Servo loop decoupling method for four-axis inertial stable platform systems

A technology of stable platform and servo loop, applied in the field of inertial measurement, which can solve the problem of not being able to realize the full attitude function of the carrier motion.

Active Publication Date: 2019-03-08
BEIJING INST OF AEROSPACE CONTROL DEVICES
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Problems solved by technology

However, the disadvantage of this method is that when the outer frame angle is kept at 90°, the four-axis platform degenerates into a three-axis platform, and there is still a "frame locking" phenomenon, which cannot realize the full attitude function of the carrier movement

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  • Servo loop decoupling method for four-axis inertial stable platform systems
  • Servo loop decoupling method for four-axis inertial stable platform systems
  • Servo loop decoupling method for four-axis inertial stable platform systems

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Embodiment Construction

[0045] In order to make the object, technical solution and advantages of the present invention clearer, the embodiments disclosed in the present invention will be further described in detail below in conjunction with the accompanying drawings.

[0046] refer to figure 1 , shows a flow chart of steps of a servo loop decoupling method for a four-axis inertial stable platform system in an embodiment of the present invention. In this embodiment, the servo loop decoupling method of the four-axis inertial stable platform system includes:

[0047] Step 101, according to the angular velocity output by the gyroscope installed on the platform body, obtain the platform body at X p Axis, Y p Axis and Z p angular velocity component on the axis and

[0048] Step 102, acquiring the internal relative rotation angle and angular velocity of the four-axis inertial stable platform system.

[0049] In this embodiment, the internal relative rotation angle and angular velocity include but n...

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Abstract

The invention discloses a servo loop decoupling method for four-axis inertial stable platform systems. The servo loop decoupling method includes acquiring angular velocity components of platforms on X axes, Y axes and Z axes according to angular velocities outputted by gyroscopes mounted on the platforms and acquiring internal relative rotational angles and angular velocities of the four-axis inertial stable platform systems; carrying out computation to obtain resultant rotational angular velocities omega<z> of the platforms on the Z axes, resultant rotational angular velocities omega<y> of inner frames on Y<p1> axes, resultant rotational angular velocities omega<x> of outer frames on X<p2> axes and resultant rotational angular velocities omega<yk'> of follow-up frames on Y<p3>axes according to the angular velocity components and the internal relative rotational angles and angular velocities. The servo loop decoupling method has the advantages that servo loop decoupling computation without singular values can be implemented under the condition that relative rotational angles of the platform systems are arbitrary values, and accordingly the all-attitude adaptability ofvehicles without track constraint conditions can be improved.

Description

technical field [0001] The invention belongs to the technical field of inertial measurement, and in particular relates to a servo loop decoupling method of a four-axis inertial stable platform system. Background technique [0002] Due to the phenomenon of "frame locking" in the three-axis inertial platform system, it is difficult to meet the requirements of large maneuvering motion of the carrier. Therefore, a four-axis inertial platform system is produced. Compared with the three-axis inertial platform system, the four-axis inertial platform system adds a follower frame on the basis of the table body, inner frame and outer frame, and the follower frame is located between the platform outer frame and the base. [0003] The traditional solution is as follows: the follow-up loop signal comes from the corner of the inner frame, and a secant resolver is used for gain compensation. But the disadvantage of this method is that there are singular values ​​when the outer frame angle...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G01C21/18
CPCG01C21/18
Inventor 魏宗康
Owner BEIJING INST OF AEROSPACE CONTROL DEVICES
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