom swaying platform, but needs weight using this kind of method
A set of six degree of freedom swaying platform system is newly designed, and the complexity of system will be greatly increased, increases instrument cost.And this Shen
A kind of stabilized platform experiment device for teaching that please be proposed, realizes non-horizontal interference signal by the rotation of course axle, entirely tested
Journey, completes test under conditions of other equipment is not increased.
The content of the invention
In order to effectively solve the above problems, the present invention provides a kind of device for testing stable platform and survey towards experimental teaching
Method for testing.
The concrete technical scheme of the present invention is as follows：A kind of stabilized platform method of testing towards experimental teaching, the measurement
Method is used in the teaching experiment of stable testing platform, including following measuring process：
S1：A non-horizontal interference signal source is provided to stabilized platform, angle of pitch α 1, the roll angle for obtaining stabilized platform is calculated
β1；
S2：Stabilized platform adjusts itself posture, keeps platform to be in stability, and surveyed by motor code-disc
Measure angle of pitch α 2, the roll angle β 2 of stabilized platform；
S3：The error for comparing α 1 and α 2 is calculated, β 1 and β 2 error obtains the global error level of stabilized platform, completed
Teaching test.
Further, the non-horizontal interference signal source of the step S1 includes an inclined base, a course spindle motor and one
Inside casing platform；
The horizontal attitude angle α's and β of the inside casing platform passes through following formula, generation interference signal：
Wherein, α is the inside casing platform angle of pitch, and β is the inside casing platform roll angle, and θ inclines for the inclined base
Rake angle, ω is that the course spindle motor rotates angular speed, and ε is the starting phase angle that the course spindle motor is rotated；
ω is a fixed numbers, or by the numerical value of regularly changing or irregular change.
A kind of device for testing stable platform towards experimental teaching, the test device includes：
One provides the inclined base at the stabilized platform angle of inclination, and the inclined base is the pedestal of an opening-closing structure；
One course motor control unit, the course motor control unit is fixedly installed in the inclined base, described
Course motor control unit includes upper computer software, course spindle motor, interference source master controller, and the upper computer software connects institute
Interference source master controller is stated, the course spindle motor performs the corresponding actions instruction of the interference source master controller transmission；
One inside casing platform, the inside casing platform is used for the corresponding actions for completing teaching experiment.
Further, inclined base includes a fixation substrate and a closure substrate, the fixed substrate and the closure base
Plate open-close ways include but is not limited to carry out folding by mechanical device, electromechanical assembly.
Further, a turntable centrifugal pan is fixedly installed in one end of the course spindle motor power output.
Further, the test device also includes a rotary table base, and the rotary table base is a hollow cylindrical housing,
The rotary table base one side is fixedly installed on the closure substrate, the interior setting course spindle motor of the rotary table base,
Interference source master controller.
Further, the test device also includes a balancing unit, and the balancing unit includes one used group of unit, one and bowed
Face upward spindle motor, a roll spindle motor, a housing, a center and a stabilized platform master controller；
The pitching spindle motor is arranged on the housing, and the roll spindle motor is arranged on the center, described to bow
Spindle motor and the roll spindle motor is faced upward to be connected with the stabilized platform master controller respectively；
The center is connected with inside casing platform by the roll spindle motor.
Further, the test device also includes coordinate the calculating measurement stabilized platform horizontal attitude angle used a group
Unit；
The used group of unit is that a MEMS is used to group, and the MEMS is used to group and is arranged on the inside casing platform, and the MEMS is used to
Group is connected with the stabilized platform master controller,
Further, the housing is a " u "-shaped structure, and the bottom of the housing is fixed with the turntable centrifugal pan to be connected
Connect, and the top of the housing sets pitching spindle motor described in one；
The center is that roll spindle motor described in one is set on the frame structure of an inner hollow, the center, described to bow
Spindle motor is faced upward spatially to be arranged in a mutually vertical manner with the roll spindle motor.
Further, the top of housing one sets pitching spindle motor described in one, and the center one side is set described in one
Roll spindle motor.
Usefulness of the present invention：In traditional stabilized platform, dynamically test needs accurate platform, and static test needs
Precise rotating platform, traditional method can not be realized in teaching.And the interference signal source of herein described stabilized platform is substituted
Traditional stabilized platform dynamic testing method and static test.And it is improved precision in following non-horizontal interference signal source
Potentiality, precision can apply to commercial measurement after improving, therefore, and the non-horizontal interference signal source technical principle is simple, economical
Benefit is obvious, it is easy to which teaching is promoted, and application field is extensive.
