角度无静差陀螺稳定光电探测平台设计与实现

Design and Implementation of a Gyro Stabilized Platform with Zero Steady-state Angle Error

应用于地面战车的高精度陀螺稳定和跟踪装置在开炮瞬间会受到强烈冲击,易造成陀螺损坏及平台翻台。针对此问题,选用抗冲击力强的光学速率陀螺作为敏感元件,并针对速率陀螺反馈加传统PID控制不能实现稳定角度无静差的问题,尝试了一种PII2(比例+积分+二重积分)加前置滤波的校正形式,通过极点配置的方法设计了平台速度稳定环与位置指令环。在3000gcm干扰力矩的作用下,动态误差为30″,静态角误差为零。结果表明,采用PII2的控制结构,提高了系统的稳定刚度和稳态精度。

Referring to the possible damage to the traditional flexure gyroscope under the fire impact in a tank based high precision gyro-stabilized electric-optical tracking platform, a fiber rate gyro feedback scheme is adopted. In order to eliminate the steady-state angle error which occurs in rate gyro feedback and traditional PID control scheme, a pole placement scheme is presented to form a PII^2 （proportion ＋ integrator ＋ double integrator） controller with pre-filter. Dynamic angle error is 30″ when the platform is under 3 000 gcm torque disturbance and adjustment time is 0.2 s. The steady-state angle error is zero. The results show that the PII^2 controller form can improve system stabilization stiffness and reduce steady-state error.