浮球式惯性平台转动惯量辨识方法研究  

Research on Identification Method of Rotational Inertia for Floated Inertial Platform

作　　者：刘成龙 蔡洪[1] 白锡斌[1] Liu Chenglong;Cai Hong;Bai Xibin(College of Aerospace Science and Engineering, National University of Defense Technology, Changsha 410073, China)

机构地区：[1]国防科技大学航天科学与工程学院,长沙410073

出　　处：《战术导弹技术》2018年第2期80-89,94,共11页Tactical Missile Technology

摘　　要：球体作为浮球式惯性平台的稳定台体,需要进行高精度的稳定控制,因此需要获取精确的球体转动惯量。浮球式惯性平台实际工作过程中,球体悬浮于液体中,球体内的管路和配重腔体会充满液体,随球体一起转动,从而改变球体的转动惯量,因此需要在浮动状态下辨识球体的转动惯量。提出了一种基于姿态解算的球体转动惯量辨识方法。该方法只需在球体表面悬挂重物产生激励,利用球体内部的陀螺仪敏感球体转动,采用加权递推最小二乘方法实时处理陀螺仪测量的球体转动角速度,以此辨识球体的转动惯量。该方法操作简便,接近球体的真实工作环境,能够快速精确地辨识球体的转动惯量。最后通过仿真分析了陀螺仪测量误差、初始对准误差、悬挂点位置误差对球体转动惯量辨识结果的影响,验证了方法的有效性。The sphere acting as a stable platform for the floated inertial platform needs to be controlled with high precision.In order to guarantee the controlling precision,the rotational inertia of the sphere should be identified with high precision.During the actual work of the floated inertial platform,the sphere is suspended in the liquid.The pipe and counterweight in the sphere are filled with liquid and rotate together with the sphere,thus changing the rotational inertia of the sphere.Therefore,a method should be found to identify the rotational inertia of the sphere in the floating state.In this paper,a method of identifying the rotational inertia of the sphere based on attitude algorithm is proposed.In this method,a small object is hanged on the surface of the sphere to derive the rotation of the sphere.Simultaneously,the gyroscopes assembled inside the sphere are adopted to measure the angular velocity.With the measuring data of the gyroscopes,the weighted recursive least squares method is used to identify the rotational inertia of the sphere.This approach has some advantages,such as simple operation,closing to real working environment,quick calculating speed and high precision.Finally,the influences of the measurement error of the gyroscope,the initial alignment error and the position error of the suspension point on the identification of the rotational inertia of the sphere are analyzed based on digital simulation,and the effectiveness of the method is verified.

关 键 词：浮球式惯性平台 转动惯量辨识 姿态解算 加权递推最小二乘 

分 类 号：TJ765[兵器科学与技术—武器系统与运用工程]