Brief description of the drawings
Fig. 1 is the system pie graph of step S1 interference signal source described in one embodiment of the invention；
Fig. 2 is stabilized platform overall structure diagram described in one embodiment of the invention；
Fig. 3 is spindle motor driving principle schematic block diagram in course described in one embodiment of the invention；
Fig. 4 is the fundamental diagram of balancing unit described in one embodiment of the invention；
Fig. 5 is inclined base open mode schematic diagram described in one embodiment of the invention.
Embodiment
In order to make the purpose , technical scheme and advantage of the present invention be clearer, it is right below in conjunction with drawings and Examples
The present invention is explained in further detail.It should be appreciated that specific embodiment described herein is used only for explaining the present invention, and
It is not used in the restriction present invention.
On the contrary, the present invention covers any replacement done in the spirit and scope of the present invention being defined by the claims, repaiied
Change, equivalent method and scheme.Further, in order that the public has a better understanding to the present invention, below to the thin of the present invention
It is detailed to describe some specific detail sections in section description.Part without these details for a person skilled in the art
Description can also understand the present invention completely.
As shown in figure 1, described in one embodiment of invention method of testing system pie graph, the embodiment provide it is a kind of towards
The device for testing stable platform and method of testing of experimental teaching, the measuring method are used for the teaching experiment of stable testing platform
In, including following measuring process：S1：A non-horizontal interference signal source is provided to stabilized platform, calculates and obtains bowing for stabilized platform
Angle of elevation alpha 1, roll angle β 1；
S2：Stabilized platform adjusts itself posture, keeps platform to be in stability, and surveyed by motor code-disc
Measure angle of pitch α 2, the roll angle β 2 of stabilized platform；
S3：The error for comparing α 1 and α 2 is calculated, β 1 and β 2 error obtains the global error level of stabilized platform, completed
Teaching test.
The interference signal source of the step S1 includes：One inclined base 1, the inclined base 1 is the base of an opening-closing structure
Seat；One course motor control unit, the course motor control unit is fixedly installed in the inclined base 1, the course
Motor control unit includes upper computer software, course spindle motor, interference source master controller, and the upper computer software connection is described dry
Source master controller is disturbed, the course spindle motor performs the corresponding actions instruction of the interference source master controller transmission, and an inside casing is put down
Platform 7, the inside casing platform 7 is used for the corresponding actions for completing teaching experiment.
As shown in Fig. 2 being stabilized platform overall structure diagram described in one embodiment of the invention, the interference of the step S1
Signal source also includes a balancing unit, and the balancing unit includes a used group unit 4, a pitching spindle motor 8, a roll spindle motor
9th, a housing 5, a center 6 and a stabilized platform master controller.Specifically, spindle motor corresponding attitude angle in course is course angle,
Stabilized platform housing 5 can be driven；The corresponding attitude angle of the pitching spindle motor 8 is the angle of pitch, can drive stabilized platform center 6；
The corresponding attitude angle of the roll spindle motor 9 is roll angle, can drive stabilized platform inside casing 7；
The used group of unit 4 is that a MEMS is used to group, and the MEMS is used to group and is arranged on the inside casing platform 7, the MEMS
Used group is connected with the stabilized platform master controller, and the pitching spindle motor 8 is arranged on the housing 5, the roll axle electricity
Machine 9 is arranged on the center 6, the pitching spindle motor 8 and the roll spindle motor 9 respectively with the stabilized platform master control
Device connection processed.
In experimentation, the inclined base 1 provides stabilized platform angle of inclination, and the course motor control unit is carried
Rotated for stabilized platform around course axle, the turntable course axle of stabilized platform is controlled by upper computer software, specifically, such as Fig. 3 institutes
Show, the interference source master controller be Master control chip, the course spindle motor be course spindle motor, the upper computer software,
Master control chip, motor driver, course spindle motor are sequentially connected, so that turntable course axle framework shakes in an inclined state
Pendular motion, interference signal is produced in the X/Y axles of stabilized platform, is that center 6 and inside casing 7 provide non-horizontal interference signal.
