Full-closed-loop interference rate compensation self-stabilization control method under geodetic coordinate system
A geodetic coordinate system and control method technology, applied in the field of artillery stability control system, can solve problems such as shock vibration, affecting stability, and insufficient stiffness
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[0090]The invention is further illustrated in connection with the accompanying drawings and examples, and the present invention includes, but is not limited to the following examples.
[0091]The invention includes the following steps:
[0092](1) Start control, set the number of control steps to J, I, and:
[0093]J = J + 1
[0094]Where J is the number of speed rings control steps in the stable system, the control cycle Ts= 1ms; i is the number of control steps of the stable system position ring, the control period T = 10ms, J is 10 times faster; J and I initial value are 0;
[0095](2) Judgment J% 10 = 0? Yes, i = i + 1, and transfer to step (3); otherwise transfer (9) step;
[0096](3) Collect SINS's aeroise ψ (i), θ (i),Wherein (i) is the navigation angle of SINS; θ (i) is the pitch angle of SINS;The horizontal rolling angle of sins;
[0097](4) Belt-resistant filters of the navigation angle and the pitch angle:
[0098]ψ '(i) = B10ψ (i) + b11ψ (i-1) + B12ψ (i-2) -a11ψ '(i-1) -a12ψ '(i-1)
[0099]θ '(i) ...
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