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为使四轴陀螺稳定平台适应运载体全纬度、全姿态工作的要求,从运动学角度分析了四框架轴控制信号的特点。将陀螺输出信号及框架角传感器信号组合形成观测变量,给出选择不同组合时控制信号的配置方案。该方案采用完整的观测矩阵形式,可准确计算中框轴、外框轴控制信号,补偿回路增益的变化。结合避免框架锁定的要求及实际电动机驱动力矩有限的条件,提出了中框轴、外框轴的分区变结构控制方案。基于Simulink的计算结果表明:该控制方案完全避免了框架锁定且切换过程平稳,为在载体全纬度、全姿态工作的条件下实现台体的惯性空间稳定提供了必要保障。
In order to adapt the four-axis gyro stabilized platform to the requirements of full-latitude and full-attitude operation of the carrier, the characteristics of four-frame axis control signals are analyzed from the perspective of kinematics. The gyro output signal and the frame angle sensor signal are combined to form an observation variable, and the configuration scheme of the control signal when different combinations are selected is given. The scheme adopts a complete observation matrix form, which can accurately calculate the control signals of the middle frame and the outer frame and compensate the change of the loop gain. Combined with the requirement of avoiding the frame locking and the limited actual driving torque of the motor, a scheme of variable structure control of the middle frame and the outer frame is proposed. The calculation results based on Simulink show that the control scheme completely avoids the locking of the frame and the smooth switching process, which provides the necessary guarantee for the stability of the inertial space of the platform under the condition of full-latitude and full attitude of the carrier.