System and method for supporting a compact servo system

Abstract

System and method can support a servo system. The servo system comprises a motor with a rotor and a stator, wherein said rotor is arranged internally to said stator. Furthermore, said rotor, which is rotatable relative to said stator, can be configured to receive at least a portion of a functional module. Additionally, the servo system can be used for supporting a payload stabilization system, such as a gimbal system.

What is claimed is: 
     
         1 . A gimbal system, comprising:
 a servo assembly, including:
 a first motor with a rotor, a stator, and a motor shaft, wherein the rotor is arranged internally to the stator and is configured to receive at least a portion of a functional module, and the first motor is adapted to actuate a movement of the functional module relative to a first axis; 
 a feedback device attached to the motor shaft and configured to detect a current rotor position; and 
 a control module configured to adjust positions of the rotor relative to the stator based on the current rotor position detected by the feedback device; and 
   a second motor adapted to actuate a movement of the functional module relative to a second axis that is different from the first axis.   
     
     
         2 . The gimbal system of  claim 1 , further comprising:
 a chamber formed by an upper cover and a lower cover, wherein the chamber encloses the servo assembly when the upper cover and the lower cover are closed together.   
     
     
         3 . The gimbal system of  claim 2 , further comprising:
 a signal line connected to the functional module, wherein the signal line is at least partially disposed within the chamber and being configured to transmit signals to or from the functional module.   
     
     
         4 . The gimbal system of  claim 2 , further comprising:
 one or more bearings or sliding rings disposed within the chamber, wherein the one or more bearings or sliding rings are configured to be fixed along the first axis when the movement of the functional module relative to the first axis is actuated, and the one or more bearings or sliding rings are configured to prevent the functional module from moving in a direction along the first axis.   
     
     
         5 . The gimbal system of  claim 1 , wherein the feedback device is a magnetic hall sensor, an optical commutation encoder, or a potentiometer. 
     
     
         6 . The gimbal system of  claim 1 , wherein the functional module is an imaging module embedded within the rotor, the imaging module comprises an imaging sensor and a lens having an optical axis that substantially coincides with the first axis. 
     
     
         7 . The gimbal system of  claim 6 , further comprising:
 an imaging control module electronically coupled with the imaging module, wherein the imaging module uses a signal line to transmit image signals to an image signal processor.   
     
     
         8 . The gimbal system of  claim 1 , wherein the rotor includes a magnet yoke, and the function module is mounted within the magnet yoke of the rotor. 
     
     
         9 . The gimbal system of  claim 8 , wherein:
 one or more magnets are arranged on an outside surface of the magnet yoke of the rotor or embedded within the rotor; and   one or more windings are arranged on the stator.   
     
     
         10 . The gimbal system of  claim 9 , wherein the control module is adapted to control electric current to be applied on the one or more windings, wherein the one or more windings operate to generate a magnetic field that interacts with a magnetic field generated by the one or more magnets to produce an output torque when the electric current is applied on the one or more windings. 
     
     
         11 . The gimbal system of  claim 1 , wherein:
 one or more magnets are arranged on an inner surface of the stator;   one or more windings are arranged on an outside surface of the rotor; and   the control module is adapted to control electric current to be applied on the one or more windings, wherein the one or more windings operate to generate a magnetic field that interacts with a magnetic field generated by the one or more magnets to produce an output torque when the electric current is applied on the one or more windings.   
     
     
         12 . The gimbal system of  claim 1 , wherein:
 a first set of windings are arranged on the stator;   a second set of windings are arranged on the rotor; and   the control module is adapted to control electric currents to be applied on the first set of windings and the second set of windings, wherein the first set of windings operate to generate a magnetic field that interacts with a magnetic field generated by the second set of windings to produce an output torque when the electric currents are applied.   
     
     
         13 . The gimbal system of  claim 12 , wherein the first set of windings or the second set of windings is connected in a star fashion or a triangular fashion. 
     
     
         14 . The gimbal system of  claim 1 , wherein a center of gravity of the first motor and the functional module is at, or substantially close to, an intersection point of the first axis and the second axis. 
     
     
         15 . The gimbal system of  claim 1 , wherein the first axis or the second axis is selected from a roll axis, a pitch axis, or a yaw axis. 
     
     
         16 . The gimbal system of  claim 1 , wherein the rotor is a first rotor and the stator is a first stator, the second motor comprises a second rotor and a second stator, and the gimbal system further comprises:
 a frame member configured to connect the first rotor of the first motor to the second stator of the second motor, or to connect the first stator of the first motor to the second rotor of the second motor.   
     
     
         17 . The gimbal system of  claim 1 , further comprising:
 a third motor adapted to actuate a movement of the functional module relative to a third axis that is different from the first axis or the second axis.   
     
     
         18 . The gimbal system of  claim 17 , wherein the rotor is a first rotor and the stator is a first stator, the second motor comprises a second rotor and a second stator, the third motor comprises a third rotor and a third stator, and the gimbal system further comprises:
 a first frame member configured to connect the first rotor of the first motor to the second stator of the second motor, or to connect the first stator of the first motor to the second rotor of the second motor; and   a second frame member configured to connect the second rotor of the second motor to the third stator of the third motor, or to connect the second stator of the second motor to the third rotor of the third motor.   
     
     
         19 . A method, for controlling movement of a functional module in a gimbal system, the method comprising:
 actuating a first motor including a rotor, a stator, and a motor shaft to cause a movement of the functional module relative to a first axis in the gimbal system, wherein the rotor is arranged internally to the stator and is configured to receive at least a portion of the functional module;   detecting, via a feedback device attached to the motor shaft, a current rotor position;   adjusting, via a control module, positions of the rotor relative to the stator based on the current rotor position detected by the feedback device; and   actuating a second motor to cause movement of the functional module relative to a second axis in the gimbal system, wherein the second axis is different from the first axis.   
     
     
         20 . A non-transitory computer-readable medium storing computer-executable instructions that, when executed, cause one or more processors associated with a gimbal system to perform actions, the actions comprising:
 actuating a first motor including a rotor, a stator, and a motor shaft to cause a movement of a functional module relative to a first axis in the gimbal system, wherein the rotor is arranged internally to the stator and is configured to receive at least a portion of the functional module;   detecting, via a feedback device attached to the motor shaft, a current rotor position;   adjusting, via a control module, positions of the rotor relative to the stator based on the current rotor position detected by the feedback device; and   actuating a second motor to cause movement of the functional module relative to a second axis in the gimbal system, wherein the second axis is different from the first axis.