一种捷联惯性导航系统的旋转控制机构设计技术  

Design Technique on Rotating Control Mechanism Based on SINS

作　　者：董旭[1] 董建树 王惠 严宗睿[3] DONG Xu;DONG Jianshu;WANG Hui;YAN Zongrui(Beijing Electro-Mechanical Engineering Institute,Beijing 100074,China;Beijing Revitalization Institute of Measurement and Test,Beijing 100074,China;Nanjing Naval Command Academy,Nanjing 210016,China)

机构地区：[1]北京机电工程研究所,北京100074 [2]北京振兴计量测试研究所,北京100074 [3]海军指挥学院,南京210016

出　　处：《计算机测量与控制》2022年第10期110-117,共8页Computer Measurement &Control

摘　　要：如果在现有光纤陀螺精度基础上进一步提高捷联惯性导航系统的导航精度,采用误差自补偿的旋转调制技术势在必行;连续旋转对准方式是光纤陀螺惯导系统实现高精度对准的一种有效技术手段;为了实现高精度的单轴旋转光纤陀螺捷联惯性导航系统,提出一种实现单轴旋转导航系统所需的低功耗、低成本、中精度旋转控制方案,一般往复旋转运动的理想效果是旋转机构围绕载体坐标系的基准角,作匀速的往复旋转;航向解藕往复旋转模式是航向追踪运动与往复旋转运动的两种矢量叠加;旋转机构的设计方案集电子、自控、软件、机械于一体,惯导中的惯性测量单元置于旋转机构上,直流电机通过变速箱轴承驱动旋转机构转动,通过测角装置上传角位置,旋转机构带动惯性测量单元以设定的速率和旋转方式进行旋转和定位;经过理论分析、设计和试验验证,该旋转控制机构控制精度良好,可靠性好,能够满足中高精度光纤陀螺捷联惯性导航系统的研制需求。It is imperative to adopt the rotation modulation technology of error self-compensation if the navigation accuracy of the strap-down inertial navigation system(SINS)is further improved on the basis of the existing fiber gyroscope accuracy.The continuous rotational alignment is an effective technical means for optical fiber gyroscope inertial navigation system to achieve high-precision alignment.To realize the high-precision single-axial rotating fiber optic gyro(FOG)SINS,a type of low-power,low-cost,middle-precision rotation mechanism design scheme for single-axial rotating navigation system is proposed.The ideal effect of the general reciprocating rotational motion is that the rotating mechanism rotates at a uniform speed around the reference angle of the carrier coordinate system.The heading decoupling and reciprocating rotation mode is the two-vector superposition of heading tracking motion and reciprocating rotational motion.The design scheme of the rotating mechanism is integrated with electronics,automatic control,software and machinery,the inertial measurement unit in the inertial navigation is installed on the rotating mechanism,the DC motor is rotated by the gearbox bearing to drive the rotating mechanism,and the angle position is uploaded by the angel measuring device,and the rotating mechanism drives the inertial measurement unit to rotate and locate at a set rate and rotation mode.Through the theory analysis,design and experimental verification,the rotating control mechanism has good control precision and reliability,which meets the demands for developing middle or high precision FOG-SINS.

关 键 词：单轴旋转 控制机构 PID 光纤陀螺 惯性导航 

分 类 号：TN967[电子电信—信号与信息处理]