视觉测试系统校准装置耦合补偿控制

Compensation Control to Coupling Motion of a Calibration Equipment for Visual Testing System

本校准装置是用来校准用于测试火箭喷管三维运动的视觉系统,为其提供标准的静态和动态运动参数。基于动量矩定理和欧拉动力学方程,推导出了双轴摆动的非线性耦合动力学模型,分析了轴间转动惯量耦合、速度耦合及力矩耦合作用规律。通过SIMULINK仿真验证模型参考自适应系统有效地补偿了耦合力矩的扰动,提高了联动时内框轴的速率精度。

The calibration equipment is used to calibrate the visual testing system for rocket nozzle 3D motion, and supplies the standard position and motion parameters for static and dynamic calibration.According to the momentum moment theorem and Euler dynamic equation, the nonlinear biaxial coupling dynamic model of gimbals system is derived by the analysis of the coupling action of inertia moment, rate and torque of axes in gimbals system.The coupling torque as a disturbance influences on the rate error of axes during biaxial swing.The MRAS of the inner gimbal is designed on basis of Lyapunov stability theory which effectively compensates for the disturbance of coupling torque and improves the rate precision of the inner gimbal during biaxial swing by SIMULINK simulation.