摘要
本文针对航空摄影惯性稳定平台高控制精度的要求,采用Newton-Euler法建立了考虑动基座效应的三轴惯性稳定平台三框架动力学模型;根据建立的模型,利用Simulink软件分别对周期扰动下3个框架的耦合效应进行了仿真分析。结果表明:当基座发生角运动时,横滚框所受耦合力矩最大,其次是俯仰框,而方位框没有耦合;当转速较低时,框架之间相互耦合影响较小,对系统稳定精度无显著影响,在控制器设计时可以忽略。
To realize the high-accuracy control of three-axis inertial stabilized platform for aerial photography, three gimbals sys- tem dynamic model was established by using Newton-Euler equation in the paper. According to the established gimbals system dynamic equations, the simulation was carried out by using Simulink. The results showed that when the angular movements of base and gimbals occurring, the coupling moment roll gimbal suffers is the largest among three gimbals, and there aren＇ t any coupling moment in yaw gimbal; in addition, the gimbal＇ s coupling moments can be ignored since angular rate is too slow when a single gimbal＇ s controller is desimaed.
出处
《测绘科学》
CSCD
北大核心
2013年第3期24-27,共4页
Science of Surveying and Mapping
基金
国家"973"计划项目(2009CB724001)
国家"863"计划重点项目(2008AA121302)
国家自然科学基金重点项目(60736025)
