The Control Method of Gun Aiming Stabilization System Using Strapdown Inertial Navigation
A strapdown inertial navigation and control method technology, applied in general control systems, gun control systems, adaptive control, etc., can solve problems such as coupling and inconsistency of control systems, azimuth control systems, etc.
Inactive Publication Date: 2020-10-23
西北机电工程研究所
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However, the control coordinates of the servo system are not consistent with the SINS measurement coordinates, resulting in coupling between the control system's height and orientation control system
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[0072] The present invention will be further described below in conjunction with the accompanying drawings and embodiments, and the present invention includes but not limited to the following embodiments.
[0073] The steps that the present invention implements are:
[0074] (1) Start the control, the number of control steps is k, and set the speed loop control compensation, that is, the control cycle T s = 1ms,
[0075] k=k+1
[0076] Take the initial value of k as 0;
[0077] (2) Collect the three-axis angular rate ω measured by the strapdown inertial navigation gyro group p (k)=[ω px (k) ω py (k) ω pz (k)] T , where ω px (k) is the x-axis angular rate; ω py (k) is the y-axis angular rate; ω pz (k) is the z-axis angular rate;
[0078] (3) Calculate the rotation angular rate of the barrel under the earth coordinates
[0079]
[0080] Among them: ψ(j), θ(j), is the heading angle, pitch angle and roll angle output by the strapdown inertial navigation SINS; j ...
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The invention provides a control method of an artillery aiming stabilization system utilizing strapdown inertial navigation. First, three axis angular rates measured by a strapdown inertial navigationgyroscope group are collected and converted to angular rates in a geodetic coordinate system. Then, heights, azimuth rotation angle rates, turrets' pitching, roll angular rates and vehicle heading angle rates in a vehicle system are calculated. Next, stability control instructions are accepted, and position feedbacks are collected. When a large rotation is made, a control driver operates in a speed regulation mode. After entering a stable mode, positions and feedforwards are controlled; rate stability and rate interference compensation are controlled, and the control driver operates in a current or moment mode. When stability accuracy is reached, a ready aim is reported. The control method of the artillery aiming stabilization system utilizing the strapdown inertial navigation has the advantages of being high in control precision, capable of saving cost and improving reliability.
Description
technical field [0001] The invention belongs to the field of artillery follow-up systems, and mainly relates to a control method of the artillery follow-up system that requires accurate, stable and tracking. Background technique [0002] With the development and evolution of military struggles, new military operational requirements urgently require suppression weapons to have the ability to shoot on the move, and self-propelled artillery is required to be able to perform combat tasks of action vs. static and dynamic vs. action. Then the artillery needs to be under the control of the aiming and stabilizing system. One is to overcome the disturbance caused by the vehicle body due to the walking road; Such functions have already been realized in the gun control systems of tank weapons or amphibious assault guns. However, the tank gun control system uses a cradle combined gyro group and a car body / turret gyro group to jointly complete the stable aiming of the artillery, and is ...
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IPC IPC(8): G05B13/04F41G5/24
CPCF41G5/24G05B13/042
Inventor 李伟任海波韩耀鹏位红军孔祥宣张光辉林子琦王永梅刘妙刘攀玲
Owner 西北机电工程研究所