The upper computer software produces PWM ripples, and the PWM ripples are transferred into the interference source master controller；On described
The mode that position machine produces PWM ripples includes but is not limited to classical PID control algolithm.
As shown in figure 4, described in one embodiment of the invention balancing unit fundamental diagram, step S2 non-horizontal interference
Signal source also includes an inside casing platform 7, and when course axle is rotated with certain rotational speed omega, following formula can be produced on inside casing platform 7
In the angle of pitch and roll angle.The horizontal attitude angle α's and β of the inside casing platform 7 passes through following formula, generation interference signal：
Wherein, α is the angle of pitch of inside casing platform 7, and β is the roll angle of inside casing platform 7, and θ is the inclined base 1
Angle of inclination, ω is that the course spindle motor rotates angular speed, and ε is the starting phase angle that the course spindle motor is rotated；ω is
One fixed numbers, or by the numerical value of regularly changing or irregular change.
From above formula change, the angle of pitch and roll angle caused by shaking interference signal source with course axle rotation angular speed into
Sine and cosine changes.Attitude angle needed for gyro-stabilized platform control is obtained by gyroscope measurement.From above formula, when ω is constant
When, the angle of pitch and roll angle change according to sine and cosine, and phase differs 90 °, when ω is changed with linear function, the angle of pitch and roll
The sine and cosine that angle is changed over time according to frequency changes, when ω is with varies with sinusoidal function, and angle of pitch roll angle changing rule is answered
Miscellaneous, phase differs 90 °.When ω is changed with white noise signal, the angle of pitch and roll angle start irregular change, serious by being formed
Interference signal.Obtain, corresponding experimental data 1, and record by calculating.
As shown in figure 5, be inclined base open mode schematic diagram described in one embodiment of the invention, it is a kind of towards experimental teaching
Device for testing stable platform, the test device includes an above-mentioned inclined base, and the inclined base 1 is an opening-closing structure
Pedestal；One course motor control unit, the course motor control unit is fixedly installed in the inclined base 1, the boat
Include upper computer software, course spindle motor, interference source master controller to motor control unit, the upper computer software connection is described
Interference source master controller, the course spindle motor performs the corresponding actions instruction of the interference source master controller transmission, an inside casing
Platform 7, the inside casing platform 7 is used for the corresponding actions for completing teaching experiment..
The used group of unit 4 is that a MEMS is used to group, and the MEMS is used to group and is arranged on the inside casing platform 7, the MEMS
Used group is connected with the stabilized platform master controller, and the pitching spindle motor 8 is arranged on the housing 5, the roll axle electricity
Machine 9 is arranged on the center 6, the pitching spindle motor 8 and the roll spindle motor 9 respectively with the stabilized platform master control
Device connection processed.
The inclined base 1 includes one and fixes substrate and a closure substrate, and the fixed substrate is opened with the closure substrate
Conjunction mode includes but is not limited to carry out folding by mechanical device, electromechanical assembly.Specifically, the inclined base 1 can be used
Support physics, which is opened, can also use electric pushrod, automatically open up.Inclined angle can arbitrarily be set.The interference source master control
Device processed is connected with the course spindle motor by a motor driver.One end of the course spindle motor power output is fixedly installed
One turntable centrifugal pan 3.The turntable centrifugal pan 3 is used to produce centrifugal acceleration, demarcates accelerometer.The test device is also wrapped
A rotary table base 2 is included, the rotary table base 2 is a hollow cylindrical housing, and the one side of rotary table base 2 is fixedly installed on institute
State in inclined base 1, the course spindle motor, interference source master controller are set in the rotary table base 2.
The test device also includes a balancing unit, and the balancing unit includes a used group unit 4, a pitching spindle motor
8th, a roll spindle motor 9, a housing 5, a center 6 and a stabilized platform master controller；The housing 5 is a " u "-shaped structure,
The bottom of the housing 5 is fixedly connected with the turntable centrifugal pan 3, and the top two ends of the housing 5 are set described in one respectively
Pitching spindle motor 8；The center 6 is the frame structure of an inner hollow, and the corresponding both sides of the center 6 set an institute respectively
Roll spindle motor 9 is stated, the line of the line of two pitching spindle motors 8 and two roll spindle motors 9 is mutually perpendicular to.Institute
State center 6 and the inside casing platform 7 is connected by the roll spindle motor 9.
