三轴旋转惯性导航系统的旋转控制建模研究

doi:10.3969/j.issn.1000-1093.2017.08.020

兵工学报 ›› 2017, Vol. 38 ›› Issue (8): 1610-1618.doi: 10.3969/j.issn.1000-1093.2017.08.020

三轴旋转惯性导航系统的旋转控制建模研究

查峰¹，覃方君¹，李京书¹，叶斌²

(1.海军工程大学电气工程学院, 湖北武汉 430033; 2.惯性技术航空科技重点实验室, 陕西西安 710061)

收稿日期:2016-12-08 修回日期:2016-12-08 上线日期:2017-10-10
作者简介:査峰(1984—), 男，讲师, 博士。E-mail: zha_feng@126.com
基金资助:
国家自然科学基金项目（61503404、41404002）；国家重大科学仪器开发专项项目（2011yq12004502）；航空科学基金项目（20150816002）；海军工程大学自主立项基金项目（20161577、425517K256）

Rotation Control Modeling of Triaxial Rotating Inertial Navigation System

ZHA Feng¹， QIN Fang-jun¹， LI Jing-shu¹， YE Bin²

(1.College of Electrical Engineering, Naval University of Engineering, Wuhan 430033， Hubei, China;2.Aviation Key Laboratory of Science and Technology on Inertia, Xi'an 710061, Shaanxi, China)

Received:2016-12-08 Revised:2016-12-08 Online:2017-10-10

摘要/Abstract

摘要： 为了减小载体运动对于旋转惯性导航系统误差调制作用的影响，建立三轴旋转惯性导航系统在隔离载体运动条件下的控制模型。基于三轴框架结构定义合理的坐标系，分析载体运动在三轴框架中的传递过程，建立载体运动与周期性旋转惯性测量单元运动之间的数学解析关系。在此基础上，根据欧拉动力学方程，建立三轴框架运动与电机力矩、载体运动之间的动力学模型。联合载体运动传递过程和动力学模型，建立三轴旋转惯性导航系统在隔离载体运动条件下的控制模型，得到了载体运动过程中外环轴上的转动惯量随俯仰角而实时变化的解析形式。仿真和实际实验验证了理论分析结果，可为旋转控制算法设计提供理论参考。

关键词: 控制科学与技术, 惯性导航, 旋转控制, 动力学模型, 旋转惯性导航系统

Abstract: A control model of triaxial rotating inertial navigation system (RINS) is established to reduce the influence of carrier movement on the error modulation. A reasonable coordinate system is defined based on the triaxial frame structure, and then the transfer process of the carrier motion from the base to initial measurement unit (IMU) is analyzed to find the mathematical relationship between carrier motion and IMU motion. A dynamic model of triaxial frame motion, motor torque and carrier transport power is established based on Euler dynamic equation. A dynamic model of triaxial frame motion，motor torque and carrier motion is established according to Euler dynamic equation. And a control model of triaxial RINS under the condition of carrier motion isolation is established by using the proposed dynamic model and the motion transfer process. Accordingly, the analytical form of real-time change in rotary inertia on the outer ring axis is obtained, which is verified by simulation and actual test. Key

Key words: controlscienceandtechnology, inertialnavigation, rotationcontrol, dynamicmodel, rotatinginertialnavigationsystem

中图分类号:

U666.12⁺4

查峰，覃方君，李京书，叶斌. 三轴旋转惯性导航系统的旋转控制建模研究[J]. 兵工学报, 2017, 38(8): 1610-1618.

ZHA Feng， QIN Fang-jun， LI Jing-shu， YE Bin. Rotation Control Modeling of Triaxial Rotating Inertial Navigation System[J]. Acta Armamentarii, 2017, 38(8): 1610-1618.

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三轴旋转惯性导航系统的旋转控制建模研究

Rotation Control Modeling of Triaxial Rotating Inertial Navigation System

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