JP4120190B2 - Space stabilization controller - Google Patents

Description

【０００９】
数１から明らかなように、θεの最大値はＳ＝∞の時で、数２を得る。
【００１０】
【数２】

【００１１】
Ｔｄは図１２に示す摩擦トルク特性の出力であるから、点Ｐでは静止摩擦トルクＴｓf の極性が瞬間的に変わるので、その出力Ｔｄも瞬間的に、Ｔｄ＝Ｔｓf−（−Ｔｓf）＝２Ｔｓfのトルクとなる。よって、点Ｐでのθεの最大値は、数３となることがわかる。
【００１２】
【数３】

【００１３】
数３において、Ｊを大きく、又はＴｓfを小さくすればθεは最小化することはできるものの、Ｊ、及びＴｓfは機械定数であるため機械系により一義的に決定されるため制御不能である。また、ωr・ωiは制御パラメータであるため共に大きくすることでθεは最小化することはできるものの、機械共振周波数の制約から制御系の安定性を考慮するとむやみには大きくできないため有限の定数である。
【００１４】
以上により、θεを最小化することには限界があり、これにより、図１０に示す点Ｐにおいて画像がぶれる等の問題点があった。
【００１５】
【発明が解決しようとする課題】
以上のような問題は、自動車の動揺の方向が反転した際、カメラ部２の回転部と固定部との摺動部に発生する摩擦トルクの内の静止摩擦トルクの極性が反転して加わってしまうことにより生じる。よって、画像ぶれが静止摩擦トルクに依存しない制御装置の提供が必要であった。
【００１６】
この発明は上記の課題を解決するためになされたものであり、空間安定化の動作を、カメラ部２の回転部と固定部との摺動部に発生する摩擦トルクの内の静止摩擦領域を避けて動摩擦領域でのみ動作させることにより、自動車の動揺の方向が反転した時でも画像ぶれの少ない空間安定化制御装置を得ることを目的とする。
【００１７】
【課題を解決するための手段】
第１の発明に係る空間安定化制御装置は、カメラ部２の回転部と固定部との摺動部の回転機構を２重にして各々の回転方向を等速かつ逆方向に一定回転するよう制御して、カメラ部２の回転部と固定部との摺動部に発生する摩擦トルクの内の静止摩擦領域を避けて動摩擦領域でのみ動作させることによって、自動車の動揺の方向が反転した時でも画像ぶれの少ない空間安定化制御装置を提供できることを特徴とする。
【００１８】
また、第２の発明に係る空間安定化制御装置は、第１の発明に係る空間安定化制御装置の角速度検出器の代わりに角度検出器の出力の微分値を用いて角度制御することにより、自動車の動揺の方向が反転した時でも画像ぶれが少なくかつ低コストな空間安定化制御装置を提供できることを特徴とする。
【００１９】
また、第３の発明に係る空間安定化制御装置は、第１の発明に係る空間安定化制御装置の角度検出器の代わりに角速度検出器のみを用いて角速度制御することにより、自動車の動揺の方向が反転した時でも画像ぶれが少なくかつ低コストな空間安定化制御装置を提供できることを特徴とする。
【００２０】
また、第４の発明に係る空間安定化制御装置は、第１の発明に係る空間安定化制御装置の角速度検出器の代わりに角度検出器のみを用いて角速度制御することにより、自動車の動揺の方向が反転した時でも画像ぶれが少なくかつ低コストな空間安定化制御装置を提供できることを特徴とする。
【００２１】
【発明の実施の形態】
実施の形態１．
図１はこの発明における空間安定化制御装置の実施の形態１を示す構成図である。図において２〜７、及び９〜１２は従来の空間安定化制御装置と同じものであり、１４は第１のモータ４のステータ側にロータを有し自動車１に対して回転する第２のモータ、１５は第２のモータ１４の回転角速度を検出する第２の角速度検出器、１６はカメラ部２を回転させるために指令値を発生させる角速度発生部、１７は角速度発生部１６の出力と第２の角速度検出器１５の検出する角速度との偏差を演算する第２の角速度減算器、１８は第２の角速度減算器１７の出力を増幅し第２のモータ１４を駆動させる第２の角速度偏差増幅器、１９は角速度発生部１６の出力である角速度指令を積分して逆極性の角度に変換する反転積分器、２０は反転積分器１９の出力と角度検出器６の出力との偏差を演算し外乱角度検出部７の出力を加算して角度誤差を演算する角度減算器である。また、図中同一記号は図８と同一である。
【００２２】
また、図２はカメラ部２の回転機構図である。図において４ａ〜６ａ、４ｂ〜６ｂ、及び１３は従来の回転機構図９と同じものであり、１４ａは第１のモータ４のステータ側に固定され自動車１に対して回転する第２のモータ１４の回転側であるモータロータ部、１４ｂは第２のモータ１４の固定側であるモータステータ部、１５ａは第１のモータ４のステータ側に固定され自動車１に対して回転角速度を検出する第２の角速度検出器１５の回転側である角速度検出器ロータ部、１５ｂは第２の角速度検出器１５の固定側である角速度検出器ステータ部、２１は回転部を固定部に対して回転支持するベアリング部である
