基于捷联惯导的火炮随动系统应用研究

Application Research of Gun Servo System Based on Strapdown Inertia Navigation System

将捷联惯导安装在火炮的摇架上,直接测量身管的射向,可提高火炮的操瞄精度。采用四元数法求解火炮随动系统的解耦误差控制量,使方位、高低随动能够独立控制,可避免将主令与捷联惯导姿态测量的对应值直接求差,作为随动系统的误差控制量,致使两个通道的运动控制存在耦合的问题,从而提高调炮精度。工程实践证明该方法有效。

Strapdown inertia navigation system was installed on the cradle of gun to directly measure the barrel＇s attitude so as to improve laying accuracy of the gun. Quaternion method was put forward to calculate decoupling error control values of the gun servo system to respectively control movements of traverse and elevating servo systems of the gun. This method can avoid the problem of coupling both traverse and elevating servo systems in orientation control of body rotating around fixed point synchronously by u- sing errors as control parameters, which equalled to the corresponding values of the barrel＇s attitude values subtracted from the command values. The adjusting accuracy of the gun was improved. Engineering practice showed that this method is effective.