JP4822097B2 - Shaking / stabilizing device - Google Patents

Description

The present invention relates to a shaking / stabilizing base device that is particularly effective in absorbing shaking generated in a moving body or giving shaking to a shaking target.

  A moving body such as a vehicle, a ship, or an aircraft generates fluctuations such as pitching (back and forth), rolling (rolling), and yawing (swing around a vertical axis) during movement. There is a shaking table device that generates such a shaking and performs a voyage practice or a driving simulation.

  The shaking table device generates a rotational motion around the X axis and the Y axis, that is, rolling and pitching, on a top plate (platform) such as a maneuvering or driving simulator installed on the ground.

  For such a shaking table device, a parallel motion base system in which linear actuators of 6 degrees of freedom are arranged in parallel, or a gimbal system in which an external gimbal and an internal gimbal are combined as a mechanism for simultaneously driving two axes of rolling and pitching. Broadly divided.

  As shown in Patent Document 1 or Patent Document 2, the parallel motion base uses a plurality of actuators and can control six degrees of freedom. For this reason, the parallel motion base can control rolling, pitching, and yawing with high accuracy. Moreover, there is an advantage that rigidity can be enhanced as a feature of the parallel operation.

On the other hand, as an example of the gimbal system, FIG. 6 shows a side view of a gimbal system shaking table. As shown in the figure, a gimbal-type shaking device 1 includes a base plate 2 placed on a floor surface such as a building, a gimbal portion 4 that supports the center of a top plate 3 facing the base plate 2 via a spherical bearing, The four actuators 5 are arranged at four corners, one is connected to the base plate 2 and the other is connected to the top plate 3 via a joint, and can be expanded and contracted in the vertical direction. Accordingly, the top plate 3 is inclined and pitched or rolled by pushing and pulling the actuator 5 arranged in the longitudinal direction or the width direction to expand and contract with the gimbal portion 4 supporting the center of the top plate 3 as a fulcrum. be able to.
JP 09-160478 A JP 2003-236254 A

  However, the parallel motion base has rigidity, but there is a problem that the apparatus configuration becomes large and the cost becomes high. Therefore, when only the control of two degrees of freedom of pitching and rolling is targeted, the gimbal type shaking device is more advantageous in terms of manufacturing cost and size.

  On the other hand, the conventional gimbal-type shaking table device requires a longer stroke of the actuator 5 in order to increase the inclination angle of the top plate. Since the actuator 5 formed perpendicular to the base plate 2 expands and contracts in the vertical direction, the overall height of the apparatus increases. For this reason, when installed in a narrow ship or inside a vehicle, the height is limited and the stroke of the actuator 5 is also limited. If the stroke is restricted, the inclination angle of the top plate is also restricted at the same time.

  In Patent Documents 1 and 2, the fixed base that supports the actuator connected to the shaking table is larger than the shaking table, so that a large installation space is required. In addition, in order to increase the movement range of the top plate, there is a problem that the control of the actuator is complicated by adopting a configuration in which six actuators are combined in two.

SUMMARY OF THE INVENTION In order to improve the above-described problems of the prior art, an object of the present invention is to reduce the height of the shaking / stabilizing table device and to reduce the size of the entire device.
Another object of the present invention is to facilitate control of a rocking table or a stable table.

According to another aspect of the present invention, there is provided a shaking / stabilizing table device comprising: a base; a top plate supported by a support portion provided on the base ; and tiltable about an orthogonal pitch axis and roll axis; and the base and the top plate. Provided at an incline, and is arranged radially symmetrically with respect to the center of the top plate and axially symmetrical with respect to each of the pitch axis and the roll axis, with one end at the base and the other end via a universal joint A plurality of actuators connected to the top plate, a first signal generator for outputting a first rotation signal for rotating the top plate around the pitch axis or maintaining a set angle, and a roll shaft a second signal generator for outputting a second rotation signal for maintaining the top plate to pivot or preset angle around, detects the pitch axis of rotation of the top plate A pitch angle sensor, a first adder for adding the roll angle sensor for detecting a roll axis of rotation of the top plate, and a detection signal from the first rotation signal outputted from the pitch angle sensor, the roll output detecting signal of the angle sensor and the second adder for adding the second rotation signals, a plurality of the disposed on one side of the first output signal of said first adder the pitch axis together give the actuator, the first and the first signal output section providing an inverted signal of the output signal to a plurality of said actuator disposed on the other side of the pitch axis, the second the second output signal of the adder roll together provide a plurality of the actuators disposed on one side of the shaft, a second signal output for providing an inverted signal of the second output signal to a plurality of said actuator disposed on the other side of the roll axis It is characterized by having, when.

