HANDHELD PLATFORM STABILIZATION SYSTEM EMPLOYING DISTRIBUTED ROTATION SENSORS
First Claim
1. A stabilization system comprising:
- a platform having a mass centroid;
a base having an orientation;
a first gimbal frame;
a first pivot assembly disposed to rotatably couple the first gimbal frame to the base on a first rotation axis, including an actuator disposed to torque the first gimbal frame about the first rotation axis responsive to a first motor signal, and a sensor having a rotation-sensitive sensor axis that is fixedly disposed with respect to the first rotation axis and producing a first sensor signal representing motion of the first gimbal frame about the first rotation axis;
a second gimbal frame;
a second pivot assembly disposed to rotatably couple the second gimbal frame to the first gimbal frame on a second rotation axis, including an actuator disposed to torque the second gimbal frame about the second rotation axis responsive to a second motor signal, and a sensor having a rotation-sensitive sensor axis that is fixedly disposed with respect to the second rotation axis and producing a second sensor signal representing motion of the second gimbal frame about the second rotation axis;
coupling means for coupling the second gimbal frame to the platform such that the platform has an angular position with respect to each rotation axis; and
a controller including input means for accepting the sensor signals, and output means for producing each motor signal responsive to the respective sensor signal, whereby the corresponding platform angular position is stabilized to a predetermined value independent of changes in the base orientation.
0 Assignments
0 Petitions
Accused Products
Abstract
A stabilization system including a platform supported by two or more rotatably-coupled gimbal frames each having a pivot assembly disposed at its rotation axis to couple an actuator to a rotation sensor having a rotation-sensitive sensor axis that is fixedly disposed with respect to the rotation axis, and a controller including means for accepting the sensor signals and for producing each motor signal needed to dispose the platform in a predetermined angular position with respect to each rotation axis independent of changes in the base orientation. A motion simulator embodiment includes controller means for accepting an external slew signal sequence and means for producing the motor signals needed to move the platform along a predetermined sequence of positions represented by the slew signal sequence.
-
Citations
20 Claims
-
1. A stabilization system comprising:
-
a platform having a mass centroid;
a base having an orientation;
a first gimbal frame;
a first pivot assembly disposed to rotatably couple the first gimbal frame to the base on a first rotation axis, including an actuator disposed to torque the first gimbal frame about the first rotation axis responsive to a first motor signal, and a sensor having a rotation-sensitive sensor axis that is fixedly disposed with respect to the first rotation axis and producing a first sensor signal representing motion of the first gimbal frame about the first rotation axis;
a second gimbal frame;
a second pivot assembly disposed to rotatably couple the second gimbal frame to the first gimbal frame on a second rotation axis, including an actuator disposed to torque the second gimbal frame about the second rotation axis responsive to a second motor signal, and a sensor having a rotation-sensitive sensor axis that is fixedly disposed with respect to the second rotation axis and producing a second sensor signal representing motion of the second gimbal frame about the second rotation axis;
coupling means for coupling the second gimbal frame to the platform such that the platform has an angular position with respect to each rotation axis; and
a controller including input means for accepting the sensor signals, and output means for producing each motor signal responsive to the respective sensor signal, whereby the corresponding platform angular position is stabilized to a predetermined value independent of changes in the base orientation. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9, 10, 11)
-
-
12. A motion simulator system for moving a platform having a mass centroid along a predetermined sequence of positions about one or more rotation axes represented by a sequence of slew signals, the system comprising:
-
a base having an orientation;
a first gimbal frame;
a first pivot assembly disposed to rotatably couple the first gimbal frame to the base on a first rotation axis, including an actuator disposed to torque the first gimbal frame about the first rotation axis responsive to a first motor signal, and a sensor having a rotation-sensitive sensor axis that is fixedly disposed with respect to the first rotation axis and producing a first sensor signal representing motion of the first gimbal frame about the first rotation axis;
a second gimbal frame;
a second pivot assembly disposed to rotatably couple the second gimbal frame to the first gimbal frame on a second rotation axis, including an actuator disposed to torque the second gimbal frame about the second rotation axis responsive to a second motor signal, and a sensor having a rotation-sensitive sensor axis that is fixedly disposed with respect to the second rotation axis and producing a second sensor signal representing motion of the second gimbal frame about the second rotation axis;
coupling means for coupling the second gimbal frame to the platform such that the platform has an angular position with respect to each rotation axis; and
a controller including input means for accepting the sensor signals and the slew signals, and output means for producing each motor signal responsive to a combination of the respective sensor signal and the slew signals, whereby the platform is moved along the predetermined sequence of motions independent of changes in the base orientation. - View Dependent Claims (13, 14, 15, 16, 17, 18, 19, 20)
-
Specification