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Two-rank dynamic disturbance torque compensation method of four-axis inertial stabilization platform system

A technology for stabilizing the platform and disturbing torque, applied to navigation, measuring devices, instruments, etc. through speed/acceleration measurement, can solve problems such as improvement, achieve accurate calculation results, suppress errors, and improve accuracy

Active Publication Date: 2015-12-02
BEIJING INST OF AEROSPACE CONTROL DEVICES
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  • Abstract
  • Description
  • Claims
  • Application Information

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Problems solved by technology

However, with the improvement of platform system accuracy, the error of this term gradually increases in significance

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  • Two-rank dynamic disturbance torque compensation method of four-axis inertial stabilization platform system
  • Two-rank dynamic disturbance torque compensation method of four-axis inertial stabilization platform system
  • Two-rank dynamic disturbance torque compensation method of four-axis inertial stabilization platform system

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Embodiment Construction

[0021] Below in conjunction with accompanying drawing, the present invention is described in further detail:

[0022] The second-order dynamic disturbance moment compensation method of the four-axis inertial stable platform system provided by the present invention is used for calculating and compensating the second-order dynamic disturbance moment synthesized by the platform body in the four-axis inertial stable platform system. Among them, the four-axis stable inertial platform system includes a base, a follow-up frame, an outer frame, an inner frame and a table body, and the corresponding body coordinate systems are the base body coordinate system X 1 Y 1 Z 1 , Follow-up frame coordinate system X p3 Y p3 Z p3 , Outer frame body coordinate system X p2 Y p2 Z p2 , Inner frame body coordinate system X p1 Y p1 Z p1 and body coordinate system X p Y p Z p .

[0023] Such as figure 1 The schematic diagram of the relationship between the five coordinate systems shown ...

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Abstract

The invention provides a two-rank dynamic disturbance torque compensation method of a four-axis inertial stabilization platform system. The method comprises the following steps: 1. measuring or calculating rotational inertia of the four-axis inertial stabilization platform system; 2. measuring to obtain a relative rotation angle and an angular speed in the stabilization platform system, and a rotary angular speed relative to an inertial space of a platform body; 3. calculating a platform body synthesized two-rank dynamic disturbance torque of the stabilization platform system; and 4. converting a motor torque for carrying out disturbance torque compensation of a motor, and realizing the disturbance torque compensation through the motor torque. The method definitely gives a calculation formula and a compensation method of the two-rank dynamic disturbance torque, so that dynamic coupling errors caused by angular movement of a carrier can be inhibited, and the use precision of the four-axis inertial stabilization platform system is improved.

Description

technical field [0001] The invention relates to the field of measurement and control of inertial stable platforms, in particular to a second-order dynamic disturbance moment compensation method for a four-axis inertial stable platform system, which is used to realize full-attitude high-precision navigation in the field 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] When the servo system of the inertial stable platform is working, the accuracy of the system mainly depends on th...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G01C21/18G01C25/00
CPCG01C21/18G01C25/005
Inventor 魏宗康
Owner BEIJING INST OF AEROSPACE CONTROL DEVICES