Actively stabilized payload support apparatus and methods
First Claim
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1. A method of stabilizing a balanced component assembly having a plurality of torque generators, the method comprising:
- (a) using one or more angular motion sensing units, measuring and providing angular rates and orientation motions of the balanced component assembly about three substantially mutually orthogonal axes, wherein such angular rates and orientation motions include that which is produced by operator input and external disturbances;
(b) providing a physical model comprising selected angular rates and orientation motions for the three substantially mutually orthogonal axes;
(c) comparing, using a signal processor, the measured angular rates and orientation motions to the modeled angular rates and orientation motions, respectively, for each of the three substantially mutually orthogonal axes, to create a comparison for each of the substantially mutually orthogonal axes;
(d) generating a supplemental torque signal for each of the substantially mutually orthogonal axes based on the respective comparisons derived in step (c);
(e) applying each of the supplemental torque signals to a respective torque generator;
(f) repeating step (a) through (e) to form a feedback loop.
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Abstract
A payload stabilizer suitable for use with video camera payloads. The stabilizer has a feedback system providing supplemental torques to the payload through a gimbal while remaining responsive to direct operator control.
78 Citations
23 Claims
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1. A method of stabilizing a balanced component assembly having a plurality of torque generators, the method comprising:
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(a) using one or more angular motion sensing units, measuring and providing angular rates and orientation motions of the balanced component assembly about three substantially mutually orthogonal axes, wherein such angular rates and orientation motions include that which is produced by operator input and external disturbances; (b) providing a physical model comprising selected angular rates and orientation motions for the three substantially mutually orthogonal axes; (c) comparing, using a signal processor, the measured angular rates and orientation motions to the modeled angular rates and orientation motions, respectively, for each of the three substantially mutually orthogonal axes, to create a comparison for each of the substantially mutually orthogonal axes; (d) generating a supplemental torque signal for each of the substantially mutually orthogonal axes based on the respective comparisons derived in step (c); (e) applying each of the supplemental torque signals to a respective torque generator; (f) repeating step (a) through (e) to form a feedback loop. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13)
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14. An apparatus for stabilizing a payload comprising:
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a rig having a gimbal; the gimbal having an omni-axial torque generator; the omni-axial torque generator comprising a roll torque generator, a tilt torque generator and a pan torque generator; a feedback controller; the omni-axial torque generator driven by a supplemental torque output signal generated by the feedback controller; an angular motion sensing unit capable of measuring angular rates and orientation motions produced by the omni-torque generator wherein the angular rates and orientation motions include that which is produced by external disturbances; the feedback controller having a signal processor functionally connected to the angular motion sensing unit to receive as an input the measured rates and measured orientations; the signal processor including; an artificial horizon algorithm; a first axis algorithm; a second axis algorithm; and a third pan axis algorithm; the signal processor, by the respective algorithms, capable of processing the measured angular rates and orientation motions to produce the supplemental torque signals to be applied to each of the first, second and third axes, which when applied modify the angular rates and angular orientations to conform to a physical model. - View Dependent Claims (15, 16, 17, 18, 19, 20, 21)
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22. A method of stabilizing a balance component assembly having a pan shaft and a gimbal, the gimbal having a yoke and a plurality of torque generators, the torque generators including a roll motor and a tilt motor, the method comprising:
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providing a supplemental tilt torque value; providing a supplemental roll torque value; providing a counter around a pan axis programmed to track a pan axis angle representing the momentary angular position of the gimbal yoke as the momentary relationships of the gimbal torques vary; calculating torques to be generated by the roll motor and tilt motor based on the supplemental tilt torque value, the supplemental roll torque value and the pan shaft angle; and applying signals to the pan and tilt torque generators based on the calculated torques. - View Dependent Claims (23)
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Specification