【００２３】
次に動作について説明する。図７の自動車１の動揺が発生した場合、図１に示す制御系は、発生した外乱角度の逆極性分を外乱角度検出部７により検出して、この出力を指令値として、角度減算器２０を用いた角度帰還路、及び角速度減算器１１を用いた角速度帰還路により各減算器２０及び１１の出力をそれぞれ零にするように動作する様子は、従来の空間安定化制御装置と同一である。したがって、空間安定化誤差θεの最大値は、従来技術と同様に、数２で表せる。
【００２４】
次に角速度発生部１６，角速度減算器１７、第２の角速度偏差増幅器１８及び反転積分器１９の動作について説明する。角速度発生部１６では、一定速度の角速度指令を発生させる。この値をＶ１とする。角速度発生部１６の出力Ｖ１は、角速度減算器１７に角速度指令として加わり、第２の角速度検出器１５との偏差を演算する。
【００２５】
この出力は、第２の角速度偏差増幅器１８に入力され第２の角速度偏差増幅器１８で増幅されて第２のモータ１４は一定角速度Ｖ１で回転する。一方、角速度発生部１６の出力Ｖ１は、反転積分器１９で積分されて極性を反転され、角度減算器２０に角度指令として角度制御系に加算されるため、同様に、第１のモータ４は一定角速度Ｖ１で回転する。このとき、第１のモータ４と第２のモータ１４は角速度がＶ１と等しく回転方向が反対なため、カメラ部２の視軸は一定方向を向いている。図１１の摩擦特性において、自動車１の動揺により発生した外乱角速度の最大値よりも角速度指令値Ｖ１を大きく設定した場合、摩擦特性の動摩擦領域のみで動作することは容易にわかる。したがって、数２の最大値は、数４となる。
【００２６】
【数４】

【００２７】
図１１からわかるとおりＤは角速度に比例するため、自動車１の動揺波形にしたがって空間安定化誤差θεは変化する。この時の様子を図３に示す。数３と数４を比較すると、分子の項は、図１１から明らかなように、２・Ｔsf＞Ｄ である。以上により、空間安定化誤差θεは、従来技術より向上することは明らかである。
【００２８】
実施の形態２．
図４はこの発明における空間安定化制御装置の実施の形態２を示す構成図である。図において図において２〜４、６〜７、及び９〜１２は従来の空間安定化制御装置と同じものであり、１４〜２０は実施の形態１と同じものである。２２は第１の角度検出器６の出力を微分して角速度を演算する第１の微分器である。また、図中、同一記号は図１と同一である。
【００２９】
次に動作について説明する。第１の微分器２２は、実施の形態１の角速度検出器５の代わりに角度検出器５から角速度を演算するだけで、その他の動作は実施の形態１と全く同様である。
【００３０】
実施の形態３．
図５はこの発明における空間安定化制御装置の実施の形態３を示す構成図である。図において２〜５、７、及び９〜１２は従来の空間安定化制御装置と同じものであり、１４〜１８は実施の形態１と同じものである。２３は外乱角度検出器７の出力を微分して外乱角速度を演算する微分器、２４は角速度発生部１６の出力を反転させる反転器、２５は反転器２４の角速度指令値と第１の角速度検出器５の出力との偏差を演算して微分器２３の出力を加算する第３の角速度減算器、２６は第３の角速度減算器の出力を積分して角度偏差を演算する積分器である。また、図中、同一記号は図１と同一である
【００３１】
次に動作について説明する。本制御系は、実施の形態１の角度検出器６を使用した角度制御系の代わりに角速度検出器５のみを用いた角速度制御系で空間安定化制御系を構成しただけで、その他の動作は実施の形態１と全く同様である。
【００３２】
実施の形態４．
図６はこの発明における空間安定化制御装置の実施の形態４を示す構成図である。図において２〜４、６〜７、及び９〜１２は従来の空間安定化制御装置と同じものであり、１４〜１８は実施の形態１と同じものであり、２３〜２６は実施の形態３と同じものである。２７は角度検出器６の出力を微分して角速度を演算する微分器である。また、図中、同一記号は図１、５と同一である
【００３３】
次に動作について説明する。第２の微分器２７は、実施の形態３の角速度検出器５の代わりに角度検出器６の出力を微分して角速度を生成するだけで、その他の動作は実施の形態３と全く同様である。
【００３４】
【発明の効果】
