Triaxial stable platform and all-digital control system and method

A technology of three-axis stabilization and control method, applied in the field of inertial navigation, can solve problems such as low measurement accuracy, reduced service life of brushed motors, difficulty in meeting the high standard requirements of new weapon models, etc.

Active Publication Date: 2018-03-13
BEIJING INST OF AEROSPACE CONTROL DEVICES
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Problems solved by technology

The existing domestic strategic weapon platform stabilization system uses a resolver + attitude angle conversion circuit (RDC circuit for short) as the attitude angle sensitive element, and a brushed motor as the actuator. These instruments use voltage signals for transmission, and the voltage signals are transmitted on cables. voltage drop, lower mea

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Embodiment 1

[0092] Embodiment 1: in order to verify the practicability and correctness of the present invention, Figure 8 It is given that (a) the commanded angular velocity of the table body is 57.3° / s (ie 1rad / s), (b) the commanded angular velocity of the inner ring is 17.2° / s (ie 0.3rad / s), (c) the commanded angular velocity of the outer ring is At 28.7° / s (that is, 0.5rad / s), the three loops are used for any position indexing test. Such as Figure 8 It can be seen that the full digital control system of the three-axis stable platform composed of fiber optic gyroscope, brushless torque motor and photoelectric encoder works normally. At the same time, with Figure 8 (a) As an example, the command angular velocity displacement of the platform stability loop, after the controller adopts the integral delay strategy, the adjustment time of the platform gyro output is reduced from 0.17s to 0.07s, and the overshoot is reduced from the original 40% to almost No overshoot, which effectively...

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Abstract

The invention discloses a triaxial stable platform and an all-digital control system and method. The triaxial stable platform solves the problem that the existing stable platform has a smaller size, harsh structural adaptability and higher use performance requirements. The triaxial stable platform creatively utilizes small-scale high-precision inertial instruments such as fiber optic gyroscopes, photoelectric encoders and brushless torque motors and utilizes a novel distribution and digitization form of a stable loop computer, a high-speed serial bus and an inertial instrument data acquisitionunit so that the stable system size is greatly reduced. The triaxial stable platform utilizes a synchronous clock as a frequency marker so that inertial data acquisition, control rate calculation andtorque current transmission are realized. The brushless torque motor performs current vector control. The stable loop computer realizes a fiber-optic gyroscope error compensation method and integraldelay control strategy through a high-performance digital signal processor and realizes platform coordinate system stabilization along an inertial space direction.

Description

technical field [0001] The invention relates to a stable control system of a platform type inertial navigation device, which is especially applied to the inertial navigation device with strict restrictions on the system volume, and belongs to the field of inertial navigation. Background technique [0002] The new generation of strategic weapons has higher and higher requirements for the size, reliability and actual combat capability of inertial navigation equipment. The platform stabilization system is an important part of realizing various functions and index requirements of the inertial platform. The rationality of the scheme, the advancement of technology, the flexibility of function realization and the reliability of the design all play an important role in the overall performance of the inertial platform system. important role. The high-precision inertial platforms used in China for strategic weapon systems still use high-precision mechanical instruments as the core, s...

Claims

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Application Information

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IPC IPC(8): G01C21/18G01C25/00
CPCG01C21/18G01C25/005
Inventor 彭荻闫光亚赵友杨晓莺赵启坤
Owner BEIJING INST OF AEROSPACE CONTROL DEVICES
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