水平稳定平台的姿态解算与控制策略

Attitude Solution and Control Strategy of Horizontal Stable Platform

以水平面内二自由度跟踪随动系统为背景,对水平稳定平台进行姿态解算算法、控制策略等研究。分析方向余弦矩阵与四元数之间的对等关系,采用四元数法解算出平台姿态角,验证四元数法的正确性与有效性;研究平台执行机构的控制策略,利用PWM与增量式PID算法控制平台的随动跟踪。最终系统整体测试实验表明,平台在定值控制与人为干扰控制两种情况下能够稳定跟踪目标,实现系统调节时间短、超调量小、稳态误差低的控制要求。

Based on the two-degree-of-freedom tracking servo system in the horizontal plane as the background,studies the attitude stabilization al⁃gorithm and control strategy of the horizontal stable platform.The equivalence relationship between the directional cosine matrix and the quaternion is analyzed,and the attitude angle of the platform is calculated using the quaternion method to verify the correctness and effec⁃tiveness of the quaternion method.The control strategy of the platform executive mechanism is studied.PWM and incremental PID algo⁃rithm control the tracking of the platform.The final overall system test shows that the platform can track the target stably under the two con⁃ditions of fixed value control and human interference control,and realizes the control requirements of short system adjustment time,small overshoot and low steady state error.