基于LuGre模型的惯导伺服稳定回路摩擦补偿  

Friction Compensation in Inertial Navigation Servo Stability Loop Based on LuGre Model

作　　者：毛喆 王汀 赵军虎[1,2] 鲁琰 梁爽[1,2] MAO Zhe;WANG Ting;ZHAO Junhu;LU Yan;LIANG Shuang(Laboratory of Science and Technology on Ultra-precision Aerospace Control Instrument,Beijing 100039;Beijing Institute of Aerospace Control Devices,Beijing 100039;PLA Unit 91515,Sanya 572000)

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 [3]91515部队,三亚572000

出　　处：《导航与控制》2025年第1期99-106,共8页Navigation and Control

摘　　要：伺服稳定回路作为高精度惯导系统的重要组成部分,其性能直接影响着惯导系统导航精度。轴端摩擦干扰力矩是伺服稳定回路的外界主要干扰之一,它对伺服稳定回路的精度有较大影响,因此如何对摩擦进行补偿处理、降低其对伺服稳定回路的影响成为急需解决的关键问题。针对轴端摩擦干扰建模难、补偿难等特点,开展了摩擦模型参数辨识方法与摩擦补偿控制方法研究。根据辨识方法得到的参数结果建立轴端摩擦的LuGre模型,然后基于该模型在光纤陀螺构成的伺服稳定回路中加入摩擦前馈补偿环节。Simulink仿真结果表明,当输入的阶跃干扰力矩幅值为0.06 N·m时,加入摩擦前馈补偿后角位置误差下降14.33″,角位置误差降低了47%,惯导系统的可靠性和精度得到了提高。The servo stability loop constitutes a pivotal component within the high-precision inertial navigation systems,where its performance significantly influences the navigation accuracy.The friction interference torque emerges as a primary external disturbance within the servo stability loop,exerting considerable impact on the error dynamics of the platform stabilization loop.Consequently,addressing the compensation of friction and mitigating its effects on the servo stability loop is identified as an urgent and critical issue.Given the challenges associated with modeling and compensating for friction interference at the shaft end,this study delves into the friction model parameter identification and friction compensation control methodologies.Through the establishment of the LuGre axial friction model,predicated on the outcomes of the identification process,this research utilizes the friction feedforward compensation approach based on the LuGre model to enhance the servo stability loop,which integrates a fiber-optic gyroscope.The efficacy and enhancement in reliability and accuracy of the inertial navigation system are substantiated through the Simulink simulation results.When the input step disturbance torque amplitude is 0.06 N·m,the angle position error decreases by 14.33"and 47% after adding friction feed forward compensation.

关 键 词：伺服稳定回路 摩擦干扰力矩 LUGRE模型 摩擦补偿 高精度惯导系统 

分 类 号：TP273[自动化与计算机技术—检测技术与自动化装置]