Control Method of Inertial Stabilized Platform
A technology of an inertial stable platform and a control method, which is applied in the field of aerial remote sensing and can solve problems such as low control accuracy of the inertial stable platform
Active Publication Date: 2016-02-24
ELECTRIC POWER RES INST OF GUANGDONG POWER GRID +1
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Problems solved by technology
[0005] Based on this, it is necessary to provide a decoupling control method for inertial stable platforms to solve the problem of low control precision of inertial stable platforms
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[0015] Various embodiments of the inertial stable platform control method of the present invention will be described in detail below.
[0016] see figure 1 , is a flow diagram of an embodiment of the control method for the inertial stable platform of the present invention, including steps:
[0017] Step S101: Under the static base, obtain the first rotational angular velocity of the roll frame relative to the base and the second rotational angle of the pitch frame relative to the roll frame of the inertial stable platform. The prerequisite for the implementation of this scheme is that the base is relatively static, which is the static base. The method of obtaining the second rotation angle includes but is not limited to obtaining directly from a code wheel installed on the pitch frame. The method of obtaining the first rotational angular velocity includes but is not limited to that when the rolling gyro is directly installed on the rolling frame, the rotational angular veloc...
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An inertially-stabilized platform control method comprises the steps that under a static base, a first rotating angular velocity of a horizontal-roll frame of an inertially-stabilized platform relative to the base and a second rotating angular velocity of a pitching frame relative to the horizontal-roll frame are obtained; when the absolute value of the product of the sine value of the second rotating angular velocity and the first rotating angular velocity is smaller than a preset threshold value, the second rotating angular velocity of the pitching frame of the inertially-stabilized platform relative to the horizontal-roll frame and a third rotating angular velocity of an orientation frame relative to the pitching frame are obtained; a Euler kinetic equation is used for establishing a kinetic model of the inertially-stabilized platform under the static base; according to the first rotating angular velocity, the second rotating angular velocity, the third rotating angular velocity, a pre-stored linear switching function, a pre-stored index reaching law and the kinetic model, input voltages of the orientation frame, the pitching frame and the horizontal-roll frame are computed respectively; accordingly, the orientation frame, the pitching frame and the horizontal-roll frame are controlled. According to the scheme, the control accuracy of the inertially-stabilized platform is improved.
Description
technical field [0001] The invention relates to the technical field of aviation remote sensing, in particular to an inertial stable platform control method. Background technique [0002] In recent years, with the deepening of remote sensing applications, the need to establish a stable remote sensing system in various fields is becoming more and more urgent. The aerial remote sensing system has unique advantages in terms of mobility, real-time performance, repeatable observation, replaceability of remote sensing equipment, ability to obtain high-resolution remote sensing data, economic cost, and stereoscopic observation. High-resolution, high-precision, real-time motion imaging is the core of aerial remote sensing technology and the guarantee for obtaining high-quality remote sensing data. [0003] The inertial stabilization platform technology improves the stability of the boresight of the imaging payload, enabling the imaging payload to obtain high-precision images in real...
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IPC IPC(8): G05B13/04G05D3/12
Inventor 麦晓明阴蕊彭向阳朱庄生王柯周向阳陈锐民
Owner ELECTRIC POWER RES INST OF GUANGDONG POWER GRID