| 摘要 |
A spatial stabilization apparatus capable of performing spatial stabilization while performing target tracking is provided. The spatial stabilization apparatus (700) includes a controlled object (1), angle detection means (2) for detecting the angle of the controlled object (1) and outputting the detected angle as a detection angle signal (¸m); and first command generation means (5) for outputting a target angle command (¸t) and a target angular speed command (Ét1) for the controlled object (1). The spatial stabilization apparatus (700) further includes an inertia sensor (8) that detects the angular speed of the controlled object (1) and outputs the detected angular speed as a detection angular speed signal (Ém), first subtraction means (11) for obtaining a difference between the target angular speed command (Ét1) and the angular speed and outputting the difference as a differential angular speed signal (KÉc), and first control means (9) for generating a drive control signal (K¸c) based on the differential angular speed signal (KÉc) and a difference between the target angle command (¸t) and the angle. The spatial stabilization apparatus (700) controls a rotation of the controlled object (1) so that an effect on the controlled object (1) caused by a movement of the vehicle is reduced. |
