Actively stabilized payload support apparatus and methods
A payload stabilizer and methods for stabilizing a payload suitable for use with video camera payloads. The stabilizer has a feedback system providing supplemental torques to the payload through a gimbal.
1. A payload stabilizing system configured to act upon a payload support apparatus having at least two mutually perpendicular rotational axes the payload stabilizer system comprising;
a torque generator system, the torque generator system comprising a first torque generator to generate torque about a first rotational axis, a second torque generator to generate torque about a second rotational axis, and a third torque generator to generate torque about a third rotational axis, wherein the first, second and third rotational axes are mutually perpendicular;
a plurality of angular rate sensors configured to sense motion about at least two of the two or more mutually perpendicular rotational axes;
a plurality of accelerometers aligned along the mutually perpendicular axes to measure steady state angular orientation of the payload;
a counter comprising a rotation counter sensor and a reference component locked to the payload orientation, configured to provide an input signal corresponding to orientation between the payload and first and second torque generators; and
an electronic control unit comprising:
one or more processors having computer code stored therein, which when executed cause the electronic control unit to:
accept signals from the plurality of angular rate sensors and the plurality of accelerometers;
adjust and encode the signals; and
transmit the adjusted signals to the torque generators to stabilize the payload.
2. The system of claim 1 wherein the third rotational axis is a pan axis, the counter is a pan counter and the rotation sensor senses rotation about the pan axis.
3. The system of claim 1 wherein the third rotational axis is a tilt axis, the counter is a tilt counter and the rotation sensor senses rotation about the tilt axis.
4. The system of claim 1 wherein the reference component is a ring locked to the payload orientation.
5. A method of stabilizing a payload comprising:
providing a payload support apparatus having a gimbal, the gimbal having a first gimbal axis and a second gimbal axis, wherein the first gimbal axis is perpendicular to the second gimbal axis, the payload support apparatus having a rotation measuring device, a first torque generator and a second torque generator;
receiving angle θ from the rotation measuring device;
calculating cosine θ and sine θ;
receiving a selected supplemental roll torque;
receiving a selected supplemental pan torque;
adding the product of the supplemental pan torque and cosine θ to the product of the supplemental pan torque and sine θ to obtain a second gimbal axis torque;
subtracting the product of the supplemental first torque and sine θ to the product of the supplemental first torque and cosine θ to obtain a first gimbal axis torque;
causing a first torque generator to generate the first gimbal axis torque; and
causing a second torque generator to generate the second gimbal axis torque.