摘要
旋转型惯导系统借助自身旋转机构可实现自标定,这也对旋转机构的控制提出了较高的要求。通过对标定精度要求的分析,提出了旋转控制需达到的精度,建立了相应旋转机构的控制回路模型,并研究了控制器参数的选取方法。实验测试结果表明,该控制系统的角度控制误差约10″,在此控制系统下的标定结果满足设计要求。
For rotational inertial navigation system,by means of its own rotation mechanism,can be realized self-calibration of the inertial navigation system.Thus,it puts forward higher requirements for the control of rotation mechanism.Through analyzing of accuracy requirement in calibration,rotation controlling accuracy was proposed,and we establish relevant control circuit model of rotation mechanism.At the same time,we research the method of choosing controller parameters.Experimetal test results show that angle error of this control system was about 10 seconds,so,calibration results in control of this control system can meet the design requiremet.
出处
《自动化与仪表》
北大核心
2013年第10期1-4,47,共5页
Automation & Instrumentation
基金
北航研究生创新实践基金(YCSJ-01-2013-03)
关键词
标定
标定精度
旋转惯导系统
PID控制
calibration
calibration accuracy
rotation inertial navigation system
PID control