In this case, the first signal generation unit and the second signal generation unit are capable of generating a sinusoidal rotation signal. The first signal generation unit and the second signal generation unit include an output adjustment unit that performs zero adjustment by adding an offset signal .

  In the present invention as described above, the actuator connected to the top plate formed so as to be rotatable around two orthogonal axes, that is, the roll axis or the pitch axis, is disposed on the base in an inclined manner. . For this reason, the height of the whole apparatus can be set low.

  In addition, since the actuators are arranged radially from the center of the base, the entire apparatus can be reduced in size. Therefore, it can be installed sufficiently even in a narrow ship where the height is limited and the installation space is limited.

A plurality of actuators are arranged across the pitch axis or roll axis, and the expansion and contraction operations are synchronized for each actuator. For this reason, the rigidity of the apparatus can be maintained and the inclination angle of the roll angle and pitch angle of the top plate can be increased. The tilt angle around the two orthogonal axes is measured, and the rotation signal is output so that the measured value becomes 0 at the signal output unit, so that the fluctuation generated outside the apparatus can be absorbed. Further, preset rolling and pitching can be generated. Further, it is possible to absorb the vibration generated outside and generate the vibration set on the top plate of the apparatus. As a result, it is possible to carry out a voyage practice or a driving simulation even in a ship that is sailing.
By adding an offset signal to the signal generator, the input signal can be finely adjusted (0 adjustment).

DESCRIPTION OF THE PREFERRED EMBODIMENTS Embodiments of a shaking / stabilizing table apparatus according to the present invention will be described below in detail with reference to the accompanying drawings. FIG. 1 is a block diagram of a shaking table device and a shaking / stabilizing table device according to the embodiment. 2 is a plan view of the shaking table and the shaking / stabilizing table according to the embodiment, FIG. 3 is a side view of the shaking table and the shaking / stabilizing table, and FIG. 4 is a front view of the shaking table and the shaking / stabilizing table. Show.

  As shown in FIGS. 3 and 4, the base 12 of the oscillating base (swaying / stabilizing base) 10 is a plate having rigidity to support a top plate 14 to be described later, and a pair of support portions 18 are vertically arranged in the central portion. It is erected. The support portion 18 rotatably supports a pair of both end portions of a cross shaft 23 described later via a bearing 19.

  The cross shaft 23 is an axis formed integrally with the pitch axis 20 and the roll axis 22 orthogonal to each other. The cross shaft 23 is rotatably mounted between the upper and lower support plates. In the present embodiment, for convenience of explanation, a configuration in which the support portion 18 supports the pitch shaft 20 will be described. The bearing 19 supported by the support portion 18 may be either the pitch shaft 20 or the roll shaft 22.

  The top plate 14 is a plate having arbitrary rigidity, and is disposed above the cross shaft 23 so as to face the base 12. In the case of the embodiment, the top plate 14 is formed in a lattice shape in order to maintain strength. The top plate 14 is not provided with crosspieces that form a lattice in the center, and does not interfere with the bearings 19 that support the pitch shaft 20 when tilted. Bearings 15 a and 15 b arranged on the lower surface side of the top plate 14 rotatably support both ends of the roll shaft 22.

  The actuator 16 is configured such that the cylinder rod 17 can be expanded and contracted in the linear direction. Both ends of the actuator 16 are connected to the base 12 at one end (lower end) and the other end (upper end) to the top plate 14 via a universal joint 28. In the present embodiment, for example, a linear actuator can be used as the actuator 16.

  The universal joint 28 may be configured to be rotatable, such as a ball bearing. The universal joints 28 of the base 12 according to the embodiment are the central part of the plate, and four are arranged radially from the center (intersection) 60 of the pitch axis 20 and the roll axis 22. On the other hand, four universal joints 28 of the top plate 14 are arranged in the four corner directions from the center of the plate.

  When the actuator 16 is installed in the universal joint 28, the arrangement of the actuator 16 is symmetric with respect to each of the roll axis 22 and the pitch axis 20, and the roll axis 22 and the pitch axis 20 are centered on the center 60 shown in FIG. The configuration is such that four (16a, 16b, 16c, 16d) are inclined radially from the base 12 to the top plate 14. By connecting the actuator 16 at an inclination, the stroke is extended obliquely. Therefore, the actuator 16 having a stroke length set so as to obtain a sufficient inclination angle can be arranged, and the height of the shaking table 10 can be set low.

