陀螺滤波在改善伺服系统低速特性中的应用  

An Application for Improving Low Speed Quality of Servo System with Gyro Filtering

作　　者：孟中[1] 张涛[1] 戴明[1] 于前洋[1] 葛文奇[1] 

机构地区：[1]中国科学院长春光学精密机械与物理研究所航测部

出　　处：《压电与声光》2006年第1期109-112,共4页Piezoelectrics & Acoustooptics

基　　金：中科院青年创新基金资助项目(Q03R10Z)

摘　　要：压电陀螺作为陀螺稳定平台伺服系统稳定回路的反馈测量元件,它的输出噪声直接影响伺服系统低速引导情况下的控制精度。抑制陀螺的输出噪声是改善伺服系统低速特性的有效手段之一。提出了一种基于一阶自回归模型的卡尔曼滤波算法,并应用于实际系统中。采用该方法,伺服系统的低速精度指标由原来采用移动平均滤波的0.102 13°/s提高到0.063 03°/s。同时探讨和总结了卡尔曼滤波器在伺服系统中应用的必要条件。实验证明,卡尔曼滤波可以有效地改善伺服系统的低速特性。Piezoelectric gyro is the feedback measuring sensor of the gyro stabilized platform. For its output noise will degrade the control precision of servo system under low speed input. It is effective to improve the low speed quality by suppressing the output noise of gyro. In this paper,an algorithm based on AR（1） modeling Kalman filtering is proposed and applied in actual servo system. Thus,the control precision of servo system is improved from the 0. 102 13°/s with average moving to the 0. 063 03°/s with Kalman filtering under the typical low speed input. Furthermore,the necessary restrictions for the filtering is analyzed and summarized for the Kalman filtering. Some relative experiments proved advantages in improving the low speed quality of servo system with Kalman filtering.

关 键 词：压电陀螺 输出噪声 卡尔曼滤波 伺服系统 

分 类 号：V241.5[航空宇航科学与技术—飞行器设计]