Stabilizing platform

Abstract

A carrier for controlling torque delivery to a payload includes a carrier component configured to rotate about a carrier axis, a payload support structure coupled to the carrier component and configured to support the payload, and a rotational device coupled to the payload support structure. The rotational device includes a non-rotating portion directly coupled to the payload support structure and a rotating portion configured to rotate freely to provide a supplemental torque to the payload support structure to compensate for a torque transmission delay from the carrier component to the payload support structure when the carrier component rotates about the carrier axis.

What is claimed is: 
     
         1 . A carrier for controlling torque delivery to a payload, comprising:
 a carrier component configured to rotate about a carrier axis;   a payload support structure coupled to the carrier component and configured to support the payload; and   a rotational device coupled to the payload support structure, configured to provide a supplemental torque to the payload support structure to compensate for a torque transmission delay of a first torque transmitted from the carrier component to the payload support structure, wherein the supplemental torque is applied before the first torque reaches the payload support structure, and the supplemental torque is applied in a same direction as the first torque.   
     
     
         2 . The carrier of  claim 1 , wherein the first torque is generated by a first actuator and transmitted to the payload support structure when the carrier component rotates about the carrier axis. 
     
     
         3 . The carrier of  claim 2 , wherein the first torque is generated in response to and to correct for an external torque exerted onto the payload support structure. 
     
     
         4 . The carrier of  claim 2 , wherein a distance from the first actuator to the payload support structure is substantially greater than a distance from the rotational device to the payload support structure. 
     
     
         5 . The carrier of  claim 1 , wherein the rotational device is disposed on a portion of the payload support structure. 
     
     
         6 . The carrier of  claim 1 , wherein the rotational device includes a non-rotating portion directly coupled to the payload support structure and a rotating portion configured to rotate to provide the supplemental torque. 
     
     
         7 . The carrier of  claim 6 , wherein the rotating portion of the rotational device is not directly coupled to the payload support structure such that the rotating portion is configured to rotate freely. 
     
     
         8 . The carrier of  claim 1 , wherein the rotational device is a reaction wheel comprising a second actuator. 
     
     
         9 . The carrier of  claim 8 , wherein the second actuator is a rotational motor including a stator and a rotor, the stator being rigidly and directly attached to the payload support structure to transmit the supplemental torque directly to the payload support structure without transmitting through any intervening parts. 
     
     
         10 . The carrier of  claim 9 , wherein the rotor is configured to rotate freely about a local axis, the local axis being parallel to the carrier axis. 
     
     
         11 . The carrier of  claim 10 , wherein the local axis extends through a center of mass of the payload support structure. 
     
     
         12 . The carrier of  claim 9 , wherein the supplemental torque is generated by applying an electric current having a first direction to the rotational device, thereby causing the rotor to accelerate. 
     
     
         13 . The carrier of  claim 12 , wherein the rotor is configured to accelerate to a predetermined rotational speed. 
     
     
         14 . The carrier of  claim 13 , wherein, when the rotor exceeds the predetermined rotation speed, an electric current having a second direction opposite to the first direction is applied to the rotational device to cause the rotor to decelerate. 
     
     
         15 . The carrier of  claim 9 , wherein the supplemental torque is directly transmitted to the payload support structure through the stator. 
     
     
         16 . The carrier of  claim 9 , further comprising: an inertia wheel mounted onto the rotor and configured to rotate freely with the rotor, the inertia wheel is configured to increase a length of time for which the supplemental torque is provided to the payload support structure. 
     
     
         17 . The carrier of  claim 2 , wherein the torque transmission delay is a result of a torsional deformation of a rotating portion of the first actuator and a torsional deformation of the carrier component. 
     
     
         18 . The carrier of  claim 1 , wherein the supplemental torque is reduced or removed when the first torque is transmitted to the payload support structure. 
     
     
         19 . The carrier of  claim 18 , wherein the supplemental torque is reduced or removed by applying an electric current to the rotational device that causes a rotor and/or an inertia wheel of the rotational device to decelerate. 
     
     
         20 . The carrier of  claim 3 , wherein the external torque is generated and transmitted to the payload support structure as a result of external disturbances exerted on the payload support structure.