第１の発明に係わる空間安定化制御装置は、制御対象の回転部と固定部との摺動部の回転機構を２重にして各々の回転方向を等速かつ逆方向に一定回転するよう制御して、制御対象の回転部と固定部との摺動部に発生する摩擦トルクの内の静止摩擦領域を避けて動摩擦領域でのみ動作させることによって、画像ぶれ等の空間安定化制御装置の安定化性能を向上させる効果がある。
【００３５】
また、第２の発明に係わる空間安定化制御装置は、第１の発明に係る空間安定化制御装置の角速度検出器の代わりに角度検出器の出力の微分値を用いて角度制御することにより、低コストでかつ画像ぶれ等の空間安定化制御装置の安定化性能を向上させる効果がある。
【００３６】
また、第３の発明に係わる空間安定化制御装置は、第１の発明に係る空間安定化制御装置の角度検出器の代わりに角速度検出器のみを用いて角速度制御することにより、低コストでかつ画像ぶれ等の空間安定化制御装置の安定化性能を向上させる効果がある。
【００３７】
また、第４の発明に係わる空間安定化制御装置は、第１の発明に係る空間安定化制御装置の角速度検出器の代わりに角度検出器のみを用いて角速度制御することにより、低コストでかつ画像ぶれ等の空間安定化制御装置の安定化性能を向上させる効果がある。
【図面の簡単な説明】
【図１】 この発明におけるカメラの空間安定化制御装置の実施の形態１を示す構成図である。
【図２】 この発明におけるカメラ部の回転機構図である。
【図３】 自動車１の動揺が正弦波状に発生した場合の各部の波形を示す図である。
【図４】 この発明におけるカメラの空間安定化制御装置の実施の形態２を示す構成図である。
【図５】 この発明におけるカメラの空間安定化制御装置の実施の形態３を示す構成図である。
【図６】 この発明におけるカメラの空間安定化制御装置の実施の形態４を示す構成図である。
【図７】 この発明の自動車への適用例を示す図である。
【図８】 従来のカメラ部と空間安定化制御装置の構成を示す図である。
【図９】 従来のカメラ部の回転機構図である。
【図１０】 自動車１の動揺が正弦波状に発生した場合の従来の構成における各部の波形を示す図である。
【図１１】 カメラ部の回転部と固定部との摺動部に発生する摩擦トルクの特性を示す図である。
【図１２】 従来のカメラ部と空間安定化制御装置のゲインブロックを示す図である。
【符号の説明】
１ 自動車、２ カメラ部、３ 空間安定化制御装置、４ モータ、５ 角速度検出器、６ 角度検出器、７ 外乱角度検出部、８ 角度減算器、９ 角度誤差、１０ 角度偏差増幅器、１１ 角速度減算器、１２ 角速度偏差増幅器、１３ ベアリング、１４ モータ、１５ 角速度検出器、１６ 角速度発生部、１７ 角速度減算器、１８ 角速度偏差増幅器、１９ 反転積分器、２０ 角度減算器、２１ ベアリング、２２ 微分器、２３ 微分器、２４ 反転器、２５ 角速度減算器、２６ 積分器、２７ 微分器。[0001]
BACKGROUND OF THE INVENTION
The present invention relates to an improvement in a space stabilization control device that controls the movement of a control target mounted on a moving body driven by a motor without depending on the shaking of the moving body. Here, for convenience of explanation, the drive control will be described taking a camera as an example of a control target.
[0002]
[Prior art]
FIG. 7 is a well-known automobile, and the camera unit 2 mounted on the automobile 1 is controlled by the space stabilization control device 3 against the movement of the automobile 1, so that the camera image can be stably captured. Can do. FIG. 8 is a diagram illustrating the configuration of the camera unit 2 and the space stabilization control device 3, and FIG. 9 is a rotation mechanism diagram of the camera unit 2.
