惯性稳定平台不平衡扰动建模与仿真分析

Modeling and simulation of imbalance disturbance for inertially stabilized platforms

理想情况下,惯性稳定平台的质心会位于其旋转轴上,但是由于加工技术等条件的限制,惯性稳定平台的质心会偏离旋转轴,并且在基座角运动和摩擦等扰动作用下,惯性稳定平台会产生偏转角,偏转角的变化会引起水平和垂直方向上的不平衡力臂变化,形成不平衡扰动。为了分析不平衡扰动对平台性能的影响,在对惯性稳定平台的动力学模型进行简化的基础上,提出通过分析平台偏转角和不平衡力臂的变化规律建立不平衡扰动模型的思想方法,以所建模型为基础,对不平衡扰动的影响进行了定量分析。仿真结果表明,不平衡扰动会使平台的角度输出稳态值超过其稳定精度要求,严重影响惯性稳定平台的稳定性能。

Ideally, the centroid of an inertially stabilized platform is located on the axis of rotation, but in fact, the centroid of an inertially stabilized platform will deviate from the axis of rotation because of the limits of processing technology. What＇s more, under the function of base angle movement and friction, an inertially stabilized platform will produce a deflecting angle. A change of deflecting angle will cause a horizontal and vertical change of the arm of force ; in this case, an imbalance disturbance comes into being. In order to analyze the influence of the imbalance disturbance, the paper takes the simplified dynamical model of an inertially stabilized platform as its basis and introduces the idea of establishing unbalanced disturbance by analyzing the changing rule of the deflecting angle and the arm of force. Based on the unbalanced disturbance, it analyzes the effect of an unbalanced disturbance on an inertially stabilized platform by quantitative simulation. The results show that the output angle of an inertially stabilized platform in a stabilized state exceeds the stabilized demand under the function of unbalanced disturbance.