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Double-speed-ring control method of aerial remote sensing inertial-stabilized platform

An inertial stable platform and dual velocity loop technology, applied in the field of aerial remote sensing inertial stable platform, can solve problems such as failure to meet system performance indicators, difficulty in suppressing external disturbances at the same time, failure to effectively reduce system nonlinear characteristics, etc.

Inactive Publication Date: 2013-10-02
BEIHANG UNIV
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Problems solved by technology

However, with the continuous improvement of system stability and isolation requirements, the single-speed loop method usually used in the stabilization loop is difficult to simultaneously suppress external disturbances and overcome internal disturbances, and cannot effectively reduce the impact of system nonlinear characteristics on system performance in the case of low-speed servo. , can no longer meet the requirements of system performance indicators

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  • Double-speed-ring control method of aerial remote sensing inertial-stabilized platform
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  • Double-speed-ring control method of aerial remote sensing inertial-stabilized platform

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Embodiment Construction

[0047] The present invention will be further described below in conjunction with the accompanying drawings and specific embodiments.

[0048] The inertial stabilized platform works with POS (position and attitude measurement system), which can be regarded as an angular position servo system. The POS is installed on the platform to calculate and output the attitude information. The attitude error angle can be regarded as the feedback information of the platform attitude. Such as figure 1 As shown, the aerial remote sensing inertial stabilization platform is a roll frame, a pitch frame and an azimuth frame from outside to inside. The roll frame and pitch frame track the local geographic level, the azimuth frame tracks the aircraft heading, and the control systems of the three frames are relatively independent. The remote sensing payload and POS are installed on the azimuth frame. In the figure, G f ,G r ,G a is the rate gyro mounted on each frame, M f , M r , M a are th...

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Abstract

The invention provides a double-speed-ring control method of an aerial remote sensing inertial-stabilized platform. The method utilizes the advantages of cascade control and adopts a double-speed-ring compound control scheme in that an encoder is adopted to carry out digital speed measurement to form a speed inner ring and a rate gyroscope is adopted to form a speed outer ring aiming at the disadvantage that a single speed ring inhibits a disturbance torque in stable control of a visual axis; an inner interference resisting performance and a function of isolating outer interferences of a stable circuit are realized by separately designing, so that the stability precision of a system is improved. According to the double-speed-ring control method disclosed by the invention, an extra sensor is not needed and the compound control is formed by improving a control algorithm; the double-speed-ring control method has the characteristics of simple structure and convenience for realizing engineering.

Description

technical field [0001] The present invention relates to the technical field of aviation remote sensing inertial stabilization platform, in particular to a dual-speed loop control method for aviation remote sensing inertial stabilization platform, which is used to improve the disturbance suppression capability of the stabilization platform, and can be used for various medium and high-precision aerial remote sensing inertial Stabilized platform and two-axis pod stabilized platform. Background technique [0002] The aerial remote sensing system has unique advantages in many aspects such as mobility, real-time performance, repeatable observation, replaceability of remote sensing equipment, ability to obtain high-resolution remote sensing data, economic cost, and stereoscopic observation. Therefore, in western developed countries, more than 65% of the high-resolution spatial data used for urban planning and basic map mapping are guaranteed by aerial remote sensing systems. High-...

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Application Information

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IPC IPC(8): G01C21/18G05B13/04
Inventor 周向阳赵强李永张宏燕房建成
Owner BEIHANG UNIV
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