水平阻尼作为干扰的平台式惯导统一控制方程

Gimbaled INS Uniform Equations with Horizontal Damping-net as Disturbance

研究惯导系统统一控制的优化设计。传统的统一控制采用一体化设计方案,通用性不强。为简捷高效地实现惯导计算机的程序编排,提出了将水平阻尼作为干扰项的平台式惯导统一控制。通过改变系统框图结构,将无阻尼惯导系统和阻尼网络人为分离,水平阻尼网络的输出可视为干扰项。系统控制方程始终采用无阻尼条件下的表达式,惯导系统控制和阻尼网络可以实现模块化设计,使控制的实现形式和推导过程大为简化。给出了惯导计算机的运算流程,并分别在静、动基座条件下,对无阻尼、内水平阻尼和外水平阻尼状态的惯导系统做了仿真。结果表明新的统一控制模型有效体现了惯导系统的参数变化,且设计简便,具有更好的实用性。

Study theoptimization of INS（ Inertial Navigation System） uniform control equations. The classical uni- form equations are integrative which only meet the need of specific damping-net. In order to simplify the program ar- rangement of INS computer, a new kind of INS uniform control equations which treated horizontal damping-net as dis- turbance was proposed. The INS control equations were separated from damping-net and the output of damping-net was treated as disturbance for INS when the block diagram was reordered. The INS undamped mode equations were used in all kinds of conditions. The realization of control equations and damping-net was modularized, which enor- mously simplified the realization and deduction of control equations for INS computer. The flow chart of computer op- eration progress was established. It also represented INS simulations both on stationary base and moving base in vari- ous damping modes, including undamped, interior damping and exterior damping modes. The result indicates that these uniform control equations are much more simple and practical, and effectively represent the movement of INS parameters.