光电稳定平台结构设计与陀螺安装误差测量补偿
发布时间：2018-10-17 22:15
【摘要】：本文以某大孔径红外/可见光稳定平台研制为背景,完成了稳定平台机械结构设计,仿真分析了陀螺安装误差对稳定平台指向精度的影响,重点论述了稳定平台陀螺安装误差测量与补偿方案。本文的主要研究内容如下:(1)介绍了光电稳定平台的基本工作原理和系统组成,采用运动学理论分析了稳定平台视轴稳定机理,推导了稳定平台各环架角速度与外界扰动角速度关系,为后续结构设计与指向误差分析奠定了理论基础。(2)基于项目需求,对光电稳定平台机械结构进行了设计;分析了轴系正交误差对于稳定平台测角精度的影响,提出了各轴系正交误差分配方案。(3)建立了陀螺安装误差对稳定平台指向精度影响的仿真模型并采用Matlab/Simulink进行了数字仿真,结果表明陀螺安装误差对于稳定平台指向精度的提高具有重要影响作用。(4)对于陀螺随机漂移误差序列建立了ARMA模型,并基于此模型对陀螺输出数据进行了卡尔曼滤波,减小了陀螺随机漂移误差,提高了采用陀螺输出数据对其安装误差测量的分辨能力。(5)完全依托光电稳定平台硬件,搭建了陀螺安装误差测量系统;对陀螺安装误差进行了测量与数字补偿;最终通过实验验证了陀螺安装误差测量结果和补偿方案的有效性。
[Abstract]:In this paper, based on the development of a large aperture infrared / visible light stabilized platform, the mechanical structure design of the stabilized platform is completed, and the influence of the gyro installation error on the pointing accuracy of the stabilized platform is simulated and analyzed. The measurement and compensation scheme of gyroscope installation error of stabilized platform are discussed emphatically. The main contents of this paper are as follows: (1) the basic working principle and system composition of the photoelectric stabilization platform are introduced, and the stabilization mechanism of the optical axis of the stabilized platform is analyzed by using the kinematics theory. The relationship between the angular velocity of each ring frame and the disturbance angular velocity of the stabilized platform is deduced, which lays a theoretical foundation for the subsequent structural design and the analysis of the pointing error. (2) based on the requirements of the project, the mechanical structure of the photoelectric stabilized platform is designed; This paper analyzes the influence of the orthogonal error of the shafting system on the angle measuring accuracy of the stabilized platform, and puts forward the scheme of the orthogonal error distribution of the shafting system. (3) the simulation model of the influence of the gyroscope installation error on the pointing accuracy of the stabilized platform is established and the digital simulation is carried out by using Matlab/Simulink. The results show that the gyroscope installation error plays an important role in improving the pointing accuracy of the stabilized platform. (4) the ARMA model is established for the gyro random drift error sequence, and the output data of the gyroscope is filtered by Kalman filter based on this model. It reduces the random drift error of gyroscope and improves the resolution of measuring installation error by using gyroscope output data. (5) based on the hardware of photoelectric stabilization platform, a gyroscope installation error measurement system is built. The measurement and digital compensation of the gyroscope installation error are carried out, and the validity of the gyroscope installation error measurement and compensation scheme is finally verified by experiments.
【学位授予单位】：西安电子科技大学
【学位级别】：硕士
【学位授予年份】：2015
【分类号】：TN15
本文编号：2278186
[Abstract]:In this paper, based on the development of a large aperture infrared / visible light stabilized platform, the mechanical structure design of the stabilized platform is completed, and the influence of the gyro installation error on the pointing accuracy of the stabilized platform is simulated and analyzed. The measurement and compensation scheme of gyroscope installation error of stabilized platform are discussed emphatically. The main contents of this paper are as follows: (1) the basic working principle and system composition of the photoelectric stabilization platform are introduced, and the stabilization mechanism of the optical axis of the stabilized platform is analyzed by using the kinematics theory. The relationship between the angular velocity of each ring frame and the disturbance angular velocity of the stabilized platform is deduced, which lays a theoretical foundation for the subsequent structural design and the analysis of the pointing error. (2) based on the requirements of the project, the mechanical structure of the photoelectric stabilized platform is designed; This paper analyzes the influence of the orthogonal error of the shafting system on the angle measuring accuracy of the stabilized platform, and puts forward the scheme of the orthogonal error distribution of the shafting system. (3) the simulation model of the influence of the gyroscope installation error on the pointing accuracy of the stabilized platform is established and the digital simulation is carried out by using Matlab/Simulink. The results show that the gyroscope installation error plays an important role in improving the pointing accuracy of the stabilized platform. (4) the ARMA model is established for the gyro random drift error sequence, and the output data of the gyroscope is filtered by Kalman filter based on this model. It reduces the random drift error of gyroscope and improves the resolution of measuring installation error by using gyroscope output data. (5) based on the hardware of photoelectric stabilization platform, a gyroscope installation error measurement system is built. The measurement and digital compensation of the gyroscope installation error are carried out, and the validity of the gyroscope installation error measurement and compensation scheme is finally verified by experiments.
【学位授予单位】：西安电子科技大学
【学位级别】：硕士
【学位授予年份】：2015
【分类号】：TN15
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