旋转惯导中的柔性加减速规划方法

Flexible Acceleration and Deceleration Planning Method in Rotating Inertial Navigation

旋转惯性导航系统不仅可以实现误差的旋转调制、航向跟踪等,还能利用自身转位机构实现自标定。为满足旋转惯性导航系统中旋转调制、航向跟踪以及自标定等过程对转位机构定位精度以及平稳性的较高要求,分析了旋转过程中由于超调等引起的转位机构角度误差对调制的影响,提出了基于S型柔性加减速的规划方法,并给出了解析过程。仿真和试验结果表明,基于S型柔性加减速的规划方法能够实现平稳连续的加减速过程,避免了转位机构启停过程的超调。相比于直接速度控制方法,其峰值电流降低为原来的约1/8左右,响应时间缩短了0.02 s。该方法提高了转位机构的定位精度和平稳性,为旋转控制算法的设计和改进提供了参考。

The rotating inertial navigation system can not only achieve rotation modulation and heading tracking for errors,but also achieve self-calibration by its own rotating mechanism.To meet the high requirements for the positioning accuracy and stability of the rotating mechanism in the process of rotation modulation,heading tracking and self-calibration of the rotating inertial navigation system,the influence of angle errors caused by overshoot during the rotation process on modulation is analyzed.A planning method based on S-type flexible acceleration and deceleration is proposed,and the analytical process is provided.Simulation and experiment results show that the planning method based on S-type flexible acceleration and deceleration can achieve a smooth and continuous acceleration and deceleration process,which avoids overshoot during the start-stop process of the rotating mechanism.Compared to the direct feedrate control method,the peak current is decreased to about 1/8 of its original value and the response time is shortened by 0.02s.This method improves the positioning accuracy and stability of the rotating mechanism,providing a reference for the design and improvement of the rotation control algorithm.