  With the above-described configuration, the top plate 14 of the oscillating base (swaying / stabilizing base) 10 rotates around the respective axes of the pitch axis 20 and the roll axis 22 by the expansion and contraction of the four actuators 16. That is, the top plate 14 is pitched in the direction of the arrow 24 via the pitch axis 20 as shown in FIG. 3, and is rolled in the direction of the arrow 26 via the roll axis 22 as shown in FIG.

  Next, the shaking table device (swing / stabilizing device) 30 provided with the shaking table (swing / stabilizing table) 10 will be described. Motors 34 a to 34 d each having a hydraulic pump (not shown) are provided integrally with the actuators 16 a to 16 d of the shaking table device 30. Adders 36a to 36d are connected to the motors 34a to 34d through amplifiers 38a to 38d, respectively.

  The oscillating base (swaying / stabilizing base) 10 is provided with a pitch angle sensor 40 that detects rotation around the pitch axis 20 and a roll angle sensor 44 that detects rotation around the roll axis 22.

  The pitch angle sensor 40 has an output value of 0 when the top plate 14 is horizontal. For example, when the top plate 14 rotates counterclockwise in FIG. 3, the output value of the pitch angle sensor 40 shows a negative value.

  The roll angle sensor 44 has an output value of 0 when the top plate 14 is horizontal. For example, when the top plate 14 rotates counterclockwise in FIG. 4, the output value of the roll angle sensor 44 shows a negative value.

  The output side of the pitch angle sensor 40 is connected to the first signal output unit 32. The first signal output unit 32 includes a first adder 36p, an amplifier 38p, and a sign inverter 42p.

  The first adder 36p receives the detection signal of the pitch angle sensor 40 and the signal of the first signal generator 46, adds them, and outputs the result to the amplifier 38p. The amplifier 38p amplifies and outputs the signal input from the first adder 36p.

  The output side of the amplifier 38p is connected to a sign inverter 42p and is connected to adders 36a and 36b. The sign inverter 42p inverts the output of the amplifier 38p and inputs it to the adders 36c and 36d.

  On the other hand, the output side of the roll angle sensor 44 is connected to the second signal output unit 33. The second signal output unit 33 includes a second adder 36r, an amplifier 38r, and a sign inverter 42r.

  The second adder 36r receives the detection signal from the roll angle sensor 44 and the signal from the second signal generator 48, adds them, and outputs the result to the amplifier 38r. The amplifier 38r amplifies and outputs the signal input from the second adder 36r.

  The output side of the amplifier 38r is connected to a sign inverter 42r and is connected to adders 36a and 36c. The sign inverter 42r inverts the output of the amplifier 38r and inputs it to the adders 36b and 36d.

The adder 36a receives the output signal of the amplifier 38r and the output signal of the amplifier 38p, adds them, and outputs the result to the amplifier 38a.
The adder 36b receives the output signal of the amplifier 38r inverted by the sign inverter 42r and the output signal of the amplifier 38p, adds them, and outputs the result to the amplifier 38b.

The adder 36c receives the output signal of the amplifier 38r and the output signal of the amplifier 38p inverted by the sign inverter 42p, adds them, and outputs the result to the amplifier 38c.
The adder 36d receives the output signal of the amplifier 38r inverted by the sign inverter 42r and the output signal of the amplifier 38p inverted by the sign inverter 42p, adds them, and outputs the result to the amplifier 38d.

Next, the operation of the shaking table device 30 of the present invention having the above configuration will be described below.
First, a control method for causing the shaking table device 30 installed in a building or the like to generate shaking will be described. In the embodiment, for example, a case where the horizontal top plate 14 is rotated 20 degrees counterclockwise around the pitch axis 20 will be described.

  A positive rotation signal that tilts 20 degrees counterclockwise from the first signal generation unit 46 is input to the first adder 36 p of the first signal output unit 32. In the first adder 36p, the output value 0 of the pitch angle sensor 40 and the signal of the first signal generator 46 are input to the amplifier 38p as they are. The amplifier 38p amplifies the input signal, inputs it to the sign inverter 42p, and supplies it to the adders 36a and 36b.

  In the adders 36a and 36b, there is no output signal from the second signal output unit 33, and the output signal of the amplifier 38p is directly amplified by the amplifiers 38a and 38b and supplied to the motors 34a and 34b. The motors 34a and 34b operate a hydraulic pump (not shown) to extend the cylinder rods of the actuators 16a and 16b on one side of the pitch shaft 20.

