陀螺/加速度计稳定环对“动中通”系统的扰动校正

Disturbance Correction for“Communications in Moving”System Based on Gyro/Accelerometer Stable Loop

针对"动中通"系统两次上位机指令间隔中载体姿态变化的扰动,提出了基于三轴陀螺和加速度计的稳定回路跟踪控制方法。该方法在传统伺服系统电流环、速度环和位置环的反馈回路中增加了负载速度前馈补偿和稳定回路位置校正环节。利用陀螺和加速度计的测量数据融合、稳定跟踪修正的原理隔离载体姿态变化,对测量噪声信号用卡尔曼滤波技术进行估计和误差补偿,有效地提高了系统对姿态扰动的隔离度。仿真验证结果表明,伺服稳定系统的响应时间小于200ms,动态跟踪误差小于0.1°,隔离度高于97%,具有较高的跟踪精度,能够满足工业应用稳定跟踪控制。

In view of the disturbance caused by carrier at t itude changing during PC instructions for Communica-tions in moving^ system, a stability loop algorithm based on gyroscope and accelerometer was proposed. Based on traditional servo system of current, velocity and position feedback loop, a speed feed forward compensation and stabilization loop, were designed. The control system integrated the measurement data of gyroscope and ac-celerometer and used the principle of stabilizing tracking correction to isolate carrier attitude, change. To elimi-nate the random noise signal, a Kalman filter was proposed, which could effectively improve the disturbance iso-lation ratio. The debugging results showed that the response time was less than 200 ms, the dynamic tracking error was less than 0. 1°,and the isolation ratio was more than 97%, which meant the system had higher track-ing precision and satisfy the stable tracking control in industrial application.