二维观瞄仪稳定平台控制系统设计与仿真

Design of control system for two-dimensional observation instrument stabilized platform

针对二维观瞄仪稳定平台采用由速率陀螺构成的单速度环伺服控制的不足,提出了采用以直流测速机为测量反馈元件构成模拟内环,利用陀螺的"空间测速机"功能组成数字稳定外环的双速度环串级控制结构。设计并实现了速度稳定环的抗摩擦力矩干扰功能和隔离载体扰动功能。建立了系统模型并在Matlab中对控制效果进行了验证。研究结果表明,该方法能够明显减小载体扰动造成的误差,有效地隔离载体扰动,其控制性能良好。

For the lack of single rate-loop servo control composed of rate gyro of two-dimensional observation instrument stabilized platform,a dual rate-loop cascade control structure was presented, the DC tachometer was used to constitute the analog inner loop,and the rate gyro was used to constitute the digital outer loop. The functiones of rejecting friction disturbance and insulating carrier turbulence were designed respectively. The system modeling was established and the effect of the control system was vali- dated in Matlab. The experimental results show that the purposed method reaches the system required stability, reduces error and isolates carrier disturbance.