[0003]
Next, the control of the camera unit 2 will be described in detail with reference to FIGS. 8, 2 to 3 are the same as those shown in FIG. 4 is a motor that rotates the camera, 5 is an angular velocity detector that detects the rotational angular velocity of the motor 4, 6 is an angle detector that detects the rotational angle of the motor 4, and 7 is a disturbance angle generated by the shaking of the automobile 1. A disturbance angle detector for inverting the output, 8 is an angle subtractor for calculating a deviation between the output of the disturbance angle detector 7 and the output of the angle detector 6, 9 is an angle error which is an output of the angle subtractor, and 10 is an angle. An angular deviation amplifier that amplifies the error, 11 is an angular velocity subtractor that calculates the deviation between the output of the angular deviation amplifier 10 and the angular velocity detector 5, and 12 is an angular velocity deviation that drives the motor 4 by amplifying the output of the angular velocity subtractor 11. It is an amplifier.
[0004]
In FIG. 9, 2, 4 to 6 are the same as those shown in FIG. 4a is a motor rotor part on the rotation side of the motor 4, 4b is a motor stator part on the fixed side of the motor 4, 5a is an angular speed detector rotor part on the rotation side of the angular speed detector 5, and 5b is fixed on the angular speed detector 5. The angular velocity detector stator portion 6a is an angle detector rotor portion 6a is a rotation side of the angle detector 6, the angle detector stator portion 6b is a fixed side of the angle detector 6, and the rotation portion 13 is a fixed portion. It is a bearing part which carries out rotation support with respect to.
[0005]
Next, the operation of the space stabilization control device 3 will be described. When the vehicle 1 of FIG. 7 is shaken, the disturbance angle detection unit 7 detects the reverse polarity of the generated disturbance angle. The control system operates so that the outputs of the subtracters 8 and 11 are set to zero by the angular feedback path using the angular subtractor 8 and the angular velocity feedback path using the angular velocity subtractor 11 using the output as a command value. Thus, the camera rotates in the direction opposite to the shaking direction through the driving of the motor 4. Thereby, since the disturbance generated by the shaking of the automobile 1 is eliminated, a stable image can be obtained without shaking the camera image.
[0006]
FIG. 10 is a diagram showing changes in the outputs of the detectors 5 to 7 and the angle error 9 when the movement of the automobile 1 occurs in a sine wave shape. The behavior of the point P in FIG. 10 will be described in detail with reference to FIGS. FIG. 11 shows a general characteristic of the friction torque generated at the sliding part between the rotating part and the fixed part of the camera part 2, and the static friction torque is a characteristic in which the polarity of the torque generated when the direction of rotation is reversed is reversed. In addition, it is known that the dynamic friction torque has a characteristic of increasing or decreasing depending on the magnitude of the rotational angular velocity. Point P in FIG. 10 is just an operating point where the direction of rotation is reversed, and the polarity of the static friction torque is reversed as shown in FIG.
[0007]
FIG. 12 is a gain block diagram for explaining this influence. In the figure, S is a Laplace operator, J is an inertia ratio of the rotating portion of the camera unit 2, and Td is a friction torque characteristic shown in FIG. Indicates the output. In FIG. 12, when block conversion is performed to obtain a transfer characteristic of Td → θε, Equation 1 is obtained.
[0008]
[Expression 1]

[0009]
As is clear from Equation 1, Equation 2 is obtained when the maximum value of θε is S = ∞.
[0010]
[Expression 2]

[0011]
Since Td is the output of the friction torque characteristic shown in FIG. 12, the polarity of the static friction torque Tsf changes instantaneously at the point P. Therefore, the output Td also instantaneously becomes Td = Tsf − (− Tsf) = 2Tsf. Torque. Therefore, it can be seen that the maximum value of θε at the point P is expressed by Equation 3.
[0012]
[Equation 3]

[0013]
In Equation 3, if J is increased or Tsf is decreased, θε can be minimized, but J and Tsf are mechanical constants and are unambiguously determined by the mechanical system and thus cannot be controlled. Although ωr and ωi are both control parameters, θε can be minimized by increasing both. However, if the stability of the control system is taken into account due to the constraints of the mechanical resonance frequency, it cannot be increased unnecessarily. is there.
[0014]
As described above, there is a limit to minimizing θε, which causes problems such as an image blurring at a point P shown in FIG.
