三轴旋转惯性导航系统的旋转控制建模研究

发布时间：2018-04-01 23:25

本文选题：控制科学与技术　切入点：惯性导航　出处：《兵工学报》2017年08期

【摘要】：为了减小载体运动对于旋转惯性导航系统误差调制作用的影响,建立三轴旋转惯性导航系统在隔离载体运动条件下的控制模型。基于三轴框架结构定义合理的坐标系,分析载体运动在三轴框架中的传递过程,建立载体运动与周期性旋转惯性测量单元运动之间的数学解析关系。在此基础上,根据欧拉动力学方程,建立三轴框架运动与电机力矩、载体运动之间的动力学模型。联合载体运动传递过程和动力学模型,建立三轴旋转惯性导航系统在隔离载体运动条件下的控制模型,得到了载体运动过程中外环轴上的转动惯量随俯仰角而实时变化的解析形式。仿真和实际实验验证了理论分析结果,可为旋转控制算法设计提供理论参考。
[Abstract]:In order to reduce the effect of carrier motion on the error modulation of the rotating inertial navigation system, a control model of the three-axis rotating inertial navigation system under the condition of isolating the carrier motion is established. The coordinate system is defined reasonably based on the three-axis frame structure. The transfer process of carrier motion in triaxial frame is analyzed, and the mathematical analytic relationship between carrier motion and periodic rotation inertial measurement unit motion is established. The dynamic model of three-axis frame motion, motor torque and carrier motion is established, and the control model of three-axis rotating inertial navigation system under the condition of isolating carrier motion is established by combining the motion transfer process and dynamic model of the carrier. The analytical form of the moment of inertia on the axis of the central and outer ring during the moving process of the carrier is obtained. The theoretical analysis results are verified by simulation and practical experiments, which can provide a theoretical reference for the design of the rotation control algorithm.
【作者单位】：海军工程大学电气工程学院;惯性技术航空科技重点实验室;
【基金】：国家自然科学基金项目(61503404、41404002) 国家重大科学仪器开发专项项目(2011yq12004502) 航空科学基金项目(20150816002) 海军工程大学自主立项基金项目(20161577、425517K256)
【分类号】：TN96

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