Second-order dynamic disturbance torque compensation method of triaxial inertial stabilization platform system

A technology that stabilizes the platform and interferes with the torque. It is applied in the directions of navigation, measurement devices, and instruments through velocity/acceleration measurement. It can solve problems such as improvement, and achieve the effects of accurate calculation results, suppression of errors, and wide applicability.

Active Publication Date: 2016-01-27
BEIJING INST OF AEROSPACE CONTROL DEVICES
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  • Abstract
  • Description
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  • Application Information

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Problems solved by technology

However, with the improvement of platform system accuracy,

Method used

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  • Second-order dynamic disturbance torque compensation method of triaxial inertial stabilization platform system
  • Second-order dynamic disturbance torque compensation method of triaxial inertial stabilization platform system
  • Second-order dynamic disturbance torque compensation method of triaxial inertial stabilization platform system

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Embodiment

[0087] In this embodiment, the second-order dynamic disturbance torque calculation formula of the present invention is used to analyze and compare the disturbance torque of the traditional three-axis inertial stabilization platform with ring structure and the three-axis inertial stabilization platform with new structure.

[0088] (1), three-axis inertial stabilization platform with traditional ring structure

[0089] Among them, the inner frame and outer frame of the traditional three-axis inertial stable platform system adopt a ring frame structure. Taking the inner ring as an example, its structure is as follows image 3 shown.

[0090] In the calculation process, the variables are set as:

[0091] ──Inner frame X respectively p1 , Y p1 ,Z p1 The external torque on the shaft, excluding the feedback torque of the motor torque;

[0092] m xp , M yp , M zp ── is the platform body X p , Y p ,Z p external moment on the shaft.

[0093] ──Inner frame shaft torque mo...

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Abstract

The present invention provides a second-order dynamic disturbance torque compensation method of a triaxial inertial stabilization platform system, the method comprises the following steps: 1, measuring or calculating rotational inertia of the triaxial inertial stabilization platform system; 2, measuring to obtain internal relative rotation angle and angular velocity of the triaxial inertial stabilization platform system, and rotational speed of platform body relative to the inertial system; 3, calculating platform body synthetic second-order dynamic disturbance torque of the triaxial inertial stabilization platform system; and 4, converting to calculate motor torque of a motor for disturbance torque compensation, and achieving disturbance torque compensation by the motor torque; the second-order dynamic disturbance torque calculating method is clearly shown by the method, compensation is achieved according to the calculated results, suppression of dynamic coupling errors the presence of angular motion of a vector can be facilitated, and the using accuracy of the triaxial inertial stabilization platform system can be 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 three-axis inertial stable platform system, which is used to realize full-attitude high-precision navigation in the fields of aviation and aerospace. Background technique [0002] The inertial stable platform system can effectively isolate the disturbance of the moving carrier carrier, so that the inertial measurement unit remains stable relative to the inertial space. The three-axis inertial stable platform system includes a table body, an inner frame, an outer frame and a base. The inertial measurement unit is installed on Inside the platform, the outer frame is fixedly connected to the moving carrier. Among them, the frame system composed of the inner frame and the outer frame is used to provide the rotation freedom for the table body, but due to the relative motion constrain...

Claims

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Application Information

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IPC IPC(8): G01C25/00G01C21/18
CPCG01C21/18G01C25/005
Inventor 魏宗康
Owner BEIJING INST OF AEROSPACE CONTROL DEVICES
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