旋转调制惯导用转位机构及高精度控制技术

doi:10.3969/j.issn.1009-086x.2018.04.006

现代防御技术 ›› 2018, Vol. 46 ›› Issue (4): 33-39.DOI: 10.3969/j.issn.1009-086x.2018.04.006

旋转调制惯导用转位机构及高精度控制技术

彭惠, 陈令刚, 李燕生, 薛庆全, 李旬

北京航天发射技术研究所,北京 100076

收稿日期:2017-06-19 修回日期:2017-12-25 出版日期:2018-08-30 发布日期:2020-11-25
作者简介:彭惠(1988-),女,河北衡水人。工程师,硕士,主要从事惯性导航及控制技术研究。通信地址:100076 北京9200信箱转71分箱 E-mail:penghuinuaa@126.com

Position Transformation System and High-Accuracy Control Method for Rotation-Modulation Inertial Navigation System

PENG Hui, CHEN Ling-gang, LI Yan-sheng, XUE Qing-quan, LI Xun

Beijing Institute of Space Launch Technology,Beijing 100076,China

Received:2017-06-19 Revised:2017-12-25 Online:2018-08-30 Published:2020-11-25

摘要/Abstract

摘要： 旋转调制式惯导系统对其转位机构的控制精度提出了较高需求,针对这一需求,提出了一种基于直流有刷力矩电机的旋转调制惯导用转位机构及其高精度控制技术。用旋转变压器作为角度测量器件,直流力矩电机作为执行元件,研发了位置-速度-电流三闭环复合控制器,提出了前馈与PID复合的控制策略以及饱和校正PID控制算法,实现对电机的位置、速度以及电枢电流的快速平稳控制,完成对转位机构的高精度驱动。通过Simulink数值仿真和实物校验表明,该技术是有效的且控制精度满足设计要求,具有一定的工程应用价值。

关键词: 旋转调制, 惯导, 转位机构, 三闭环, 控制, Simulink

Abstract: The strap-down inertial navigation system with rotation-modulation has raised a higher requirement for the precision of position transformation system; and aiming at this requirement and based on the DC (direct current) torque motor, a position transformation system and a control method are proposed. The revolving transformer to measure the angle and the DC torque motor to drive the position transformation system are used to study the position-velocity-current PID (proportion integration differentiation) control loop. The feed-forward control method and saturation correction algorithm are proposed to realize the high accuracy of the position control for the transformation system. The Simulink numerical simulation results show that the control method is effective and the control precision can satisfy the design specification requirement. Under actual test conditions, the field-test results show that the method is practicable; the adaptability for the environment and the control precision can meet the design requirements.

Key words: rotating modulation, inertial navigation system, position transformation system, three-closed-loop, control, Simulink

中图分类号:

V448
TP391.9

彭惠, 陈令刚, 李燕生, 薛庆全, 李旬. 旋转调制惯导用转位机构及高精度控制技术[J]. 现代防御技术, 2018, 46(4): 33-39.

PENG Hui, CHEN Ling-gang, LI Yan-sheng, XUE Qing-quan, LI Xun. Position Transformation System and High-Accuracy Control Method for Rotation-Modulation Inertial Navigation System[J]. Modern Defense Technology, 2018, 46(4): 33-39.

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旋转调制惯导用转位机构及高精度控制技术

Position Transformation System and High-Accuracy Control Method for Rotation-Modulation Inertial Navigation System

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