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Spin control method for rotation modulation inertial navigation system

An inertial navigation system and rotation modulation technology, which is applied in the field of rotation control of the rotation modulation inertial navigation system, can solve the problems of low response speed, low robustness, and difficulty in meeting the high-precision performance requirements of the system

Inactive Publication Date: 2015-09-09
BEIJING INSTITUTE OF TECHNOLOGYGY
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AI Technical Summary

Problems solved by technology

The PID algorithm is simple and effective, and easy to implement, but it is prone to overshoot, and its robustness is not high, and the response speed is low, so it is difficult to meet the high-precision performance requirements of the system.

Method used

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  • Spin control method for rotation modulation inertial navigation system
  • Spin control method for rotation modulation inertial navigation system
  • Spin control method for rotation modulation inertial navigation system

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Embodiment Construction

[0039]In the rotation control method of the rotation modulation inertial navigation system of the present invention, the extended state observer contained in the designed ADRC can expand all external disturbances and internal disturbances including system parameter changes into a new variable, z in formula (6) 3 (k+1), make observations, and then use formula (7) Perform disturbance compensation, which guarantees the accuracy and stability of the control effect, improves the robustness of the system, improves the response speed and control accuracy of the system, and at the same time uses the Z of formula (8) d (k)=[0z 3 (k)] T Suppresses chattering caused by sliding mode variable structure control, and outputs precise u SMC (k), thereby reducing the negative impact of the unsatisfactory control effect of the rotating platform on the navigation accuracy.

[0040] Specifically include the following steps:

[0041] Step 1. Establish the mathematical equation of the rotating...

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Abstract

The invention provides a spin control method for a rotation modulation inertial navigation system, and belongs to the field of rotation modulation inertial navigation systems. An integrated strategy is provided on the basis of an active-disturbance-rejection controller control method and a sliding mode variable structure control method, so that a compound control method for the rotation modulation inertial navigation system is formed. When a control error is relatively large, the sliding mode variable structure control method is mainly adopted, the system response speed is increased, and the error is rapidly reduced; along with the reduction of the control error, the control precision is guaranteed by utilizing the accurate control capacity of the active-disturbance-rejection controller control method, and the control stability and robustness are improved. With the adoption of the control method, the response speed of the system can be increased, the control precision of the system can be improved, buffeting caused by sliding mode variable structure control is inhibited, and thus negative effects to navigation accuracy, due to non-ideal rotating platform control, is reduced.

Description

technical field [0001] The invention belongs to the field of rotation modulation inertial navigation systems, in particular to a rotation control method of the rotation modulation inertial navigation system. Background technique [0002] The inertial navigation system is a complex high-precision electromechanical integrated system, which is widely used in land, sea, air and space fields due to the advantages of complete autonomy. The error of the inertial sensor is the main determinant of the error of the inertial navigation system. Improving the precision of inertial sensitive components from the process is difficult and takes a long time. Therefore, after the precision of the inertial sensitive element reaches a certain requirement, the system technology is usually used to compensate the error of the element, and the rotation modulation technology is an effective method. This method adds a rotating platform and a control mechanism to the inertial element or IMU, and uses...

Claims

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Application Information

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IPC IPC(8): G01C21/16G01C21/20G05B13/04
CPCG01C21/16G01C21/20G05B13/04
Inventor 邓志红蔡山波付梦印王博肖烜刘彤
Owner BEIJING INSTITUTE OF TECHNOLOGYGY
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