The stabilized platform movement posture is adjusted, keeps the stabilized platform to be in stability, and pass through pitching
The code-disc measurement stabilized platform stationarity of spindle motor 8, roll spindle motor 9, obtains the experimental data 2 of correspondence experimental data 1.
The level of difference of the error of comparative experiments data 1 and experimental data 2, computational theory value and experiment value, is stablized
The global error level of platform and the accuracy of the stabilized platform, complete teaching test.
In another embodiment, the top of housing 5 one sets pitching spindle motor 8 described in one, and the side of center 6 is set
Roll spindle motor 9 described in one, the pitching spindle motor 8, roll spindle motor 9 be used to realizing the inside casing platform 7 from horizontal work(
Can, in other embodiments, it can be replaced and the inside casing platform 7 arbitrarily can be achieved realize structure from horizontal functional, herein not
It is specifically limited.
The static test for the stabilized platform that a kind of device for testing stable platform towards experimental teaching is used for：
1st, the housing 5 is moved to fixed position, the pitching frame and roll frame of inside casing platform 7 described in theoretical calculation can be produced
Raw Fixed posture angle α 1 and β 1, interference signal α 1 and β 1 will influence stabilized platform level；
2nd, stabilized platform adjusts pitching spindle motor 8 by the used group of unit 4 from horizontal functional and roll spindle motor 9 is dynamic
Make, keep the poised state of the stabilized platform, by pitching spindle motor 8 and the outgoing position of the code-disc of roll spindle motor 9, obtain real
Fixed posture angle α 2 and β 2 can be produced by testing the pitching frame and roll frame of the inside casing platform 7；
3rd, contrast gross data α 1 and β 1 and experimental data α 2 and β 2 error, statistics is the stability of stabilized platform
Can, realize the static test to stabilized platform.
The dynamic testing method for the stabilized platform that a kind of device for testing stable platform towards experimental teaching is used for：
1st, the housing 5 is rotated according to ω fixation angular speed, then the pitch axis of the inside casing platform 7 and roll
Axle can produce the interference attitude angle of sine and cosine change, by calculating the tilt angle theta of the inclined base, the course spindle motor
Angular speed ω, the starting phase angle ε that the course spindle motor is rotated are rotated, the pitching frame of the inside casing platform 7 in theory is obtained
Fixed posture angle α 1 and β 1 can be produced with roll frame；
2nd, stabilized platform adjusts pitching spindle motor 8 by the used group of unit 4 from horizontal functional and roll spindle motor 9 is dynamic
Make, keep the poised state of the stabilized platform, by pitching spindle motor 8 and the outgoing position of the code-disc of roll spindle motor 9, obtain real
Fixed posture angle α 2 and β 2 can be produced by testing the pitching frame and roll frame of the inside casing platform 7；
3rd, contrast gross data α 1 and β 1 and experimental data α 2 and β 2 error, statistics is the stability of stabilized platform
Can, realize and the dynamic of stabilized platform is tested.
In traditional stabilized platform, dynamically test needs accurate platform, and static test needs precise rotating platform, traditional side
Method can not be realized in teaching.And the interference signal source of the measuring method substitutes traditional stabilized platform dynamic test side
Method and static test.And the potentiality of precision are improved in the interference signal source of the following measuring method, after precision is improved
Commercial measurement is can apply to, therefore, the interference signal source technical principle of the measuring method is simple, and economic benefit is obvious, easily
Promoted in teaching, application field is extensive.
For the ordinary skill in the art, according to the teachings of the present invention, do not depart from the present invention principle with
In the case of spirit, changes, modifications, replacement and the modification carried out to embodiment still fall within protection scope of the present invention it
It is interior.
Claims (10)
1. a kind of stabilized platform method of testing towards experimental teaching, it is characterised in that the measuring method is used for stable testing
In the teaching experiment of platform, including following measuring process：
S1：A non-horizontal interference signal source is provided to stabilized platform, the angle of pitch α for obtaining stabilized platform is calculated1, roll angle β1；
S2：Stabilized platform adjusts itself posture, keeps platform to be in stability, and obtain measurement surely by motor code-disc
The angle of pitch α of fixed platform2, roll angle β2；
S3：α is compared in calculating1With α2Error, β1With β2Error, obtain stabilized platform global error level, complete teaching examination
Test.