  On the other hand, the adders 36c and 36d receive the output signal of the amplifier 38p inverted by the sign inverter 42p, amplify the output signal by the amplifiers 38c and 38d, and supply the amplified signals to the motors 34c and 34d. The motors 34c and 34d operate a hydraulic pump (not shown) to reduce the cylinder rods of the actuators 16c and 16d on the other side of the pitch shaft 20. As a result, the top plate 14 tilts (rotates) counterclockwise in FIG.

  When the top plate 14 rotates counterclockwise in FIG. 3, the pitch angle sensor 40 outputs a negative detection signal corresponding to the rotation angle to the first adder 36p. The first adder 36p adds the output value of the pitch angle sensor 40 to the output signal of the first signal generator 46. When the top plate 14 rotates 20 degrees, the output signal of the first signal generator 46 is canceled by the output (detection signal) of the pitch angle sensor 40, and the output of the first adder 36p becomes zero. As a result, the top plate 14 maintains a state in which the top plate 14 is rotated 20 degrees counterclockwise around the pitch axis 20.

  When the top plate 14 is tilted clockwise in FIG. 3, a negative rotation signal is given from the first signal generator 46 to the first adder 36p. As a result, the rods of the actuators 16a and 16b are drawn into the cylinder and contracted, and the rods of the actuators 16c and 16d are extended. The top plate 14 tilts clockwise, and the pitch angle sensor 40 inputs a positive detection signal corresponding to the tilt angle to the first adder 36p.

Next, a case where the horizontal top plate 14 is rotated 20 degrees counterclockwise around the roll shaft 22 will be described.
A positive rotation signal that tilts 20 degrees counterclockwise from the second signal generator 48 is input to the second adder 36 r of the second signal output unit 33. In the second adder 36r, the output value 0 of the roll angle sensor 44 and the signal of the second signal generator 48 are input as they are to the amplifier 38r. The amplifier 38r amplifies the input signal, inputs it to the sign inverter 42r, and gives it to the adders 36a and 36c.

  In the adders 36a and 36c, there is no output signal from the first signal output unit 32, and the output signal of the amplifier 38r is amplified as it is by the amplifiers 38a and 38c and supplied to the motors 34a and 34c. The motors 34a and 34c operate a hydraulic pump (not shown) to extend the cylinder rods of the actuators 16a and 16c on one side of the roll shaft 22.

  On the other hand, the adders 36b and 36d receive the output signal of the amplifier 38r inverted by the sign inverter 42r, amplify the output signal by the amplifiers 38b and 38d, and supply the amplified signals to the motors 34b and 34d. The motors 34b and 34d operate a hydraulic pump (not shown) to reduce the cylinder rods of the actuators 16b and 16d on the other side of the roll shaft 22. As a result, the top plate 14 tilts (rotates) counterclockwise in FIG.

  When the top plate 14 rotates counterclockwise in FIG. 4, the roll angle sensor 44 outputs a negative detection signal corresponding to the rotation angle to the second adder 36r. The second adder 36r adds the output value of the roll angle sensor 44 to the output signal of the second signal generator 48. When the top plate 14 rotates 20 degrees, the output signal of the second signal generator 48 is canceled by the output (detection signal) of the roll angle sensor 44, and the output of the second adder 36r becomes zero. As a result, the top plate 14 maintains a state in which the top plate 14 is rotated 20 degrees counterclockwise around the roll shaft 22.

  When the top plate 14 is tilted clockwise in FIG. 4, a negative rotation signal is given from the second signal output unit 48 to the second adder 36r. As a result, the rods of the actuators 16a and 16c are drawn into the cylinder and contracted, and the rods of the actuators 16b and 16d are extended. The top plate 14 tilts clockwise, and the roll angle sensor 44 inputs a positive detection signal corresponding to the tilt angle to the second adder 36r.

A sinusoidal rotation signal can also be input to the first signal generator 46 and the second signal generator 48. In this case, the tilt sensor need not be used when used as the shaking table device 30. For example, when a rotation signal that changes sinusoidally at a predetermined period for tilting the top plate 14 by ± 5 degrees is input to the first signal generator 46, the top plate 14 rotates around the pitch axis 20 in the clockwise direction in FIG. After tilting 5 degrees, tilt 5 degrees counterclockwise. By repeating this operation continuously at a constant period, the top plate 14 is pitched.
The second signal generator 48 can be operated similarly. Furthermore, a rotation signal can be input to both the first signal generator 46 and the second signal generator 48.

