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针对旋转调制式捷联惯导系统的电机连续正反转的控制问题,为了满足平稳旋转和反转瞬间对电机转角位置的高精度要求,提出PID控制与开环控制相结合的电机连续正反转的控制方法,并验证了该方法在保证精度的前提下相比于其它的控制算法更为简单易行。分析了旋转控制的角度误差对导航的影响,介绍了系统结构、算法流程和系统调试方法。仿真和实际结果表明:该方法不仅使电机反转瞬间的角度误差降至30角秒以下,还保证了控制方式转换时的平稳过渡,实现了电机的平稳反转。
Aiming at the problem of continuous positive and negative rotation control of rotating modulated strapdown inertial navigation system, in order to meet the requirement of high-precision rotation position and reverse rotating moment, Turn control method, and verify that the method is more simple and easy to implement than other control algorithms under the premise of ensuring the accuracy. The influence of rotation control angle error on navigation is analyzed. The system structure, algorithm flow and system debugging method are introduced. The simulation and actual results show that this method not only reduces the angle error of the motor in the moment of reversal below 30 arc seconds, but also ensures the smooth transition of the control mode and realizes the smooth reversal of the motor.