基于正余弦耦合的三轴速率平台控制结构优化  

Control Structure Optimization of Three-Axis Rate Gyroscope Platform Based On Sine-Cosine Coupling

作　　者：高荣荣 赵军虎[1] 彭荻 张金云[1] GAO Rongrong;ZHAO Junhu;PENG Di;ZHANG Jinyun(Beijing Institute of Aerospace Control Devices,Beijing 100854)

机构地区：[1]北京航天控制仪器研究所,北京100854

出　　处：《飞控与探测》2023年第6期31-37,共7页Flight Control & Detection

基　　金：国防科技创新特区(18-163-15-LZ-001-002-10)。

摘　　要：针对三轴速率平台进行三自由度的动态摇摆时出现的平台台体线性漂移问题,提出了一种基于正余弦耦合的三轴速率平台稳定回路控制结构优化方法。当三轴平台进行三自由度摇摆运动时,由于框架间角运动激励的物理耦合和角运动解耦激励的数学耦合,平台台体会产生动态漂移。首先建立三轴平台的角运动输出模型,再根据传递特性将平台基座上的角运动代入到台体伺服控制回路中得到交叉耦合误差项。其次,对比三轴速率陀螺平台和三轴位置陀螺平台在稳定回路控制结构上的异同,分析动态摇摆条件下造成平台台体出现正余弦耦合误差和台体大漂移率误差的形成机理,根据误差源进一步对三轴速率平台的稳定回路控制结构进行了设计优化。最后通过仿真和三自由度转台摇摆试验可见,摇摆过程中不再出现框架角的较大线性漂移,验证了稳定回路结构优化的正确性。In order to solve the linear drift problem of the three-axis rate gyro platform during the three-direction dynamic swing in the air,a biaxial coupling method was proposed.A method to optimize the control structure of the stabilized platform is proposed.The dynamic drift of a three-axis platform on a three-degree-of-freedom swinging turntable is established first.The angular motion output model of the three-degree-of-freedom turntable is obtained according to the transfer characteristics of the angular motion model on the platform base.Second,compare the rate gyro platform and bit,the differences and similarities of the gyro platform in the stable loop control structure are analyzed,and the errors of the frame angle and the large drift rate of the platform body caused by the biaxial coupling dynamic swing are obtained.Based on the error source,the stability loop control structure of the rate gyro platform is optimized.Finally,the simulation is carried out and the three degrees of freedom rotary table swing test that the swing process no longer appears the frame angle of the large linear drift,verifying the stability loop structure optimization is correct.

关 键 词：三轴速率平台 动态摇摆试验 正余弦耦合 稳定回路 控制结构优化 

分 类 号：TJ765[兵器科学与技术—武器系统与运用工程]