基于变结构控制的旋转调制激光惯导伺服控制系统设计

Rotating Laser Gyro Inertial Navigation System's Servo Control System Design Based on Sliding Mode Variable Structure Control Theory

调制转台的到位精度以及速度平稳性直接影响舰载旋转调制激光陀螺惯性导航系统的导航定位精度。摩擦会使调制转台产生极限环现象,进而严重影响调制转台的到位精度以及速度平稳度。针对上述问题,基于变结构控制策略设计了旋转调制激光陀螺惯性导航系统旋转调制转台伺服控制系统,可以有效克服由于摩擦、未建模误差以及电机力矩波动产生的极限环现象。仿真结果表明,存在摩擦、未建模误差等外界干扰的条件下,调制转台的到位精度以及速度平稳度均能得到较为满意的结果。

Position accuracy and the smoothness of speed of the turntable have a direct impact on positioning accuracy of artier mod-ulation laser gyro inertial navigation system. Friction will produce ring phenomenon on modulation turntable, which would seriously affect the position accuracy and the smoothness of speed of the turntable. To solve these problems, based on variable structure control strategy, rotational modulation of the laser gyro inertial navigation system modulation turntable rotation servo control system is designed that can effectively overcome the limit ring phenomenon due to friction, no modeling error and motor torque ripple generated. Simulation results show that if there is friction and other external interference. The satisfactory results about the position accu- racy and the smoothness of speed of the turntable of modulate turntable are obtained.