North finder transposition control device and method adopting step-by-step integration PI algorithm

Abstract

The invention relates to a north finder transposition control device and method adopting a step-by-step integration PI algorithm. The device comprises a torque motor, a circular grating angle sensor,an FPGA, a DSP, an H-bridge driver and an RS232 transceiver, wherein the circular grating angle sensor collects angle data information and transmits the information to the FPGA, the FPGA transmits thedata to the DSP through a data bus, and the DSP drives the torque motor through the H-bridge driver; a serial port control module is written by the FPGA, and the external communication is achieved through the RS232 transceiver. For the requirement of the angle control precision of a rotation mechanism of a high-precision fiber optic gyro north finder, the novel transposition control device is established, the step-by-step integration PI algorithm is innovatively proposed, and the application in a north finder system is successfully achieved, the precision and stability of the angle servo control are both higher than + / -3seconds, and the time of a transition process is greatly shortened through the reasonable configuration integral parameters of starting and braking response processes, thereby creating conditions for achieving fast and high-precision north-seeking of the north finder. .

Description

technical field [0001] The invention belongs to the technical field of navigation and positioning, and relates to a high-precision fiber optic gyro north-finder, in particular to a north-finder transposition control device and method using a step-by-step integral PI algorithm. Background technique [0002] The fiber optic gyro north finder uses a rotating mechanism to realize the indexing control of sensitive components such as gyroscopes and accelerometers. By collecting the sensitive quantities of the inertial measurement unit (IMU), it uses the north-seeking algorithm to solve the calculation. The position angle is used to obtain the final carrier pose. The traditional north finder usually uses a motor to drive the rotating part to a specific angle, and the base and the rotating part are fixed through the action of the electromagnetic pin, and the data of the gyro and the inclination sensor are recorded for a period of time. The advantages of using this method are: the r...

AI Technical Summary

Problems solved by technology

The advantages of using this method are: the requirements for the control algorithm are not high, and the data collected after locking is stable, but the repeatability of the locking angle is limited by the accuracy of the structural parts, and it is difficult to meet the needs of high-precision north finders. At the same time, this method is adopted Only specific north-finding algorithms can be implemented, which is not conducive to the realization of new high-precision north-finding algorithms

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