自抗扰控制在陀螺加速度计伺服回路中的应用  

Application of Active Disturbance Rejection Control in Pendulous Integrating Gyroscope Accelerometer Servo Loop

作　　者：王兆凯 王汀[2] WANG Zhao-kai;WANG Ting(Laboratory of Science and Technology on Ultra-precision Aerospace Control Instrument,Beijing 100039;Beijing Institute of Aerospace Control Devices,Beijing 100039)

机构地区：[1]超精密航天控制仪器技术实验室,北京100039 [2]北京航天控制仪器研究所,北京100039

出　　处：《导航与控制》2021年第6期60-66,共7页Navigation and Control

摘　　要：陀螺加速度计作为惯性导航平台上的关键仪表,其精度直接影响着惯性导航的结果。但实际工作过程中,在外界环境的影响下,其动态特性往往不尽如人意。采用自抗扰控制方法对三浮陀螺加速度计伺服回路进行了改进,改善了仪表伺服回路设计工作中的由于非理想陀螺加速度计系统因工作环境改变而导致的经典控制理论下伺服回路设计方法无法满足工程需求的现状。通过Simulink仿真,系统响应有所增快,超调明显减小。进一步的配表实验结果表明,在保证仪表静态和动态精度的前提下,该方法削弱了温度变化对仪表的影响,改变温度后仪表的随机振动精度变化幅度由238.70%降低为71.32%。As a key instrument on inertial navigation platform,the accuracy of gyroscope accelerometer directly affects the inertial navigation results.However,in the actual work process,its dynamic characteristics are often unsatisfactory under the influence of the external environment.In this paper,the active disturbance rejection control method is selected to improve the servo loop of three floated gyroscope accelerometer,which improves the current situation that the servo loop design method under the classical control theory could not meet the engineering requirements due to the change of the working environment of the non ideal gyroscope accelerometer system.Through Simulink simulation,the system response is faster and the overshoot is significantly reduced.The further experiment results of the meter matching show that the method reduces the influence of temperature change on the instrument on the premise of ensuring the static and dynamic accuracy of the instrument,and the change range of the instrument random vibration accuracy after changing the temperature is reduced from 238.70%to 71.32%.

关 键 词：陀螺加速度计 稳定伺服回路 自抗扰控制器 系统仿真 

分 类 号：U666.1[交通运输工程—船舶及航道工程]