| 摘要 |
This space stabilizing device comprises: a first controlled object coupled to a stationary part so as to freely rotate around a first axis; a second controlled object coupled to the first controlled object so as to freely rotate around a second axis; and an inertial sensor that generates a first measuring angular velocity signal representing an angular velocity in a first coordinate system. The angular velocity detected by the inertial sensor is converted to an angular velocity of a second coordinate system fixed to the first controlled object. A first angle, which is the angle of the first controlled object around the first axis, is controlled according to the aforementioned angular velocity, the detection result of the first angle, and a target angle of the first angle. An angular velocity in the second coordinate system is converted to an angular velocity of a third coordinate system fixed to the second controlled object. A second angle, which is the angle of the second controlled object around the second axis, is controlled according to an angular velocity calculated by subtracting a target angular velocity of the first angle from the aforementioned angular velocity, and the detection result of a second angle. |
