四环平台系统运动分析及反自转控制的探讨

On the Kinematics of Four-Gimbal Gyro-Stabilized Platform and Antispin Control

本文在分析四环三轴陀螺稳定平台系统运动中提出了摩擦约束耦合、摩擦约束耦合阵和几何约束耦合、几何约束耦合阵的概念,从而全面地阐述了基座角运动向平台台体耦合并由伺服回路隔离的机理和规律,本文还提出了一种新颖的四环平台反自转(antispin)控制和航向—姿态计算的设想方案,从而使平台系统的电路得到简化,体积和重量有可能减小,战斗机特技飞行对平台所要求的上限角速度有可能得到提高而有利于发挥飞机的战术技术性能。

Many authors have studied the Kinematics of four-gimbal gyro-stabilized platform, but it appears none of them has offered an explanation of its mechanism, neither have they considered the effect of the gimbal servo-loop's dynamic process on the angular velocity of the platform gimbal motion[1-4]. The main objective of this paper is to overcome the above-mentioned two shortcomings. The author believes that the said mechanism may be summed up very concisely as follows: the platform base-motion is transferred from the vehicle to platform body through frictional constraint coupling—such coupling was mentioned by previous authors in connection with single-axis platform—and geometrical constraint coupling, which has never been mentioned by previous authors as far as the author is aware. Concise but full explanation of the mechanism is given in the paper. In this paper, the effect of servo-loop's dynamic process on the platform motion is considered and a set engineering formulas for computing the gimbal's angular velocity is obtianed. Another objective of this paper is to present a new antispin control scheme, which is essential for a four-gimbal platform used in fighter planes. In this scheme a simple reversible circuit(Fig. 10) is added to the main channel of the outer-roll servo-loop. The new scheme is believed to be better than that obtainable from the principles presented by Broxmeyer[3]—schemes based on reference[3] are usually employed in actual fighters. The author's new scheme possesses the following advantages: (1) The electronic circuit is simpler; (2) Both the size and the weight of platform are reduced.