惯性平台稳定回路多闭环串级控制

Multi-closed Loops Cascade Control for Stabilization of Inertia Platform

针对惯性平台稳定回路中采用速率陀螺构成单速度环伺服控制系统的不足,本文提出采用直流测速机为电机转速测量反馈元件构成数字速度内环,采用陀螺为载体转速测量元件构成数字稳定外环组成双速度闭环串级控制结构。在常规的跟踪系统PI控制方式中,实现了由电流环,速度环,稳定环构成的三闭环控制模式,并和电流环、单速度稳定环构成的双闭环控制方式进行比较。实验结果表明:在扰动频率较高环境下,采用单速度环即可获得较好的稳定精度。而采用双速度环提高了系统对低频的抑制能力,并且对摩擦等非线性因素有更好的抑制作用。

Considering the shortcomings of single rate-loop servo control composed of rate gyro for stabilization of inertia platform, a dual rate-loop cascade control structure is presented, which uses the DC tachometer to constitute the digital inner loop, and uses the rate gyro to constitute the digital outer loop. In the tracking control system, using PI controller, we achieved a ternary closed loops cascade control mode which is constituted of current, inner velocity and outer velocity loop, and then, compared it with a dual closed loops cascade control mode which is constituted of current, and velocity loop. The experimental results show that the single rate-loop cascade control mode is better in high- frequency disturbance, while dual rate-loop cascade control mode gets better stabilization precision in low-frequency disturbance and better functions of rejecting friction disturbance.