[0015]
[Problems to be solved by the invention]
The above problems are caused when the polarity of the static friction torque of the friction torque generated at the sliding portion between the rotating portion and the fixed portion of the camera unit 2 is reversed when the direction of the vehicle's shaking is reversed. It is caused by. Therefore, it is necessary to provide a control device in which image blur does not depend on static friction torque.
[0016]
The present invention has been made in order to solve the above-described problems, and the space stabilization operation is performed using a static friction region in the friction torque generated in the sliding portion between the rotating portion and the fixed portion of the camera portion 2. The object of the present invention is to obtain a space stabilization control device with less image blur even when the direction of the vehicle swing is reversed by operating only in the dynamic friction region.
[0017]
[Means for Solving the Problems]
The space stabilization control device according to the first aspect of the present invention is configured such that the rotation mechanism of the sliding portion between the rotating portion and the fixed portion of the camera portion 2 is doubled so that each rotating direction is rotated at a constant speed and in the opposite direction. When the direction of the shaking of the car is reversed by controlling and operating only in the dynamic friction area while avoiding the static friction area of the friction torque generated in the sliding part between the rotating part and the fixed part of the camera part 2 However, the present invention is characterized in that a space stabilization control device with less image blur can be provided.
[0018]
In addition, the space stabilization control device according to the second invention performs angle control using the differential value of the output of the angle detector instead of the angular velocity detector of the space stabilization control device according to the first invention, A feature of the present invention is that it can provide a low-cost space stabilization control device with little image blurring even when the direction of vehicle vibration is reversed.
[0019]
In addition, the space stabilization control device according to the third aspect of the present invention controls the vehicle's vibration by controlling the angular velocity using only the angular velocity detector instead of the angle detector of the space stabilization control device according to the first aspect of the invention. A feature of the present invention is that a low-cost space stabilization control device can be provided even when the direction is reversed.
[0020]
In addition, the space stabilization control device according to the fourth aspect of the present invention controls the vehicle's vibration by controlling the angular velocity using only the angle detector instead of the angular velocity detector of the space stabilization control device according to the first invention. A feature of the present invention is that a low-cost space stabilization control device can be provided even when the direction is reversed.
[0021]
DETAILED DESCRIPTION OF THE INVENTION
Embodiment 1 FIG.
FIG. 1 is a configuration diagram showing Embodiment 1 of the space stabilization control device according to the present invention. In the figure, 2 to 7 and 9 to 12 are the same as the conventional space stabilization control device, and 14 is a second motor that has a rotor on the stator side of the first motor 4 and rotates with respect to the automobile 1. , 15 is a second angular velocity detector for detecting the rotational angular velocity of the second motor 14, 16 is an angular velocity generator for generating a command value for rotating the camera unit 2, and 17 is the output of the angular velocity generator 16 and the second output. A second angular velocity subtractor 18 for calculating a deviation from the angular velocity detected by the second angular velocity detector 15; a second angular velocity deviation 18 for amplifying the output of the second angular velocity subtractor 17 and driving the second motor 14; An amplifier 19 is an inverting integrator that integrates an angular velocity command output from the angular velocity generator 16 and converts it to an angle of opposite polarity, and 20 calculates a deviation between the output of the inverting integrator 19 and the output of the angle detector 6. Add the output of disturbance angle detector 7 Is the angle subtractor for calculating the angular error Te. Also, the same symbols in the figure are the same as those in FIG.
[0022]
FIG. 2 is a rotation mechanism diagram of the camera unit 2. In the figure, 4a to 6a, 4b to 6b, and 13 are the same as the conventional rotating mechanism in FIG. 9, and 14a is a second motor 14 that is fixed to the stator side of the first motor 4 and rotates relative to the automobile 1. A motor rotor portion on the rotation side of the motor, 14b is a motor stator portion on the fixed side of the second motor 14, and 15a is fixed to the stator side of the first motor 4 and detects a rotational angular velocity with respect to the automobile 1. An angular velocity detector rotor portion which is the rotation side of the angular velocity detector 15, 15 b is an angular velocity detector stator portion which is a fixed side of the second angular velocity detector 15, and 21 is a bearing portion which rotatably supports the rotating portion with respect to the fixed portion. [0023]
Next, the operation will be described. When the vibration of the automobile 1 in FIG. 7 occurs, the control system shown in FIG. 1 detects the reverse polarity component of the generated disturbance angle by the disturbance angle detection unit 7, and uses this output as a command value as an angle subtracter 20 The state in which the outputs of the subtracters 20 and 11 are made to be zero by the angular feedback path using the angular velocity and the angular velocity feedback path using the angular velocity subtractor 11 is the same as the conventional space stabilization control device. . Therefore, the maximum value of the space stabilization error θε can be expressed by Equation 2 as in the prior art.