  Next, the operation of the shaking / stabilizing table device 30 of the present invention having the above configuration will be described below. A method of installing the shaking / stabilizing table device 30 on a moving body such as a hull and absorbing the shaking generated from the moving body to hold the top plate 14 horizontally will be described.

First, when the top plate 14 is held horizontally, the first signal generator 46 and the second signal generator 48 are inputted with a rotation signal 0 that makes the inclination angle horizontal.
In the embodiment, for example, when the top plate 14 is rotated (tilted) clockwise around the pitch axis 20 in FIG. 3, the pitch angle sensor 40 detects a positive rotation detection signal corresponding to the rotation angle and performs the first operation. The data is input to the adder 36p. The first adder 36p inputs the output signal of the pitch angle sensor 40 to the amplifier 38p. The output signal amplified by the amplifier 38p is input to the sign inverter 42p and the adders 36a and 36b. Output signals are input from the adders 36a and 36b to the motors 34a and 34b via the amplifiers 38a and 38b, and the rods of the actuators 16a and 16b extend.

  On the other hand, the output signals inverted by the sign inverter 42p from the adders 36c and 36d are input to the motors 34c and 34d via the amplifiers 38c and 38d, and the rods of the actuators 16c and 16d are contracted. As a result, the top plate 14 is rotated counterclockwise and returned to the horizontal.

  When the top plate 14 is rotated counterclockwise about the pitch axis 20 in FIG. 3, the pitch angle sensor 40 inputs a negative detection signal to the first adder 36p. As a result, a negative rotation signal is input to the adders 36a and 36b via the amplifier 38p. Therefore, the motors 34a and 34b reduce the rods of the actuators 16a and 16b. On the other hand, a positive detection signal is input to the adders 36c and 36d by the sign inverter 42p, and the motors 34c and 34d extend the rods of the actuators 16c and 16d. As a result, the top plate 14 is rotated clockwise and returned to the horizontal. Thereby, the top plate 14 is kept horizontal.

Further, when the top plate 14 swings around the roll axis 22, the same control as that around the pitch axis 20 is performed, and the top plate 14 is kept horizontal.
Further, when the top plate 14 is shaken by a combination of pitching and rolling, the adders 36a to 36d detect the pitch angle sensor 40 and the roll angle sensor 44 from the first signal output unit 32 and the second signal output unit 33. A signal based on the signal is input, and the top plate 14 is kept horizontal by the rotation signal added for each of the adders 36a to 36d.

Next, a control method for installing the shaking / stabilizing table device 30 on a moving body such as a hull and causing the shaking / stabilizing table device 30 to arbitrarily set shaking will be described.
In the embodiment, for example, a case will be described in which an arbitrarily set rotation is given to the top plate 14 maintained horizontally.

  In order to hold the top plate 14 horizontally, the first signal generator 46 and the second signal generator 48 receive a rotation signal 0 that makes the inclination angle horizontal. The actuator 16 is controlled so that the detection signals detected by the pitch angle sensor 40 and the roll angle sensor 44 become zero. Thereby, the level of the top plate 14 is maintained.

Then, arbitrarily set rotation signals are input to the first signal generator 46 and the second signal generator 48. The first adder 36p and the second adder 36r receive the rotation signal from the signal generator and the detection signals from the pitch angle sensor 40 and the roll angle sensor 44. In the first adder 36p and the second adder 36r, the rotation signal and the detection signal are added and input to the amplifiers 38p and 38r. The amplified signals are input from the amplifiers 38p and 38r to the adders 36a to 36d. The adders 36a to 36d add the signals of the amplifiers 38r and 38p, respectively, and the actuators 16a to 16d expand and contract through the motors 34a to 34d. The top plate 14 is maintained at the rotation of the set value of the signal generator.
Note that a sine wave-like rotation signal may be input to the first signal generating unit 46 and the second signal generating unit 48 in the shaking / stabilizing table device as well as the shaking table device.

