光纤陀螺稳定平台控制系统的设计与实现

Design and Implementation of FOG Stabilized Platform Control System

针对重力测量中海空重力仪需要时刻保持稳定的垂直指向的问题,设计了一种双环比例、积分、微分(PID)控制方法来控制平台水平,隔离外界扰动;针对力矩电机设计中存在死区的特性,提出了一种死区补偿函数,减小电机死区对控制精度的影响;针对双环PID参数难以整定的问题,设计了一种优化的差分进化(DE)算法,减小参数整定时的工作量。仿真和实测实验结果表明,基于双环PID控制和死区补偿的系统稳定性高,控制精度优于30″;改进DE算法的参数整定性能优于遗传(GA)算法和粒子群(PSO)算法,且计算量小。

A double-loop proportional, integral and differential （PID） control method is designed to control the platform level and isolate the external disturbance in order to solve the problem that the seaborne and airborne gravimeter need to maintain a stable vertical orientation at all times in gravity measurement. In view of the existence of dead zone in torque motor design, a dead zone compensation function is proposed to reduce the influence of the motor dead zone on the control precision. For the problem that the double-loop PID parameters are difficult to tune, an optimized differential evolution （DE） algorithm has been designed to reduce the workload of parameter tuning. The simulation and experimental results show that the system based on dual-loop PID control and dead zone compensation has high stability and the control accuracy is better than 30 arc seconds. The parameter tuning of the improved DE algorithm is superior over the GA algorithm and PSO algorithm, and the calculation is less.