三轴惯导测试转台的交叉耦合问题及对策  

Cross-coupling problem and solution for test turntable of three-axis inertial navigation

作　　者：蒋晓刚[1] 倪彬 徐月明[1] 

机构地区：[1]江西九江职业技术学院机电系,九江332007 [2]江西九江市6354所,九江332007

出　　处：《机械设计与制造》2011年第6期266-267,共2页Machinery Design & Manufacture

摘　　要：从三轴惯导测试转台的结构入手,分析了三轴惯导测试转台的交叉耦合问题产生原因:当三轴作同时摇摆和速率状态时,系统将存在一种不确定的非线性强耦合,如三轴同时转动时的惯量耦合,三轴处于非正交情况下的框架之间的动态耦合。这些都直接影响到系统的稳定性,从而难以保证系统稳态和动态性能。对于轴系之间的惯量交叉耦合和框架间的动态耦合问题,其实质是系统中的力矩变化对系统的影响,最终反映在执行电机上的就是要求对电机的输出力矩进行补偿设计;根据对问题的分析进而提出了减小交叉耦合的方法:控制系统采用状态观测器和反馈增益矩阵组合在一起,组成输出反馈系统中的动态补偿器的方案。First the structure of test turntable for Three-axis Inertial Navigation is introduced,by analyzing the cause of cross-coupled problem available in the test turntable on Three-axis Inertial Navigation.When the axis swing at the same time and keep the same rate of state,there is a strong coupling of nonlinear uncertain in the system,such as,inertia coupling generated by the axis rotating,dynamic coupling between the framework in case of non-orthogonal axes,which will impact directly on the stability of the system,and make it difficult to ensure stability of the system and dynamic performance.In this case,concerning the problems of inertial cross-coupling between the shafting and dynamic coupling between the frameworks,which essence is the impact of torque change in the system,the requirements are ultimately reflected on the motor by compensating design of the output torque of the motor.After analyzing the problem,a method for reducing Cross-Coupling is proposed.That is,the control system combining state observer with feedback gain matrix shall form a dynamic compensator in output feedback system.

关 键 词：三轴惯导 交叉耦合 转动惯量 

分 类 号：TH16[机械工程—机械制造及自动化]