2. a kind of stabilized platform method of testing towards experimental teaching as claimed in claim 1, it is characterised in that the step S1
Non-horizontal interference signal source include an inclined base, a course spindle motor and an inside casing platform；
The horizontal attitude angle α's and β of the inside casing platform passes through following formula, generation interference signal：
Wherein, α is the inside casing platform angle of pitch, and β is the inside casing platform roll angle, and θ is the inclination angle of the inclined base
Degree, ω is that the course spindle motor rotates angular speed, and ε is the starting phase angle that the course spindle motor is rotated；
ω is a fixed numbers, or by the numerical value of regularly changing or irregular change.
3. a kind of device for testing stable platform towards experimental teaching, it is characterised in that the test device includes：
One provides the inclined base at the stabilized platform angle of inclination, and the inclined base is the pedestal of an opening-closing structure；
One course motor control unit, the course motor control unit is fixedly installed in the inclined base, the course
Motor control unit includes upper computer software, course spindle motor, interference source master controller, and the upper computer software connection is described dry
Source master controller is disturbed, the course spindle motor performs the corresponding actions instruction of the interference source master controller transmission；
One inside casing platform, the inside casing platform is used for the corresponding actions for completing teaching experiment.
4. a kind of device for testing stable platform towards experimental teaching as claimed in claim 3, it is characterised in that inclined base bag
A fixation substrate and a closure substrate are included, the fixed substrate includes but is not limited to pass through with the closure substrate open-close ways
Mechanical device, electromechanical assembly carry out folding.
5. a kind of device for testing stable platform towards experimental teaching as claimed in claim 3, it is characterised in that course axle
A turntable centrifugal pan is fixedly installed in one end of motor power output.
6. a kind of device for testing stable platform towards experimental teaching as claimed in claim 3, it is characterised in that the test dress
Putting also includes a rotary table base, and the rotary table base is a hollow cylindrical housing, and the rotary table base one side is fixedly installed
On the closure substrate, the course spindle motor, interference source master controller are set in the rotary table base.
7. a kind of device for testing stable platform towards experimental teaching as claimed in claim 3, it is characterised in that the test dress
Putting also includes a balancing unit, the balancing unit include a used group unit, a pitching spindle motor, a roll spindle motor, outside one
Frame, a center and a stabilized platform master controller；
The pitching spindle motor is arranged on the housing, and the roll spindle motor is arranged on the center, the pitch axis
Motor and the roll spindle motor are connected with the stabilized platform master controller respectively；
The center is connected with inside casing platform by the roll spindle motor.
8. a kind of device for testing stable platform towards experimental teaching as claimed in claim 7, it is characterised in that the test dress
Putting also includes a used group of unit for coordinating the calculating measurement stabilized platform horizontal attitude angle；
The used group of unit is that a MEMS is used to group, and the MEMS is used to group and is arranged on the inside casing platform, the used groups of the MEMS with
The stabilized platform master controller connection.
9. a kind of device for testing stable platform towards experimental teaching as claimed in claim 7, it is characterised in that the housing is
One " u "-shaped structure, the bottom of the housing is fixedly connected with the turntable centrifugal pan, and the top of the housing is set described in one
Pitching spindle motor；
The center is that roll spindle motor, the pitch axis described in one are set on the frame structure of an inner hollow, the center
Motor is spatially arranged in a mutually vertical manner with the roll spindle motor.
