挠性陀螺解耦控制在工程中的实现

Realization of flexible gyroscope decoupling control in engineering

在深入研究挠性陀螺理论的基础上,依据再平衡回路控制原理,经过大量的理论计算,采用对角化法并简化挠性陀螺传递函数模型,推导出近似的易于实现的动态解耦阵表达式,然后对动态解耦网络采取相近零极点对消方法,构造出电路上易于实现的解耦控制网络,通过仿真验证了解耦控制的有效性,最后,将解耦控制网络在某型挠性陀螺仪中实现,并进行了小批量试验,试验结果表明:解耦控制网络有效抑制了挠性陀螺仪动态过程中的耦合量,并将耦合量控制在1%以内,挠性陀螺组件在某型机载稳瞄搜索系统中应用的技术瓶颈问题得到解决。

On the basis of further research on flexible gyroscope theory, according to the rebalanced loop control principle and lots of theoretical calculation, the diagonalization method is adopted and simplify transfer function model of the flexible gyroscope, and the dynamic deeoupling array expression which is approximate and easy to realize is deduced. Neighboring zero pole cancellation method is used in the dynamic decoupling network ,thus the decoupling control network which easy to realize on the ciruh is constructed, and the effectiveness is verified through simulation. The deeoupling network is tested in a certain flexible gyroscope and a few small batch tests is carried out. The result shows that the decoupling control network effectively restrains the coupling quantity of flexible gyroscope in the dynamic process, and the coupling quantity is controlled within 1%. Bottleneck problems that exists when flexible gyroscope components is applicated in Airborne Wenmiao searching system is solved.