二轴框架平台动力学特性及其可镇定性的研究  

Dynamics Modeling and Stabilization Analysis of a Two-Axis Gimbaled System

作　　者：詹世涛[1,2] 崔宇[3] 闫维新[1,2] 邓文昊[1,2] 付庄[1,2,4] 赵言正[1,2] 

机构地区：[1]机械系统与振动国家重点实验室,上海200240 [2]上海交通大学机械与动力工程学院,上海200240 [3]上海航天技术研究院,上海201109 [4]哈尔滨工业大学机器人系统国家重点实验室,黑龙江哈尔滨150001

出　　处：《上海航天》2013年第3期6-10,49,共6页Aerospace Shanghai

基　　金：上海航天基金(ZYJ09052);机械系统与振动国家重点实验室自主课题资助项目(MSV-MS-2010-03);机器人与系统国家重点实验室自主课题资助项目(SKLRS-2010-ZD-06);国家自然科学基金(61075086;61105101)

摘　　要：对一类典型的Yaw-Pitch结构导引头控制回路中被控系统的动力学特性及内环回路的设计进行了研究。建立了描述结构动力学特性的微分方程组,讨论了基座角振动和结构耦合等因素对多自由度框架结构运动-动力学特性的影响。分析了模型中非线性因素和结构参数摄动导致的稳定性问题,给出了内环回路状态反馈校正的保守鲁棒稳定域。The dynamic characteristics of the gimbal and design of the feedback stability of the inner control loop in the seeker with the structure of typical yaW-pitch were studied in this paper. Dynamic models were deduced to depict the first aspect, in particular, the disturbances that were due to platform motion and kinematics geometrical coupling were treated as varying parameters of the model and disturbance inputs separately. Stability problems that were due to structured uncertainty and parameter perturbation were analyzed. The conservative region with robust stability was derived according to sufficient conditions for the stability of interval matrices.

关 键 词：天线平台 状态反馈 结构不确定性 鲁棒稳定性 

分 类 号：TJ765.22[兵器科学与技术—武器系统与运用工程]