A Hybrid Servo Control Loop for Inertial Platforms

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...

AI Technical Summary

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 of the gear pin, resulting in abnormal output of the instrument.

Moreover, in this case, due to the lack of gyroscope observation information, it is impossible to observe the 1 The specific value of the angular velocity of the direction

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