Multiple closed-loop composite gyroscope stable control method

Abstract

The invention discloses a multiple closed-loop composite gyroscope stable control method. The multiple closed-loop composite gyroscope stable control method comprises a double closed-looped control method, the double closed-looped control method increases and inhibits a space stability loop of gyroscope drifting, a remedy floating algorithm is adopted to achieve the compensation of drifting, a deviation rectifying compensation method comprises the steps that original data is acquired; a posture fusion module is adopted to acquire carrier three-dimensional posture information; coordinate conversion is carried out on an inertial coordinate system and a carrier coordinate system; the accumulation of position drifting errors is calculated and made up, and the steps above are conducted circularly; according to the multiple closed-loop composite gyroscope stable control method, on basis of a traditional double closed-loop control strategy, the gyroscope drifting is increased to control the loop, the static drifting is effectively inhibited, the system static stability accuracy and anti-interference ability are improved, and the problems are effectively solved that the lower system staticstability accuracy lower and the poor anti-interference ability exist by mostly adopting double loop control or simple multiple closed-loop control.

Description

technical field [0001] The invention relates to a multi-closed-loop composite gyro stabilization control method, which belongs to the technical field of gyro stabilization platforms. Background technique [0002] Gyro-stabilized platforms are widely used in power grids, firefighting, and emergency rescue because they can isolate carrier (aircraft, tanks, and ships) disturbances, continuously measure changes in platform attitude and position, accurately maintain dynamic attitude references, and maintain a stable state relative to inertial space. , Disaster relief and other emergency monitoring fields. However, after the gyro-stabilized platform is affected by disturbances including carrier attitude changes and motor vibrations during the carrier movement, it is easy to cause the load's boresight to vibrate or even deviate from the established target, which seriously affects the imaging quality of the task load. Therefore, low-precision stabilization The platform can no longe...

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Problems solved by technology

[0007] (1) The existing technology adopts the control method of single or double speed loop combined with the stability loop, which cannot compensate the inertial space offset of the platform caused by the random drift characteristic of the gyro, the system stability accuracy is not high, and the anti-interference ability is poor;

[0008] (2) The existing technology does not consider the suppression of the random drift of the gyro, which makes the static stability accuracy of the system low;

[0009] (3) The existing technology mostly adopts the relevant mathematical model of the gyroscope, and uses filtering technology to compensate the error of the output signal. This method needs to establish a complex mathematical model and has a large amount of calculation, and the filtered gyroscope data has a large delay This leads to poor real-time performance of the control system, which reduces the stability accuracy and fails to compensate and correct the random drift error from the root cause; there are also technologies that use the POS data of the inertial navigation module for drift suppression, but because the inertial navigation module is expensive and GPS The data will be wasted, making the equipment cost higher, and the present invention uses relatively cheap sensors for attitude data fusion to suppress gyro drift

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