10. a kind of device for testing stable platform towards experimental teaching as claimed in claim 9, it is characterised in that the housing
One top sets pitching spindle motor described in one, and the center one side sets roll spindle motor described in one.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710245898.2A CN107121151B (en) | 2017-04-14 | 2017-04-14 | Stable platform testing device and testing method for experimental teaching |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710245898.2A CN107121151B (en) | 2017-04-14 | 2017-04-14 | Stable platform testing device and testing method for experimental teaching |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN107121151A true CN107121151A (en) | 2017-09-01 |
| CN107121151B CN107121151B (en) | 2020-09-08 |
Family
ID=59725400
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201710245898.2A Active CN107121151B (en) | 2017-04-14 | 2017-04-14 | Stable platform testing device and testing method for experimental teaching |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN107121151B (en) |
Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109375654A (en) * | 2018-12-07 | 2019-02-22 | 中国科学院长春光学精密机械与物理研究所 | A kind of the opto-electric stabilization holder and its test method of teaching-oriented |
| CN109445419A (en) * | 2018-12-07 | 2019-03-08 | 中国科学院长春光学精密机械与物理研究所 | A kind of the opto-electric stabilization holder and its test method of teaching-oriented |
| CN109584701A (en) * | 2018-12-07 | 2019-04-05 | 中国科学院长春光学精密机械与物理研究所 | A kind of the opto-electric stabilization holder and its test method of teaching-oriented |
| CN111613124A (en) * | 2019-02-26 | 2020-09-01 | 长春中国光学科学技术馆 | Science popularization device for demonstrating image stabilization technology |
| CN111693240A (en) * | 2020-05-27 | 2020-09-22 | 中国科学院西安光学精密机械研究所 | Torsional pendulum platform for realizing spatial same-frequency two-dimensional disturbance |
| WO2022205516A1 (en) * | 2021-04-02 | 2022-10-06 | 山东科技大学 | Self-propulsion towing simulator of deep-sea mining system suitable for natural water body, and simulation method |
Citations (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US4881899A (en) * | 1988-10-06 | 1989-11-21 | Derome Jacques H | Sunshine simulator for small scale models |
| RU2463561C1 (en) * | 2011-03-30 | 2012-10-10 | Государственное образовательное учреждение высшего профессионального образования "Сибирская государственная геодезическая академия" (ГОУВПО "СГГА") | Apparatus for determining horizontal and vertical angle measurement error of geodesic goniometers |
| CN105676304A (en) * | 2016-03-14 | 2016-06-15 | 中国科学院测量与地球物理研究所 | Marine gravimeter stabilizing platform |
| CN105738964A (en) * | 2016-03-14 | 2016-07-06 | 中国科学院测量与地球物理研究所 | Marine gravimeter table body stabilization device and method |
| CN105865490A (en) * | 2016-05-26 | 2016-08-17 | 北京航天控制仪器研究所 | Multi-position self-collimating method for inertially stabilized platform fixed base |
| CN205608208U (en) * | 2016-03-14 | 2016-09-28 | 中国科学院测量与地球物理研究所 | Marine gravimeter stabilized platform's base |
| CN106094887A (en) * | 2016-07-13 | 2016-11-09 | 中北大学 | A kind of integrated three-axle table function and the system of stabilized platform function |
| CN106483333A (en) * | 2016-07-14 | 2017-03-08 | 中北大学 | A kind of three axle inertia calibrating platforms with scalable spademan device |
| CN106527459A (en) * | 2016-11-24 | 2017-03-22 | 北京星网卫通科技开发有限公司 | Stable platform and control method thereof |
-
2017
- 2017-04-14 CN CN201710245898.2A patent/CN107121151B/en active Active
Patent Citations (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US4881899A (en) * | 1988-10-06 | 1989-11-21 | Derome Jacques H | Sunshine simulator for small scale models |
| RU2463561C1 (en) * | 2011-03-30 | 2012-10-10 | Государственное образовательное учреждение высшего профессионального образования "Сибирская государственная геодезическая академия" (ГОУВПО "СГГА") | Apparatus for determining horizontal and vertical angle measurement error of geodesic goniometers |
| CN105676304A (en) * | 2016-03-14 | 2016-06-15 | 中国科学院测量与地球物理研究所 | Marine gravimeter stabilizing platform |
| CN105738964A (en) * | 2016-03-14 | 2016-07-06 | 中国科学院测量与地球物理研究所 | Marine gravimeter table body stabilization device and method |
| CN205608208U (en) * | 2016-03-14 | 2016-09-28 | 中国科学院测量与地球物理研究所 | Marine gravimeter stabilized platform's base |
| CN105865490A (en) * | 2016-05-26 | 2016-08-17 | 北京航天控制仪器研究所 | Multi-position self-collimating method for inertially stabilized platform fixed base |
| CN106094887A (en) * | 2016-07-13 | 2016-11-09 | 中北大学 | A kind of integrated three-axle table function and the system of stabilized platform function |
