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Servo loop decoupling method for four-axis inertial stabilized platform

A technology for stabilizing the platform and servo loop, applied in the field of inertial measurement, can solve the problem of incomplete controllability of the servo loop, and achieve the effect of avoiding the gain tending to infinity and wide applicability

Pending Publication Date: 2015-11-04
BEIJING INST OF AEROSPACE CONTROL DEVICES
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0020] It can be seen that at the three gyroscope angular rates When the information is known, there are 4 control execution links The servo loop is not fully controllable

Method used

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  • Servo loop decoupling method for four-axis inertial stabilized platform
  • Servo loop decoupling method for four-axis inertial stabilized platform
  • Servo loop decoupling method for four-axis inertial stabilized platform

Examples

Experimental program
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Effect test

Embodiment 1

[0067] In this embodiment, the decoupling calculation is performed using the calculation formula of the present invention, wherein the setting conditions are as follows: the base surrounds the outer frame coordinate system X p2 Angle of shaft rotation β xk =0; the outer frame revolves around the coordinate system Y of the inner frame p1 Angle of shaft rotation β yk =0; the inner frame revolves around the body coordinate system Z p Angle of shaft rotation β zk =0; that is, the three rotation axes are perpendicular to each other.

[0068] Calculation formula is provided according to the present invention:

[0069] ω z = ω z p ;

[0070] ω y = ω y p ;

[0071] ω x = ...

Embodiment 2

[0075] In this embodiment, the decoupling calculation is performed using the calculation formula of the present invention, wherein the setting conditions are as follows: the base surrounds the outer frame coordinate system X p2 Angle of shaft rotation β xk =90°; the outer frame revolves around the coordinate system Y of the inner frame p1 Angle of shaft rotation β yk =0; the inner frame revolves around the body coordinate system Z p Angle of shaft rotation β zk =0.

[0076] Calculation formula is provided according to the present invention:

[0077] ω z = ω z p ;

[0078] ω y = ω y p ;

[0079] ω x = ω x p ...

Embodiment 3

[0083] In this embodiment, the decoupling calculation is performed using the calculation formula of the present invention, wherein the setting conditions are as follows: the base surrounds the outer frame coordinate system X p2 Angle of shaft rotation β xk =90°; the outer frame revolves around the coordinate system Y of the inner frame p1 Angle of shaft rotation β yk =90°; the inner frame revolves around the body coordinate system Z p Angle of shaft rotation β zk =0.

[0084] Calculation formula is provided according to the present invention:

[0085] ω z = ω z p ;

[0086] ω y = ω y p ;

[0087] ω x = - β · ...

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Abstract

The present invention provides a servo loop decoupling method for a four-axis inertial stabilized platform. The method comprises the steps of: 1, according to the angular velocity output from a gyroscope installed on the platform body, acquiring angular velocity components of the platform body on Xp axis, Yp axis and Zp axis; 2, measuring the relative rotation angle and angular velocity in the four-axis inertial stabilized platform; and 3, calculating the synthesized rotation angular velocity of the platform body, an inner frame, an outer frame and a follower frame. The method can realize singular value-free servo loop decoupling calculation under any relative rotation angle of the platform system, thereby increasing the whole attitude adaptability under carrier no locus constraint conditions.

Description

technical field [0001] The invention relates to the technical field of inertial measurement, in particular to a servo loop decoupling method of a four-axis inertial stable platform system, which is mainly used for full-attitude high-precision navigation in the fields of aviation and aerospace. Background technique [0002] Due to the phenomenon of "frame locking" in the three-axis inertial platform system, it is difficult to meet the requirements of large maneuvering motion of the carrier. Therefore, a four-axis inertial platform system is produced. Compared with the three-axis inertial platform system, the four-axis inertial platform system adds a follower frame on the basis of the table body, inner frame and outer frame, and the follower frame is located between the platform outer frame and the base. [0003] The traditional solution is as follows: the follow-up loop signal comes from the corner of the inner frame, and a secant resolver is used for gain compensation. But ...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G01C21/18G01C21/20
CPCG01C21/18G01C21/20
Inventor 魏宗康
Owner BEIJING INST OF AEROSPACE CONTROL DEVICES
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