陀螺稳定平台中速度环的非线性实验建模

Experimental nonlinear modeling of velocity loop in gyro stabilized platform

在阐述两轴四框架陀螺稳定平台的结构和工作原理的基础上,具体分析了从实际实验装置中获取数据的方法。通过对内环中速度稳定环的机理分析,得到了简化的线性模型。针对平台在低频工作环境下所表现出的严重非线性特性,将线性模型与非线性的Stribeck摩擦力模型相结合,建立了系统的数学模型。利用遗传算法和所获得的实际系统数据对模型参数进行了辨识;通过在所辨识出的系统模型上进行扰动隔离的系统仿真实验,并将其结果与实际系统的性能进行对比,验证了所建模型的精度;通过对模型残差的分析,进一步地改进和提高了所建系统模型的精度。为研究两轴四框架陀螺稳定平台模型与误差补偿提供了实用的高精度的数学模型。

Based on the description of the four-gimbal two-axis gyro stabilized platform＇s structure and working principle, this paper specifically analyzes the method of obtaining data from the actual experiment. The simplified linear model of inner stability loop is got by mechanism analysis. For the serious nonlinear characteristics existing in the platform in the low-frequency environment, the mathematical model of the system is constructed by adding the nonlinear Stribeck friction to the linear model. With the data obtained from the actual system, the genetic algorithm is applied for parameters identification. Simulation results show the feasibleness of the established model and verify the accuracy of the model on the performance of disturbance isolation by comparing with the actual system. Furthermore, the nonlinear model and its accuracy are improved based on the analysis of model residuals. The paper provides a practical high accuracy mathematical model for modeling and error compensation of the four-gimbal two-axis gyro stabilized platform.