[0024]
Next, operations of the angular velocity generating unit 16, the angular velocity subtracter 17, the second angular velocity deviation amplifier 18, and the inverting integrator 19 will be described. The angular velocity generator 16 generates an angular velocity command at a constant speed. This value is V1. The output V1 of the angular velocity generator 16 is added to the angular velocity subtracter 17 as an angular velocity command, and a deviation from the second angular velocity detector 15 is calculated.
[0025]
This output is input to the second angular velocity deviation amplifier 18 and amplified by the second angular velocity deviation amplifier 18, and the second motor 14 rotates at a constant angular velocity V1. On the other hand, the output V1 of the angular velocity generator 16 is integrated by the inverting integrator 19 to reverse the polarity, and is added to the angle control system as an angle command to the angle subtractor 20, so that the first motor 4 is similarly It rotates at a constant angular velocity V1. At this time, since the angular velocity of the first motor 4 and the second motor 14 is equal to V1 and opposite to the rotation direction, the visual axis of the camera unit 2 is directed in a certain direction. In the friction characteristic of FIG. 11, when the angular velocity command value V1 is set larger than the maximum value of the disturbance angular velocity generated by the vibration of the automobile 1, it can be easily understood that the operation is performed only in the dynamic friction region of the friction characteristic. Therefore, the maximum value of Equation 2 is Equation 4.
[0026]
[Expression 4]

[0027]
Since D is proportional to the angular velocity as can be seen from FIG. 11, the space stabilization error θε changes according to the oscillation waveform of the automobile 1. The state at this time is shown in FIG. Comparing Equation 3 and Equation 4, the numerator term is 2 · Tsf> D, as is apparent from FIG. From the above, it is clear that the space stabilization error θε is improved as compared with the prior art.
[0028]
Embodiment 2. FIG.
FIG. 4 is a block diagram showing Embodiment 2 of the space stabilization control device according to the present invention. In the figure, 2 to 4, 6 to 7, and 9 to 12 are the same as those in the conventional space stabilization control device, and 14 to 20 are the same as those in the first embodiment. Reference numeral 22 denotes a first differentiator for differentiating the output of the first angle detector 6 to calculate the angular velocity. Moreover, in the figure, the same symbol is the same as FIG.
[0029]
Next, the operation will be described. The first differentiator 22 simply calculates the angular velocity from the angle detector 5 instead of the angular velocity detector 5 of the first embodiment, and the other operations are the same as those of the first embodiment.
[0030]
Embodiment 3 FIG.
FIG. 5 is a block diagram showing Embodiment 3 of the space stabilization control device according to the present invention. In the figure, 2 to 5, 7, and 9 to 12 are the same as those of the conventional space stabilization control device, and 14 to 18 are the same as those of the first embodiment. 23 is a differentiator that calculates the disturbance angular velocity by differentiating the output of the disturbance angle detector 7, 24 is an inverter that inverts the output of the angular velocity generator 16, and 25 is an angular velocity command value and first angular velocity detection of the inverter 24. A third angular velocity subtractor that calculates the deviation from the output of the calculator 5 and adds the output of the differentiator 23, and 26 is an integrator that calculates the angular deviation by integrating the output of the third angular velocity subtractor. Further, in the figure, the same symbols are the same as those in FIG.
Next, the operation will be described. In this control system, only the spatial stabilization control system is configured by an angular velocity control system using only the angular velocity detector 5 instead of the angle control system using the angle detector 6 of the first embodiment. This is exactly the same as in the first embodiment.
[0032]
Embodiment 4 FIG.
FIG. 6 is a block diagram showing a fourth embodiment of the space stabilization control device according to the present invention. In the figure, 2 to 4, 6 to 7, and 9 to 12 are the same as those in the conventional space stabilization control device, 14 to 18 are the same as those in the first embodiment, and 23 to 26 are in the third embodiment. Is the same. A differentiator 27 differentiates the output of the angle detector 6 to calculate the angular velocity. In the figure, the same symbols are the same as those in FIGS.
Next, the operation will be described. The second differentiator 27 merely differentiates the output of the angle detector 6 in place of the angular velocity detector 5 of the third embodiment to generate an angular velocity, and other operations are exactly the same as those of the third embodiment. .
