三轴稳定平台伺服回路高精度弱耦合控制器设计方法  

Design Method of High Precision and Weak Coupling Controller for Servo Loop of Three-Axis Stabilized Platform

作　　者：高荣荣 魏宗康[1] 闫光亚[1] 彭荻 赵友[1] GAO Rongrong;WEI Zongkang;YAN Guangya;PENG Di;ZHAO You(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》2025年第1期32-39,共8页Flight Control & Detection

基　　金：航天科技基金(KJW-ZYZYJ-2021-009)。

摘　　要：针对三轴稳定平台在低频扰动环境下的精度较低、台体角速度存在交叉耦合的问题,提出了一种三轴稳定平台伺服回路高精度弱耦合控制器设计方法。推导了完整的闭环伺服回路传递函数模型,根据伺服回路控制器设计准则,并结合三轴稳定平台的工作环境和指标要求,设计出具有高精度、弱耦合性能的伺服回路控制器以提升惯性平台控制精度。通过仿真和动态试验,有效验证了伺服回路高精度弱耦合控制器设计方法的正确性和优越性。Aiming at the problems of low precision and cross-coupling of the angular velocity of the three-axis stabilized platform in the low frequency disturbed environment,a design method of high precision and weak coupling controller for the servo loop of the three-axis stability platform was proposed.A complete closed-loop servo loop transfer function model is derived.According to the design criteria of the servo loop controller,combined with the working environment and index requirements of the three-axis stable platform,a servo loop controller with high precision and weak coupling performance is designed to improve the control accuracy of the inertial platform.Through simulation and dynamic tests,the correctness and superiority of the design method of the servo loop controller with high precision and weak coupling are validated.

关 键 词：三轴稳定平台 控制器设计准则 低频扰动 交叉耦合 动态摇摆试验 

分 类 号：TN911.73[电子电信—通信与信息系统]