Platform stabilization system

• US 9,765,925 B2
• Filed: 04/19/2016
• Issued: 09/19/2017
• Est. Priority Date: 12/24/2013
• Status: Active Grant

• Current Assignee: PV Labs, Ltd.
• Original Assignee: PV Labs, Ltd.
• Inventors: Lewis, Michael D.
• Primary Examiner(s): MARSH, STEVEN M
• Application Number:
  US15/133,126
• Publication Number:
  US 20160230928A1
• Time in Patent Office: 518 Days
• Field of Search: 248603, 248605, 248618, 248619, 248620, 248621, 248637, 248638, 2483491
• CPC Class Codes: B64D 47/08 Arrangements of cameras
• CPC Class Codes: F16F 1/3737 Planar, e.g. in sheet form vibration dampers comprising one or more constrained viscoelastic layers F16F9/306
• CPC Class Codes: F16F 15/00 Suppression of vibrations in systems damping of non-rotary systems using inertia effect F16F7/10; prevention or isolation of vibrations in machine tools B23Q11/0032; suppression of driveline vibrations in hybrid vehicle transmissions B60W30/20 ; vehicle seat suspension devices B60N2/50; methods or devices for protecting against, or damping of, acoustic waves, e.g. sound G10K11/16; Means or arrangements for avoiding or reducing out-of-balance forces, e.g. due to motion vibration absorbing or balancing means for aircraft propellers B64C11/008, for rotorcraft rotors B64C27/001 ; testing static and dynamic balance of machines or structures G01M1/00
• CPC Class Codes: F16F 15/04 using elastic means single elements or their attachment F16F1/00 - F16F13/00; F16F15/023, F16F15/03 take precedence
• CPC Class Codes: F16M 11/043 Allowing translations
• CPC Class Codes: F16M 11/10 around a horizontal axis F16M11/12 takes precedence
• CPC Class Codes: F16M 11/12 in more than one direction
• CPC Class Codes: F16M 11/121 constituted of several dependent joints
• CPC Class Codes: F16M 11/123 the axis of rotation intersecting in a single point, e.g. by using gimbals
• CPC Class Codes: F16M 11/18 with mechanism for moving the apparatus relatively to the stand
• CPC Class Codes: F16M 11/2014 around a vertical axis F16M11/2035 takes precedence
• CPC Class Codes: F16M 11/2035 in more than one direction
• CPC Class Codes: F16M 11/2064 for tilting and panning F16M11/2078 takes precedence
• CPC Class Codes: F16M 13/02 for supporting on, or attaching to, an object, e.g. tree, gate, window-frame, cycle
• CPC Class Codes: G03B 17/561 Support related camera accessories
• CPC Class Codes: G03B 2205/0007 Movement of one or more optical elements for control of motion blur imaging systems in general using optical elements for stabilisation of the position of the image G02B27/64
• CPC Class Codes: H04N 23/6812 based on additional sensors, e.g. acceleration sensors
• CPC Class Codes: H04N 23/685 performed by mechanical compensation

Abstract

A platform stabilization system comprises a support frame, a platform and a plurality of isolators each extending directly between the support frame and the platform. Each isolator permits linear movement of the platform relative to the support frame with three degrees of freedom and permits rotational movement of the platform relative to the support frame with three degrees of freedom. The isolators cooperate to form an isolation array supporting the platform directly within, and spacing the platform from, the support frame. The isolation array permits limited linear movement of the platform within the support frame with three degrees of freedom and permits limited rotational movement of the platform relative to the support frame with three degrees of freedom. The isolation array is substantially more resistant to linear movement of the platform than to rotational movement of the platform and does not rotationally constrain the platform.

Claims

1. A platform stabilization system for isolating a payload from motion of a supporting structure, the platform stabilization system comprising:

a support frame;

a platform for carrying a payload;

a plurality of isolators each extending directly between the support frame and the platform;

each isolator permitting linear movement of the platform relative to the support frame with three degrees of freedom;

each isolator permitting rotational movement of the platform relative to the support frame with three degrees of freedom;

the plurality of isolators cooperating to form an isolation array supporting the platform directly within the support frame;

the isolation array spacing the platform from the support frame;

the isolation array permitting limited linear movement of the platform relative to the support frame with three degrees of freedom along three orthogonal platform axes;

the isolation array permitting limited rotational movement of the platform relative to the support frame with three degrees of freedom about the three platform axes;

the isolation array being substantially more resistant to linear movement of the platform relative to the support frame than to rotational movement of the platform relative to the support frame;

wherein the platform is not rotationally constrained by the isolation array; and

wherein the isolation array has an undamped natural frequency for linear movement of the platform along the platform axes that is at least two times an undamped natural frequency for rotational movement of the platform about the platform axes.