[0034]
【The invention's effect】
The space stabilization control device according to the first aspect of the invention controls the rotation mechanism of the sliding portion between the rotating portion and the fixed portion to be controlled so that each rotating direction is rotated at a constant speed in the opposite direction at a constant speed. By operating only in the dynamic friction area while avoiding the static friction area of the friction torque generated at the sliding part between the rotating part and the fixed part to be controlled, the stability of the space stabilization control device such as image blurring is stabilized. This has the effect of improving the performance.
[0035]
In addition, the space stabilization control device according to the second invention performs angle control using the differential value of the output of the angle detector instead of the angular velocity detector of the space stabilization control device according to the first invention, There is an effect of improving the stabilization performance of the space stabilization control device such as image blur at low cost.
[0036]
In addition, the space stabilization control device according to the third invention is low in cost by controlling the angular velocity using only the angular velocity detector instead of the angle detector of the space stabilization control device according to the first invention. This has the effect of improving the stabilization performance of the space stabilization control device such as image blur.
[0037]
In addition, the space stabilization control device according to the fourth aspect of the invention is low in cost by controlling the angular velocity using only the angle detector instead of the angular velocity detector of the space stabilization control device according to the first aspect of the invention. This has the effect of improving the stabilization performance of the space stabilization control device such as image blur.
[Brief description of the drawings]
FIG. 1 is a configuration diagram showing Embodiment 1 of a camera space stabilization control device according to the present invention;
FIG. 2 is a rotation mechanism diagram of a camera unit in the present invention.
FIG. 3 is a diagram showing waveforms at various parts when the movement of the automobile 1 occurs in a sine wave shape.
FIG. 4 is a block diagram showing Embodiment 2 of the camera space stabilization control device according to the present invention;
FIG. 5 is a block diagram showing Embodiment 3 of a camera space stabilization control device according to the present invention;
FIG. 6 is a block diagram showing Embodiment 4 of the camera space stabilization control device according to the present invention.
FIG. 7 is a diagram showing an application example of the present invention to an automobile.
FIG. 8 is a diagram illustrating a configuration of a conventional camera unit and a space stabilization control device.
FIG. 9 is a rotation mechanism diagram of a conventional camera unit.
FIG. 10 is a diagram showing waveforms at various parts in a conventional configuration when the vibration of the automobile 1 occurs in a sine wave shape.
FIG. 11 is a diagram illustrating characteristics of friction torque generated in a sliding portion between a rotating portion and a fixed portion of a camera portion.
FIG. 12 is a diagram illustrating gain blocks of a conventional camera unit and a space stabilization control device.
[Explanation of symbols]
DESCRIPTION OF SYMBOLS 1 Automobile, 2 Camera part, 3 Space stabilization control apparatus, 4 Motor, 5 Angular velocity detector, 6 Angle detector, 7 Disturbance angle detector, 8 Angle subtractor, 9 Angular error, 10 Angular deviation amplifier, 11 Angular velocity subtraction 12 Angular velocity deviation amplifier, 13 Bearing, 14 Motor, 15 Angular velocity detector, 16 Angular velocity generator, 17 Angular velocity subtractor, 18 Angular velocity deviation amplifier, 19 Inverting integrator, 20 Angular subtractor, 21 Bearing, 22 Differentiator, 23 differentiator, 24 inverter, 25 angular velocity subtractor, 26 integrator, 27 differentiator.

