Control method for isolating biaxial angular motion of gravimeter

A control method and gravimeter technology, applied in the direction of adaptive control, general control system, control/adjustment system, etc., can solve problems such as filter delay inaccuracy, and achieve the effect of avoiding control errors

Active Publication Date: 2022-03-04
九江中船仪表有限责任公司(四四一厂)
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  • Abstract
  • Description
  • Claims
  • Application Information

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Problems solved by technology

[0004] The purpose of the present invention is to provide a control method for isolating the dual-axis angular motion of the gravimeter. The present invention solves the problem that the attitude angle of the dual-axis stable platform is inaccurate due to filtering delay during large dynamics. The present invention proposes a method based on Frequency analysis and design phase angle margin to isolate the dual-axis angular motion control method, through the design of the advanced link controller, the control error caused by the filter delay is avoided, and it can still be used under the large dynamic conditions of 80kg heavy load and four-level sea state. Maintain 15" control accuracy

Method used

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  • Control method for isolating biaxial angular motion of gravimeter
  • Control method for isolating biaxial angular motion of gravimeter
  • Control method for isolating biaxial angular motion of gravimeter

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Embodiment

[0095] Generally speaking, the rocking motion of the carrier is random, and its frequency spectrum is usually concentrated in a relatively narrow frequency band, so a sinusoidal signal is used to describe the motion of the carrier.

[0096] Suppose the maximum swing angle is θ max , the rocking angular frequency is ω, then the rocking motion of the carrier can be expressed as:

[0097] θ(t)=θ max sinωt (Equation-1)

[0098] The corresponding angular velocity and angular acceleration are:

[0099]

[0100]

[0101] when θ max is 20°, is 50° / s, the rocking period T of the carrier is estimated to be 2.5s according to the above formula, and ω is 2.5rad / s. Considering that the mechanical resonance frequency ωm of the frame is greater than 100Hz or 628rad / s, and there is a certain design margin, the design index of the system bandwidth ωc is 30Hz or 188.4rad / s. The shear frequency of the position loop is generally lower than 1 / 10 of the velocity loop, and this scheme i...

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Abstract

The invention relates to a control method for isolating the biaxial angular motion of a gravimeter, solves the problem that the attitude angle of a biaxial stabilized platform is misaligned due to filtering delay in a large dynamic state, and provides a control method for isolating the biaxial angular motion by designing a phase angle margin based on frequency analysis. Control errors caused by filtering time delay are avoided, and the control precision of 15 ''can still be kept under the large dynamic conditions of 80kg large load and fourth-level sea conditions.

Description

technical field [0001] The invention relates to a control method for isolating two-axis angular motion of a gravimeter. Background technique [0002] The previous two-axis stabilized platform is composed of a two-axis two-frame stabilized structure, a horizontal gyroscope, an accelerometer component, a calculation circuit, a frame stability control circuit, and actuators. The biaxial two-frame stable structure is composed of a frame axis and a platform axis. The frame axis is the pitch axis, and the platform axis is the roll axis. The gravimeter is installed above the body axis of the platform, and the horizontal gyroscope and accelerometer components are fixedly connected below the body axis of the platform. The horizontal gyroscope and accelerometer assembly are mounted orthogonally and are sensitive to the angular velocity and linear acceleration of the shafting. The solving circuit collects the information of the gyroscope and the accelerometer, and gives the torque c...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G01V7/02G01C21/18G05B13/04
CPCG01V7/02G01C21/18G05B13/042
Inventor 陆全聪李光磊李阳杨伟高嘉莹
Owner 九江中船仪表有限责任公司(四四一厂)
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