惯导测试装置控制系统仿真及误差补偿研究

Research on Control System Simulation and Error Compensation of Inertial Guidance Test Equipment

针对惯导测试装置研制中的几个问题进行了分析阐述.在考虑了电压前馈解耦后,采用“空间矢量脉宽调制+id=0控制”方式建立伺服系统模型并进行了仿真.为保证测量精度,提出了两种误差修正方法.一种方法在分析多面棱体测量原理的基础上提出了基于误差平均的线性补偿方法,并给出了计算表达式;另一种方法利用傅里叶变换对测角误差进行分析,采用多读数头测量结果取均值可抵消特定阶次的误差项.通过实验对两种方法的修正效果进行了验证.结果表明:两种方法均可大幅提高角位置定位精度,可满足项目技术协议中对角位置精度的要求.

Several problems in the design of inertial guidance test equipment were analyzed and expounded.After considering voltage feed-forward decoupling,the servo system model of device was established by“SVPWM and id=0”control mode and simulated.In order to ensure the measurement accuracy of the device,two error correction methods were proposed.Based on the analysis of the principle of polyhedral prism measurement,a linear compensation method based on error averaging was proposed,and the expression of compensation calculation was given.Another method used Fourier transform to analyze the angle measurement error.The error term of a particular order can be offset by the mean value of the multi-reading head measurement result.The corrective effect of the two methods is verified by experimental cases.The results show that both methods can greatly improve the angular position accuracy of the device,and can meet the requirements of the project technical agreement for the angular position accuracy.