钢丝绳传动航空光电稳定平台设计  

Design of stable aviation platform operated by cable drive

作　　者：石磊[1,2] 许永森[1,2] 田大鹏[1,2] 王福超[1,2] 王中石[1,2,3] SHI Lei;XU Yong-sen;TIAN Da-peng;WANG Fu-chao;WANG Zhong-shi(Changchun Institute of Optics,Fine Mechanics and Physics,Chinese Academy of Sciences,Changchun 130033,China;Key Laboratory of Airborne Optical Imaging and Measurement,Chinese Academy of Sciences,Changchun 130033,China;The University of Chinese Academy of Sciences,Beijing 100049,China)

机构地区：[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

出　　处：《光学精密工程》2020年第6期1245-1253,共9页Optics and Precision Engineering

基　　金：国家自然科学基金资助项目(No.51705496);中国科学院青年创新促进会资助项目(No.2017257);国家重点研发计划资助项目(No.2017YFB0503001)。

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5μrad,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0.0045和0.0043。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38.83μrad(RMS)和37.26μrad,满足高光谱相机稳定成像的指标要求。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 μrad, 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 μrad) and the pitch axis(37.26 μrad) met the 50-μrad requirement of the hyperspectral camera.

关 键 词：航空成像 高光谱相机 稳定平台 钢丝绳传动 稳定精度 系留气球 

分 类 号：TP745[自动化与计算机技术—检测技术与自动化装置]