Actively stabilized payload support apparatus and methods

摘要

A payload stabilizer suitable for use with video camera payloads. The stabilizer has a feedback system providing supplemental torques to the payload through a gimbal while remaining responsive to direct operator control.

主权项

1. An apparatus for stabilizing a payload comprising:
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 substantially perpendicular to the second gimbal axis; the gimbal having a torque generator system; the torque generator system comprising a first torque generator to generate torque about the first gimbal axis and a second torque generator to generate torque about the second gimbal axis; a pan shaft attached to the gimbal; a rotation measuring device to measure an angle θ of rotation of the pan shaft;
one or more processing devices configured to receive angle θ;one or more non-transitory storage devices on which is stored executable computer code operatively coupled to the one or more processing devices, wherein the computer code when executed carries out the method comprising:receiving angle θ from the rotation measuring device;calculating cosine θ and sine θ;receiving a selected supplemental roll torque;receiving a selected supplemental tilt torque;adding the product of the supplemental tilt torque and cosine θ to the product of the supplemental tilt 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 second gimbal axis torque; andcausing a second torque generator to generate the first gimbal axis torque.