2. The platform stabilization system of claim 1, wherein the undamped natural frequency for linear movement of the platform along the platform axes is at least three times the undamped natural frequency for rotational movement of the platform about the platform axes.

3. The platform stabilization system of claim 2, wherein the undamped natural frequency for linear movement of the platform along the platform axes is at least five times the undamped natural frequency for rotational movement of the platform about the platform axes.

4. The platform stabilization system of claim 2, wherein the undamped natural frequency for linear movement of the platform along the platform axes is at least ten times the undamped natural frequency for rotational movement of the platform about the platform axes.

5. The platform stabilization system of claim 1, wherein:

each isolator comprises at least one compression spring having a respective spring axis; and

to form the isolation array;

the compression springs are arranged with their respective spring axes radiating outward substantially from a common point within the platform;

the common point being the centroid of mass of the platform; and

the compression springs are axially preloaded to produce a low lateral spring rate.

6. The platform stabilization system of claim 5, wherein the isolation array comprises eight compression springs arranged substantially at corners of a notional cube and the common point is a centroid of the notional cube.

7. The platform stabilization system of claim 5, wherein the isolation array comprises at least one array of four compression springs arranged substantially at corners of a notional regular tetrahedron and the common point is a centroid of the notional regular tetrahedron.

8. The platform stabilization system of claim 5, wherein the isolation array comprises six compression springs radiating outward from a centroid of a notional cube substantially through centroids of the six faces of the notional cube.

9. The platform stabilization system of claim 5, wherein the isolation array comprises a symmetrical array of compression springs.

10. The platform stabilization system of claim 5, wherein the compression springs are machined, multi-start, helical compression springs.

11. The platform stabilization system of claim 1, wherein each isolator comprises a flexural pivot element.

12. The platform stabilization system of claim 11, wherein:

each flexural pivot element comprises three single-axis flexural pivots arranged in series with each flexural pivot having a pivot axis;

for each flexural pivot element, the pivot axes of each flexural pivot substantially meet at a centroid of mass of the platform; and

the flexural pivot elements are arranged in a substantially symmetrical array to form the isolation array.

13. The platform stabilization system of claim 12, wherein each flexural pivot element is of monolithic construction.

14. The platform stabilization system of claim 1 wherein each isolator is a diaphragm-based isolator.

15. The platform stabilization system of claim 14, wherein each diaphragm-based isolator comprises:

a first housing carried by the support frame;

a second housing carried by the platform;

each housing having a diaphragm receptacle defined therein;

the diaphragm receptacles being opposed to one another;

two opposed diaphragms, each diaphragm being supported at its periphery by one of the housings and extending across the diaphragm receptacle of that housing so that for each isolator, one of the diaphragms is coupled to the support frame and the other of the opposed diaphragms is coupled to the platform; and

the diaphragms are coupled to one another by a torsional flexure element extending between radial centers of the diaphragms.

16. The platform stabilization system of claim 15, wherein the torsional flexure element is axially resilient.

17. The platform stabilization system of claim 15, wherein the torsional flexure element is a helical spring.

18. The platform stabilization system of claim 15 wherein the diaphragms are molded elastomeric structures.

19. The platform stabilization system of claim 15 wherein the diaphragms are metal bellophragm structures.

20. The platform stabilization system of claim 15, wherein each diaphragm-based isolator further comprises a stop carried by the torsional flexure element to limit lateral travel of the torsional flexure element.

21. The platform stabilization system of claim 15, wherein:

each diaphragm is fluid-impermeable;

each housing cooperates with its respective diaphragm to form a damping reservoir; and

each damping reservoir is in fluid communication with a respective sink reservoir for damping axial movement of the respective diaphragm by displacing damping fluid from the respective damping reservoir to the respective sink reservoir.

22. The platform stabilization system of claim 21, wherein:

each housing cooperates with its respective diaphragm to form an enclosure;

a divider extends across each enclosure to divide the respective enclosure into the damping reservoir and the sink reservoir; and

each damping reservoir is in fluid communication with the respective sink reservoir through at least one orifice in the respective divider.

