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三框架四轴惯性平台通过随动轴跟随内环轴运动,使外环轴和内环轴保持正交,避免发生框架锁定,该过程一般由角度控制实现。当外环轴经过±90°时,随动轴与内环轴之间的投影关系消失,随动轴控制处于开环状态,随动框架被力矩电机驱动作加速旋转,严重影响姿态输出和平台安全性。从工程实用性出发,针对随动回路模拟电路,设计一种双环反馈控制方法,在角度反馈基础上加入角速度反馈,同时根据外环角度动态调节速度反馈增益,使随动轴始终处于受控状态,避免出现框架飞转。
The three-frame four-axis inertial platform follows the inner ring axis through the follower axis so as to keep the outer ring axis and the inner ring axis orthogonal to avoid the frame locking, and the process is generally controlled by the angle. When the outer ring passes ± 90 °, the relationship between the follower shaft and the inner ring disappears, and the follower shaft control is in open-loop state. The follower frame is driven by the torque motor to accelerate and seriously affect the attitude output and the platform safety. Starting from engineering practicability, a dual-loop feedback control method is designed for the analog circuit of servo loop. Based on the angular feedback, angular velocity feedback is added. At the same time, the speed feedback gain is dynamically adjusted according to the outer ring angle to keep the servo-driven shaft under control , To avoid the frame fly.