旋转调制惯导系统转位机构的高精度控制研究

Research on High-precision Control of the Indexing Mechanism of the Rotary Modulation Inertial Navigation System

为了满足先进旋转调制惯导系统对转位机构的高控制精度要求,以及弥补传统PI控制无法兼顾动态响应和稳态误差的缺陷,设计了一种结合了饱和校正的模糊-PI复合控制方法。该方法布置在传统三闭环控制中的位置环,以位置误差以及位置误差变化率为输入,通过不同状态下配置相对合理的控制策略,可以兼顾模糊控制和PI控制的优点,实现对系统的精准调节。同时,引入的饱和校正技术可以有效抑制PI控制器积分项的过渡累积,从而减少了控制器在长期运行过程中可能出现的累积误差,提高了系统的稳定性和控制精度。该控制方法在某型号平台式旋转惯导装置上表现出色,实际测试结果表明,系统的稳态精度可以稳定控制在±5″内,响应时间可以控制在5 s以内,可满足高精度转位控制的需求。

To meet the high control precision requirements of the resolver of advanced rotating modulation inertial navigation systems,and to address the limitations of traditional PI control in balancing dynamic response and steady-state error,a fuzzy-PI composite control method with saturation correction is designed.This method is arranged on the position loop of a traditional three-loop control system,taking the position error and the rate of change of position error as inputs.Configuring reasonable control strategies under different states,it can combine the advantages of both fuzzy control and PI control,and achieve precise system adjustment.Meanwhile,the incoming saturation correction technology can effectively suppress the excessive accumulation in the PI controller′s integral term,so as to reduce the potential cumulative error during long-term operation and enhance system stability and control accuracy.This control method has been used on a certain model of gimbaled rotating inertial navigation device and performs well.The actual test results show that the steady-state accuracy of the system can be stably controlled within±5″,and the response time can be controlled within 5 seconds,and it can meet the requirements of high-precision rotating position control.