Inertial platform hybrid servo control loop

An inertial platform and servo control technology, applied in the control field, can solve problems such as lack of gyroscope observation information, abnormal instrument output, and inability to observe, and achieve the effects of achieving measurability, simplifying system design, and overcoming reaction torque.

Active Publication Date: 2017-08-29
BEIJING INST OF AEROSPACE CONTROL DEVICES
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Problems solved by technology

This means that if along the base X 1 The direction has angular velocity. According to the integral characteristics of the single-degree-of-freedom gyroscope, the rotation angle will hit the gear pin instantaneously due to the limit o

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  • Inertial platform hybrid servo control loop

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[0053] In order to make the purpose, technical solution and advantages of the present invention clearer, the following will further describe the public implementation manners of the present invention in detail with reference to the accompanying drawings.

[0054] refer to image 3 , shows a block diagram of an inertial platform hybrid servo control loop in an embodiment of the present invention. In this embodiment, the inertial platform hybrid servo control loop includes: a gyroscope, a rebalance loop controller, a gain compensation loop, a servo loop decoupling controller, a platform body, and a torque motor.

[0055] In this embodiment, the platform body is used to output an angular velocity when the relative inertial space is subjected to a disturbance torque; the gyroscope is installed on the platform body to be sensitive to the angular velocity and output a voltage signal ; wherein, the voltage signal is proportional to the angular velocity; the rebalance loop controller...

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Abstract

The invention discloses an inertial platform hybrid servo control loop which comprises a gyroscope, a rebalancing loop controller, a gain compensation circuit, a servo loop decoupling controller, a platform body and a torque motor. The platform body is used for outputting angular velocity under the effect of disturbance torque. The gyroscope is used for sensing the angular velocity and outputting a voltage signal. The rebalancing loop controller is used for receiving the voltage signal, outputting a current signal, feeding the output current signal back to the gyroscope, and outputting an adjusting current signal when the output voltage signal of the gyroscope is close to zero. The gain compensation circuit subjects the adjusting current signal to gain compensation and then outputs measured angular velocity. The servo loop decoupling controller is used for receiving the measured angular velocity and outputting decoupling data. The torque motor is used for offsetting disturbance torque acting on the platform body according to the decoupling data. The inertial platform hybrid servo control loop realizes the measurability of the relative space variation of the platform body and improves the linearity accuracy of the angular velocity measurement.

Description

technical field [0001] The invention belongs to the technical field of control, in particular to an inertial platform hybrid servo control loop. Background technique [0002] At present, single-degree-of-freedom liquid-floating gyroscopes (including liquid-floating gyroscopes, static-pressure liquid-floating gyroscopes, and three-floating gyroscopes) and two-degree-of-freedom dynamic-tuning gyroscopes have been widely used in the core equipment of missiles—inertial platform systems. , when applied in the gyro-stabilized platform system, it is used as a sensitive element to stabilize the platform body in the inertial space. [0003] Due to the integral characteristic when it is approximately static That is, the output rotation angle of the single-degree-of-freedom liquid floating gyroscope is the integral of the angular velocity of the base. Therefore, the single-degree-of-freedom gyroscope is also called an integral gyroscope. In the same way, when it is approximately sta...

Claims

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Application Information

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IPC IPC(8): G05B13/04
CPCG05B13/042
Inventor 魏宗康何远清
Owner BEIJING INST OF AEROSPACE CONTROL DEVICES
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