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介绍了一种大型两轴稳定平台的惯性稳定和地理系姿态跟踪原理,建立了稳定平台俯仰框架和横滚框架的运动学模型和动力学模型,进行了稳定平台横滚通道的角速度回路和角位置回路设计,仿真分析了姿态角测量误差作用下的稳定平台姿态跟踪性能,与利用加速度计反馈实现调平的两轴阻尼稳定平台进行对比,比对结果验证了本文设计的控制系统在水平姿态跟踪速度和抗干扰能力上的优势。平台样机进行了姿态跟踪测试,结果验证了结合定位定向系统(POS)的稳定平台惯性稳定和姿态跟踪控制方法可行。
The principle of inertial stability and geostationary attitude tracking of a large two-axis stable platform are introduced. The kinematics model and dynamic model of the steady platform pitch frame and roll frame are established. The angular velocity loop and angle Position loop design, the attitude stability of the stabilized platform under the measurement error of attitude angle is simulated and compared with the two-axis damping platform stabilized by the accelerometer feedback. The comparison results verify that the control system designed in this paper is in the horizontal attitude Track speed and anti-interference ability advantages. The prototype of the platform has been subjected to the attitude tracking test. The results verify the feasibility of the stabilized platform inertial stability and attitude tracking control combined with POS system.