摘要
陀螺安装方式及相应的算法编排是稳定平台设计中的一项关键技术。针对机载对地观测用三轴稳定平台特点,提出了将方位陀螺安装在方位环上,俯仰陀螺和横滚陀螺安装在俯仰环上的陀螺安装方式。利用空间矢量分解理论分析了陀螺输出角速度信号的投影关系及电机控制信号的分配;基于稳定平台系统模型,对理想正交情况和考虑陀螺安装误差情况进行了仿真分析,验证了此种安装方式的可行性和优越性。分析表明,在同等条件下,所提出的安装方式减小了稳定平台的机械尺寸,降低了稳定平台的重量和功耗,实现了三维角速度的正交测量,简化了三轴解耦控制算法。研究结论可为其他三轴稳定平台结构设计和陀螺安装方式设计提供参考。
The installation mode of gyro with its related algorithm is a key aspect in the design of stabilized platforms.According to the characteristics of a three-axis stabilized platform for airborne earth observation,a novel installation mode of gyro is proposed in which the azimuth gyro is mounted on the azimuth ring,while the pitch and roll gyros are mounted on the pitch ring.The relationships between gyro output angular velocities and the distribution of motor control signals are analyzed by means of the space vector decomposition theory.Based on the system model of the stabilized platform,simulation and analysis are presented under the ideal orthogonal condition as well as the condition of a gyro installation error,and the results demonstrate the feasibility and advantage of the installation mode.Under the same conditions,the installation mode diminishes mechanical dimension,reduces weight and power cost,realizes the orthogonal measurement of three-dimension angular velocities,and simplifies the three-axis decoupling control algorithm.The research conclusion can provide reference for other types of three-axis stabilized platforms in their design of structure and gyro installation mode.
出处
《航空学报》
EI
CAS
CSCD
北大核心
2010年第3期614-619,共6页
Acta Aeronautica et Astronautica Sinica
基金
国家"973"计划(2009CB72400102)
国家"863"计划(2007AA12Z327
2008AA121302)
关键词
对地观测
稳定平台
陀螺
安装
解耦
矢量分解
earth observation
stabilized platform
gyro
installation
decoupling
vector decomposition