Claims (4)

A first motor that rotates a control object mounted on a moving body, an angle detector that detects a rotation angle of the first motor, and a first angular velocity detector that detects a rotation angular velocity of the first motor A disturbance angle detection unit that detects a disturbance generated by the shaking of the moving body and inverts an output, an angular velocity generation unit that generates a command value to rotate the control target, and an output of the angular velocity generation unit An inverting integrator that integrates the angular velocity command and converts it to an angle of opposite polarity, and calculates the deviation between the output of the inverting integrator and the output of the angle detector, and adds the output of the disturbance angle detector to give an angular error. An angle subtractor for calculating the angle, an angle deviation amplifier for amplifying the output of the angle subtractor, and a first angular velocity for calculating a deviation between the output of the angle deviation amplifier and the angular velocity detected by the first angular velocity detector. Subtractor and above A first angular velocity deviation amplifier that amplifies the output of the first angular velocity subtractor and drives the first motor; and a second that has a rotor on the stator side of the first motor and rotates with respect to the moving body. A second angular velocity detector for detecting the rotational angular velocity of the second motor, a second angular velocity detector for calculating a deviation between the output of the angular velocity generator and the angular velocity detected by the second angular velocity detector. A spatial stabilization control device comprising: an angular velocity subtracter; and a second angular velocity deviation amplifier that amplifies the output of the second angular velocity subtractor and drives the second motor. A first motor for rotating a control object mounted on a moving body; an angle detector for detecting a rotation angle of the first motor; a differentiator for differentiating an output of the angle detector to calculate an angular velocity; A disturbance angle detector that detects a disturbance generated by the shaking of the moving body and reverses the output; an angular velocity generator that generates a command value to rotate the control object; and an angular velocity that is an output of the angular velocity generator An inverting integrator that integrates the command and converts it to an angle of opposite polarity, and calculates the deviation between the output of the inverting integrator and the output of the angle detector, and adds the output of the disturbance angle detector to reduce the angle error. An angle subtractor for calculating, an angle deviation amplifier for amplifying an output of the angle subtractor, a first angular velocity subtractor for calculating a deviation between an output of the angle deviation amplifier and an angular velocity detected by the differentiator; First angular velocity reduction A first angular velocity deviation amplifier for amplifying the output of the compressor and driving the first motor; a second motor having a rotor on the stator side of the first motor and rotating with respect to the moving body; An angular velocity detector for detecting the rotational angular velocity of the second motor; a second angular velocity subtractor for calculating a deviation between the output of the angular velocity generator and the angular velocity detected by the angular velocity detector; and the second angular velocity subtraction. And a second angular velocity deviation amplifier for amplifying the output of the device and driving the second motor. A first motor for rotating a control object mounted on a moving body, a first angular velocity detector for detecting the rotational angular velocity of the first motor, and a disturbance generated by the shaking of the moving body are detected and output. A disturbance angle detector that reverses, a differentiator that calculates an angular velocity by differentiating an output of the disturbance angle detector, an angular velocity generator that generates a command value to rotate the control target, and an angular velocity generator An inverter that inverts the polarity of the output; a first angular velocity subtractor that calculates a deviation between the output of the inverter and the output of the first angular velocity detector and adds the output of the differentiator; and the first An integrator that integrates the output of the angular velocity subtractor to calculate an angular error, an angular deviation amplifier that amplifies the output of the integrator, an output of the angular deviation amplifier, and an angular velocity that is detected by the first angular velocity detector; To calculate the deviation of The angular velocity subtractor, the first angular velocity deviation amplifier that amplifies the output of the second angular velocity subtractor to drive the first motor, and the rotor on the stator side of the first motor. A second motor that rotates relative to the second motor, a second angular velocity detector that detects a rotational angular velocity of the second motor, an output of the angular velocity generator, and an angular velocity detected by the second angular velocity detector A space stabilization control device comprising a third angular velocity subtractor that calculates a deviation and a second angular velocity deviation amplifier that amplifies the output of the third angular velocity subtractor and drives the second motor. A first motor for rotating a control object mounted on a moving body, an angle detector for detecting a rotation angle of the first motor, and a first for calculating an angular velocity by differentiating an output of the angle detector. A differentiator, a disturbance angle detector that detects a disturbance generated by the shaking of the moving body and inverts the output, a second differentiator that calculates an angular velocity by differentiating the output of the disturbance angle detector, and the control An angular velocity generator that generates a command value to rotate the target, an inverter that inverts the polarity of the output of the angular velocity generator, and a deviation between the output of the inverter and the output of the first differentiator is calculated. A first angular velocity subtracter that adds the outputs of the second differentiator, an integrator that integrates the outputs of the first angular velocity subtractor to calculate an angle error, and an angle that amplifies the output of the integrator. Deviation amplifier, and output of the angle deviation amplifier A second angular velocity subtractor that calculates a deviation from the angular velocity output from the first differentiator, and a first angular velocity deviation amplifier that amplifies the output of the second angular velocity subtractor and drives the first motor. A second motor having a rotor on the stator side of the first motor and rotating with respect to the moving body, an angular velocity detector for detecting a rotational angular velocity of the second motor, and an angular velocity generator A third angular velocity subtractor for calculating a deviation between the output and the angular velocity detected by the angular velocity detector; and a second angular velocity deviation amplifier for amplifying the output of the third angular velocity subtractor and driving the second motor. A space stabilization control device.

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