Design of stable aviation platform operated by cable drive

Lei SHI; Yong-sen XU; Da-peng TIAN; Fu-chao WANG; Zhong-shi WANG

doi:10.3788/OPE.20202806.1245

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Design of stable aviation platform operated by cable drive

更新时间：2020-07-13

- Design of stable aviation platform operated by cable drive
- Optics and Precision Engineering Vol. 28, Issue 6, Pages: 1245-1253(2020)
- 作者机构：
  
  1.中国科学院长春光学精密机械与物理研究所, 吉林长春 130033
  2.中国科学院航空光学成像与测量重点实验室, 吉林长春 130033
  3.中国科学院大学, 北京 100049
- 作者简介：
- 基金信息：
- DOI：10.3788/OPE.20202806.1245
  CLC： TP745
- Received：04 November 2019，
  
  Accepted：27 November 2019，
  
  Published：25 June 2020
- 稿件说明：
移动端阅览
Lei SHI, Yong-sen XU, Da-peng TIAN, et al. Design of stable aviation platform operated by cable drive[J]. Optics and precision engineering, 2020, 28(6): 1245-1253.
DOI：

Lei SHI, Yong-sen XU, Da-peng TIAN, et al. Design of stable aviation platform operated by cable drive[J]. Optics and precision engineering, 2020, 28(6): 1245-1253. DOI： 10.3788/OPE.20202806.1245.

摘要

针对某高光谱相机选择系留气球作为飞行平台的使用要求，设计了一台钢丝绳传动两轴稳定平台，对系留气球在方位和俯仰方向的姿态变化进行角度补偿。稳定平台的方位和俯仰传动机构均采用钢丝绳传动，方位轴和俯仰轴的连续驱动力矩分别为93.6 N·m和117 N·m，两轴的最高转速分别为25 (°)/s和20 (°)/s。对稳定平台进行了实验室测试，测试结果表明：稳定平台的传动精度为5

rad，传动误差不大于0.7%，方位轴和俯仰轴的开环控制伺服带宽分别为15 Hz和35 Hz，正弦跟踪精度均方根误差值分别为0.004 5和0.004 3。然后进行了外场飞行试验，稳定平台安装在系留气球底部，俯仰框架上安装35 kg的高光谱相机进行空中对地观测，飞行试验中获取稳定平台陀螺稳定数据，得到方位轴和俯仰轴的稳定精度分别为38.83

rad(RMS)和37.26

rad，满足高光谱相机稳定成像的指标要求。

Abstract

Using a tethered balloon as a flight platform for a hyperspectral camera

a two-axis stable platform was designed to compensate the attitude change of the platform in the heading and pitching directions. The azimuth and pitch driving mechanisms of the stable platform were powered by a cable drive. The continuous driving torques of the azimuth and pitch axes were 93.6 N·m and 117 N·m

respectively

and the maximum rotational speeds of the shafts were 25 (°)/s and 20 (°)/s

respectively. The test results show that the transmission accuracy of the stable platform is 5

rad

and the transmission error is less than 0.7%. The servo bandwidths of the azimuth and pitch axes are 15 Hz and 35 Hz

respectively. The root mean-squared (RMS) errors of the sinusoidal tracking accuracies of the azimuth and pitch axes are 0.0045 and 0.0043

respectively. An outfield flight test was performed with a 35-kg hyperspectral camera mounted on the stable platform pitching frame to conduct air-to-earth observations

and the gyro stability data of the flight test was monitored. The RMS stability accuracy of the azimuth axis (38.83

rad) and the pitch axis (37.26

rad) met the 50-

rad requirement of the hyperspectral camera.

关键词

Keywords

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