| CN106483333A (en) * | 2016-07-14 | 2017-03-08 | 中北大学 | A kind of three axle inertia calibrating platforms with scalable spademan device |
| CN106527459A (en) * | 2016-11-24 | 2017-03-22 | 北京星网卫通科技开发有限公司 | Stable platform and control method thereof |
Non-Patent Citations (3)
| Title |
|---|
| LU XIAODONG,ETC: "Experiment Research on Inertia-aided Adaptive Electronic Image Stabilization of Optical Stable Platform", 《PROCEEDINGS OF THE SPIE》 * |
| 周向阳，等: "航空遥感惯性稳定平台模糊/PID复合控制", 《仪器仪表学报》 * |
| 钟麦英，等: "基于PMI的三轴惯性稳定平台干扰力矩补偿方法研究", 《仪器仪表学报》 * |
Cited By (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109375654A (en) * | 2018-12-07 | 2019-02-22 | 中国科学院长春光学精密机械与物理研究所 | A kind of the opto-electric stabilization holder and its test method of teaching-oriented |
| CN109445419A (en) * | 2018-12-07 | 2019-03-08 | 中国科学院长春光学精密机械与物理研究所 | A kind of the opto-electric stabilization holder and its test method of teaching-oriented |
| CN109584701A (en) * | 2018-12-07 | 2019-04-05 | 中国科学院长春光学精密机械与物理研究所 | A kind of the opto-electric stabilization holder and its test method of teaching-oriented |
| CN111613124A (en) * | 2019-02-26 | 2020-09-01 | 长春中国光学科学技术馆 | Science popularization device for demonstrating image stabilization technology |
| CN111613124B (en) * | 2019-02-26 | 2024-05-10 | 吉林交通职业技术学院 | Science popularization device for demonstrating image stabilizing technology |
| CN111693240A (en) * | 2020-05-27 | 2020-09-22 | 中国科学院西安光学精密机械研究所 | Torsional pendulum platform for realizing spatial same-frequency two-dimensional disturbance |
| WO2022205516A1 (en) * | 2021-04-02 | 2022-10-06 | 山东科技大学 | Self-propulsion towing simulator of deep-sea mining system suitable for natural water body, and simulation method |
| US11739637B2 (en) | 2021-04-02 | 2023-08-29 | Shandong University Of Science And Technology | Self-propelled towing simulator for deep-sea mining system applicable to natural water bodies and simulation method using the same |
Also Published As
| Publication number | Publication date |
|---|---|
| CN107121151B (en) | 2020-09-08 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN107121151A (en) | A kind of device for testing stable platform and method of testing towards experimental teaching | |
| US8347716B2 (en) | Microelectromechanical gyroscope with enhanced rejection of acceleration noises | |
| CN204831330U (en) | Three -axle table's attitude sensor test system | |
| CN106292741A (en) | A kind of mobile machine user tripod head system based on brushless electric machine | |
| CN101865697A (en) | Minitype two-axle rotating table based on stepping motor | |
| CN109752000A (en) | A kind of MEMS dual-axis rotation modulation type strapdown compass Initial Alignment Method | |
| CN103344226B (en) | A kind of north-seeking system based on MEMS rotation technique and method | |
| CN103868648A (en) | Barycenter measuring method for three-axis air floatation simulation experiment platform | |
| CN105783896A (en) | Interactive type unmanned aerial vehicle magnetic compass calibration device and method | |
| CN205594182U (en) | Marine gravimeter stabilized platform | |
| CN105738964A (en) | Marine gravimeter table body stabilization device and method | |
| CN116953288A (en) | Accelerometer resolution testing device and method utilizing excitation force of double eccentric motors | |
| CN109724581B (en) | Strapdown north-seeking method based on automatic theodolite auxiliary rotation modulation | |
| CN116699177A (en) | Accelerometer performance testing device, method and system | |
| CN116500301A (en) | Device and method for calibrating resolution of accelerometer | |
| RU2663008C1 (en) | Training device | |
| CN108279708A (en) | A kind of holder automatic calibrating method, device and holder | |
| JP5697149B2 (en) | Acceleration sensor characteristic evaluation method and program | |
| CN209150885U (en) | A kind of motor of stabilization | |
| CN210428988U (en) | Circular motion teaching device | |
| Zhuravlev et al. | An ESG-based Sensor for Measuring Three Angles of a Moving Object Rotation: Some Issues of the Theory and Mathematical Simulation of its Operation | |
| CN218214466U (en) | Experimental equipment for simulating inertial navigation | |
| CN105241385B (en) | The method for real-time measurement of object vibration displacement in inertial space | |
| SU979855A1 (en) | Motion-picture camera three-axis gyro stabilizer | |
| KR100473782B1 (en) | Measuring device of cross-inertia-product in limited angular rotary shaft and measuring method thereof |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |