垂直陀螺180°回转伺服变结构PID控制  

Variable PID Control Method for 180°Back Swing Servo Control System of Vertical Gyro

作　　者：万健如[1] 张建松[1] 陈超[1] 刘春江[2] 

机构地区：[1]天津大学电气与自动化工程学院,天津300072 [2]国家广播电视总局广播科学研究院,北京100866

出　　处：《天津大学学报》2006年第8期913-917,共5页Journal of Tianjin University(Science and Technology)

基　　金：天津市自然科学基金(05YFJMJC11500).

摘　　要：为减小垂直陀螺仪的漂移,提高平台罗经系统精度,设计了垂直陀螺180°回转伺服控制系统,采用变结构PID校正网络和角速度数字控制器,实现垂直陀螺仪精确角位置伺服控制和接近匀速的回转．实验结果表明,采用变结构比例、积分、微分(PID)控制方法,可以使旋转机构在0°和180°位置精确定位,有效减小陀螺仪漂移．在对系统动态性能要求不高的情况下,该方案能将稳态绝对误差控制在30″以内,满足设计精度要求．In order to diminish gyro drift and swing servo control system of vertical gyro is improve the precision of platform designed. The variable-structure compass system, a 180° back proportion-integral-differential （PID） control revise network and digital angular velocity controller are adopted to realize the accurate angular position servo control and uniform back swing of vertical gyro. The experiment result shows that the variable PID control method can accurately locate the rotary machine at 0° and 180°, thus the gyro drift is effectively diminished. When the request for dynamic performance of system is not rigid, this project makes the absolute steady error of system be controlled under 30＂, which can meet the design request.

关 键 词：平台罗经 陀螺漂移 变结构PID 伺服控制 

分 类 号：TP216[自动化与计算机技术—检测技术与自动化装置]