23. The platform stabilization system of claim 1, further comprising:

an active drive system acting directly between the support frame and the platform; and

a control system coupled to the active drive system for receiving sensor input and controlling the active drive system in response to the sensor input.

24. The platform stabilization system of claim 23, wherein the control system uses the sensor input to control the active drive system for stable motion of the platform.

25. The platform stabilization system of claim 23, wherein the control system uses the sensor input to control the active drive system for active damping of the platform.

26. The platform stabilization system of claim 23, wherein the active drive system comprises an array of at least three magnetic voice coil actuators, wherein:

each magnetic voice coil actuator comprises a first portion carried by the support frame and a second portion carried by the platform;

each magnetic voice coil actuator acts directly between the support frame and the platform to apply a first platform positioning force to the platform along a first motor axis and apply a second platform positioning force to the platform along a second motor axis while permitting free linear movement of the platform along a third motor axis and permitting free rotation of the platform about the three motor axes, with the first, second and third motor axes being substantially orthogonal to one another;

the magnetic voice coil actuators arranged relative to the platform for selectively driving linear movement of the platform relative to the support frame along the platform axes and for selectively driving rotation of the platform relative to the support frame about the platform axes; and

the control system controls energization of the voice coil actuators to apply controlled moments and linear forces to the platform.

27. The platform stabilization system of claim 26, wherein the at least three magnetic voice coil actuators are four magnetic voice coil actuators arranged approximately 90 degrees apart on a circumference of a notional circle.

28. The platform stabilization system of claim 23, wherein the active drive system comprises an array of at least six magnetic voice coil actuators, wherein:

each magnetic voice coil actuator comprises a first portion carried by the support frame and a second portion carried by the platform;

each magnetic voice coil actuator acts directly between the support frame and the platform to apply a first platform positioning force to the platform along a first motor axis while permitting free linear movement of the second portion along each of a second motor axis and a third motor axis and permitting free rotation of the second portion about each of the second motor axis and the third motor axis, with the first, second and third axes being substantially orthogonal to one another;

the magnetic voice coil actuators arranged relative to the platform for selectively driving linear movement of the platform relative to the support frame along the platform axes and for selectively driving rotation of the platform relative to the support frame about the platform axes; and

the control system controls energization of the voice coil actuators to apply controlled moments and linear forces to the platform.

29. The platform stabilization system of claim 23, further comprising an angle sensor system for sensing and providing a signal indicative of an angular position of the platform relative to the support frame about the platform axes, the angle sensor system being coupled to the control system.

30. The platform stabilization system of claim 23, further comprising a linear position sensor system for sensing and providing a signal indicative of a linear position of the platform relative to the support frame on the platform axes, the linear position sensor system being coupled to the control system.

31. The platform stabilization system of claim 23, wherein the platform carries at least three inertial rate sensors for sensing and providing a signal indicative of angular movement of the platform about the platform axes, the inertial rate sensors being coupled to the control system.

32. The platform stabilization system of claim 31, wherein the inertial rate sensors are fibre-optic gyros.

33. The platform stabilization system of claim 23, wherein the platform carries at least three inertial acceleration sensors for sensing and providing a signal indicative of linear movement of the platform along the platform axes, the inertial acceleration sensors being coupled to the control system.

34. The platform stabilization system of claim 23, further comprising an inertial measurement unit for sensing and providing signals indicative of linear and angular movement of the platform about the platform axes, the inertial measurement unit being coupled to the control system.

35. The platform stabilization system of claim 23, further comprising a GPS receiver coupled to the control system;

the control system containing instructions for an inertial navigation system for computing the geographic position where a platform line of sight intersects the earth'"'"'s surface.

36. The platform stabilization system of claim 35, wherein the control system contains instructions for closing geographic based steering control loops to maintain the platform line of sight pointing at a geographic position.

37. The platform stabilization system of claim 36, wherein the control system contains instructions for computing parameters to step and stare a payload line of sight of a payload carried by the platform, within its limited range of motion, to limit, during an image integration period of the payload, relative rotational motion of the payload line of sight with respect to the earth caused by rotational motion of an orbiting aircraft carrying the platform stabilization system.

38. A platform stabilization system according to claim 1 wherein the support frame is carried by an outer gimbal assembly.