SPATIAL STABILIZATION DEVICE, SPATIAL STABILIZATION CONTROL METHOD AND SPATIAL STABILIZATION CONTROL PROGRAM

WIPO Patent Application WO/2014/141341

A1

Provided is a spatial stabilization device capable of following a target while maintaining spatial stability. This spatial stabilization device (700) has: a subject of control (1); an angle detection means (2) for detecting the angle of the subject of control (1), and outputting the same as a detected-angle signal (θm); and a first-command generation means for outputting the target-angle command (θt) of the subject of control (1) and the target-angular-velocity command (ωt1) thereof. This spatial stabilization device (700) also has: an inertia sensor (8) for detecting the angular velocity of the subject of control (1) and outputting the same as a detected-angular-velocity signal (ωm); a first subtraction means (11) for obtaining the differential between the angular velocity and the target-angular-velocity command (ωt1), and outputting the same as a differential-angular-velocity signal (Kωc); and a first control means (9) for generating a drive control signal (Kθc) on the basis of the differential-angular-velocity signal (Kωc), and the differential between the angle and the target-angle command (θt). Furthermore, The subject of control (1) is rotated and controlled so as to reduce the impact from the motion of the mobile body on the subject of control (1).

SHIMIZU MOTOAKI (JP)

PCT/JP2013/007222

September 18, 2014

December 09, 2013

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NEC CORP (JP)

G05D3/12; G01C19/00

JPH11234961A	1999-08-27
JP2001290540A	2001-10-19
JP2008217129A	2008-09-18
JP2008293091A	2008-12-04
JPH0526674A	1993-02-02
JP2000134532A	2000-05-12
JPH0579299U	1993-10-29

See also references of EP 2975484A4

IEIRI, Takeshi (JP)
House ON 健 (JP)

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