航空遥感三轴惯性稳定平台双速度环控制  

Dual rate-loop control method of three-axis inertially stabilized platform for aerial remote sensing application

作　　者：周向阳[1] 赵强[1] 

机构地区：[1]北京航空航天大学惯性技术重点实验室,新型惯性仪表与导航系统技术国防重点学科实验室,北京100191

出　　处：《中国惯性技术学报》2013年第4期439-445,共7页Journal of Chinese Inertial Technology

基　　金：国家"973"计划项目(2009CB72400201);国家"863"计划项目(2008AA121302)

摘　　要：航空遥感三轴惯性稳定平台用于稳定成像载荷,获取高分辨率的遥感数据。针对惯性稳定平台视轴稳定控制中单速度环对干扰力矩抑制的不足,提出采用以编码器进行数字测速构成速度内环、利用速率陀螺构成速度外环的双速度环复合控制方案,将稳定回路抗内部干扰功能和隔离外界干扰功能分开设计实现,以提高系统稳定精度。分别对单速度环和双速度环对扰动的抑制能力进行了理论分析和对比,并在理论分析基础上,对单速度环和双速度环的扰动抑制能力进行了Matlab仿真分析和实验验证。结果表明:与单速度环相比,双速度环可明显减小质量偏心、摩擦等主要内部干扰以及外部基座低频扰动造成的稳态误差,静基座摇摆伺服稳定角速度RMS值减小了52.3%,静基座调平姿态精度RMS值减小了22.1%,动基座调平姿态精度RMS值减小了37.4%。Three-axis inertially stabilized platform can be used to stabilize the imaging sensor in airborne high-resolution remote sensing system. In order to overcome the shortcoming of single rate-loop servo control in disturbance rejection, a dual rate-loop control method is presented in which the measuring signals of encoder and rate gyro are respectively employed to constitute the inner rate loop and the outer rate loop. In this way, the functions of rejecting inner disturbance and insulating carrier turbulence are designed respectively. The performances of disturbance rejection on two control methods are analyzed in theory and are validated in Matlab simulation and experiments. The results show that the dual rate-loop control method can improve the precision of control system obviously through reducing the error caused by mass imbalance, friction and low-frequency carrier disturbance, which agree well with the conclusions of theoretical analysis and simulation results. The angular velocity RMS value and the angle RMS value are decreased by 22.1% and 52.3% respectively on stationary base, and the angle RMS value are decreased by 37.4% on dynamic base.

关 键 词：航空遥感 三轴惯性稳定平台 双速度环 扰动抑制 

分 类 号：U666.1[交通运输工程—船舶及航道工程]