FIG. 5 is an explanatory diagram of the offset signal. The first signal generation unit 46 includes a signal generation unit 52 to which a pitch angle rotation signal is input, an adder 54, and an output adjustment unit 56 as illustrated. The adder 54 receives the output signal from the signal generation unit 52 and the output signal from the output adjustment unit 56. The output voltage of the DC power source divided by the resistance is input to the rotation signal input from the signal generation unit 52 to the adder 54, zero adjustment is performed, and the input voltage is input to the first adder 36p. For example, when the top plate 14 of the shaking table device (swing / stabilizing table device) 30 is horizontal, the output of the pitch angle sensor 40 and the output of the first signal generating unit 46 coincide, that is, the output value becomes zero. The output signal can be adjusted.
The second signal generator 48 is configured in the same manner, and a zero-adjusted rotation signal can be output to the second adder 36r.

  The shaking table device (shaking / stabilizing table device) 30 capable of controlling two degrees of freedom of pitching and rolling can also be configured to place a rotating table on the top plate 14. The turntable is configured to be horizontally rotatable on the top plate, and yawing can be controlled on the turntable. For this reason, it is possible to measure hygiene tracking, azimuth, position, and altitude information by GPS positioning without being affected by the shaking of the moving body.

  Although the tilt sensor according to the embodiment has been described using the pitch angle sensor and the roll angle sensor, it is also possible to use a tilt sensor that can measure the tilt of the pitch axis and the roll axis around two axes. .

  As the actuator 16 according to the embodiment, for example, an electric actuator, an electric hydraulic actuator, a hydraulic cylinder, or the like that converts a rotational movement of an electric motor into a linear movement with a ball screw can be used.

1 is a block diagram of a shaking table device and a shaking / stabilizing table device according to an embodiment. FIG. The top view of the shaking table and shaking / stabilizing table which concern on embodiment is shown. The side view of the shaking table and the shaking / stabilizing table according to the embodiment is shown. The front view of the shaking table and shaking / stabilizing table which concern on embodiment is shown. It is explanatory drawing of an offset signal. It is explanatory drawing which shows the conventional shaking table.

Explanation of symbols

1 ......... Wing base, 2 ......... Base plate, 3 ......... Top plate, 4 ......... Gimbal part, 5 ......... Actuator, 10 ......... Wobbling base (swing / stabilizing base), 12 ......... Base, 14 ......... Top plate, 15 ......... Bearing, 16 ......... Actuator, 17 ......... Cylinder rod, 18 ......... Supporting part, 19 ......... Bearing, 20 ......... Pitch shaft, 22 ... ... Roll axis, 23 ... Cross axis, 28 ... Universal joint, 30 ... Shaking base device (shaking / stabilizing base device), 32 ... First signal output section, 34 ... Motor, 36 ......... Adder, 38 ......... Amplifier, 40 ......... Pitch angle sensor, 42 ......... Signal inverter, 44 ...... Roll angle sensor, 46 ......... First signal generator, 48 ... ... second signal generator 52, ... signal generator 54, ... adder 56 ...... output adjustment unit.

Claims (3)

Base and
A top plate supported by a support portion provided on the base and tiltable about an orthogonal pitch axis and roll axis ;
Inclined between the base and the top plate, and arranged radially with respect to the center of the top plate and symmetrical with respect to each of the pitch axis and the roll axis , via a universal joint A plurality of actuators having one end connected to the base and the other end connected to the top plate;
A first signal generator for outputting a first rotation signal for rotating or maintaining the top plate around the pitch axis at a set angle;
A second signal generator for outputting a second rotation signal for rotating or maintaining the top plate at a set angle around the roll axis;
A pitch angle sensor for detecting rotation of the top plate about the pitch axis ;
A roll angle sensor for detecting rotation of the top plate around a roll axis;
A first adder for adding the detection signal output from the pitch angle sensor and the first rotation signal;
A second adder for adding the detection signal output from the roll angle sensor and the second rotation signal;
The first output signal of the first adder is supplied to the plurality of actuators arranged on one side of the pitch axis, and the inverted signal of the first output signal is given to the plurality of actuators arranged on the other side of the pitch axis . A first signal output unit to be provided to the actuator;
A second output signal of the second adder is applied to the plurality of actuators disposed on one side of the roll shaft, and an inverted signal of the second output signal is disposed on the other side of the roll shaft . A second signal output unit to be provided to the actuator;
A shaking / stabilizing base device characterized by having   2. The shaking / stabilizing base device according to claim 1, wherein the first signal generating unit and the second signal generating unit are capable of generating a sinusoidal rotation signal.   3. The oscillation / stabilization according to claim 1, wherein the first signal generation unit and the second signal generation unit include an output adjustment unit that performs an zero adjustment by adding an offset signal. 4. Stand device.

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