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A servo loop decoupling method for a three-axis stabilized platform system

A technology for stabilizing the platform and servo loop, applied in the direction of navigation through speed/acceleration measurement, navigation calculation tools, etc., can solve the problem that the working range of the inner frame cannot be too large

Active Publication Date: 2017-11-28
BEIJING INST OF AEROSPACE CONTROL DEVICES
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

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Problems solved by technology

But the disadvantage is that the working range of the inner frame cannot be too large

Method used

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  • A servo loop decoupling method for a three-axis stabilized platform system
  • A servo loop decoupling method for a three-axis stabilized platform system
  • A servo loop decoupling method for a three-axis stabilized platform system

Examples

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Embodiment 1

[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 =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.

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

[0077]

[0078]

[0079]

[0080] From the above calculation results, it can be seen that the input values ​​of the three-axis controller of the platform are consistent with the measured values ​​of the respective gyroscopes.

Embodiment 2

[0082] 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 =90; the inner frame revolves around the body coordinate system Z p Angle of shaft rotation β zk =0.

[0083] Calculation formula is provided according to the present invention:

[0084]

[0085]

[0086]

[0087] From the above calculation results, it can be seen that the controller input of the table body axis and the inner frame axis are consistent with the measured values ​​of their respective gyroscopes, but the controller input of the outer frame axis has nothing to do with the gyroscope, but only depends on the table body axis The frame angular rate of , which solves the problem of attitude con...

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Abstract

The invention discloses a servo loop decoupling method for a three-axis stabilization platform system. The servo loop decoupling method comprises the following steps: taking four variables as input information of a decoupling link, wherein the four variables are as follows: output angular rates Omega xp, Omega yp and Omega zp of three gyroscopes orthogonally mounted on a platform body, and a turning angle Beta zk of an inner frame relative to the platform body; and outputting three axis-end torque motors respectively acting on a platform body axis, an inner ring axis and an outer ring axis after information fusion. The invention firstly provides the method for controlling a servo loop in a single-input single-output manner instead of multi-variable manner when a carrier is in any posture relative to the platform body; no strange value phenomenon occurs; the unengaged track motion of the carrier after the three-axis stabilization platform system is adopted is realized.

Description

technical field [0001] The invention relates to a servo loop decoupling method of a three-axis stable platform system, in particular to a multi-variable decoupling method of a servo loop of a three-axis platform system, and is mainly used in the fields of aviation and aerospace for realizing full-attitude high-precision navigation. Background technique [0002] Three-axis stabilized platforms have been widely used on vehicles with limited maneuvering attitudes, that is, in vehicles that do not appear at large attitude angles around two axes at the same time during flight. But sometimes, the carrier rocket and the ballistic missile need to maneuver to change orbits; especially tactical missiles, satellites and many military aircraft need to work in full attitude and large maneuvering state. Under such conditions, the platform body is required to remain stable. [0003] Due to the phenomenon of "frame locking" in the three-axis stable platform system, that is, the inner frame...

Claims

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Application Information

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Patent Type & Authority Patents(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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