上海交通大学学报

上海交通大学学报（自然版）

• 自动化技术、计算机技术 • 上一篇    下一篇

惯性平台不平衡力矩测试方法及补偿控制

于爽，付庄，赵辉，赵言正   

  1. (上海交通大学 机器人研究所， 上海 200240)
  • 收稿日期:2007-11-06 修回日期:1900-01-01 出版日期:2008-10-28 发布日期:2008-10-28
  • 通讯作者: 赵言正

Measurement Method and Compensation Control for Unbalanced Moment of Inertial Platform

YU Shuang, FU Zhuang, ZHAO Hui, ZHAO Yan-zheng   

  1. (Research Institute of Robotics, Shanghai Jiaotong University, Shanghai 200240, China)
  • Received:2007-11-06 Revised:1900-01-01 Online:2008-10-28 Published:2008-10-28
  • Contact: ZHAO Yan-zheng

摘要： 为了消除惯性平台在导弹飞行过程中受到的不平衡力矩对其稳定性和跟踪精度的影响，提出了惯性平台不平衡力矩的测试和补偿方法.在得出平台内外框架静平衡条件的基础上，采用多个称重传感器对内外框架进行测试，得到每个框架不平衡力矩值，从而推导出在弹体运动的动态环境下内外框不平衡力矩的算式.根据不平衡力矩测试结果和算式，建立了基于不平衡力矩补偿的惯性平台内框控制模型.通过MATLAB/Adams对该模型进行联合仿真，结果表明了该补偿方法的有效性.

关键词: 惯性平台, 不平衡力矩, 静平衡, 补偿控制

Abstract: A measurement and compensation method was proposed in order to eliminate the coupling effect on tracking accuracy and stabilizing capability due to unbalanced moment of inertial platform. The condition for static balancing of twoaxis gimbaled inertial platform was analyzed. Weight sensors were used to measure the static unbalance torque of inner and outer gimbal, then the calculation formulas of dynamic unbalanced moment during missile flight were derived. The simulation results of the built control model for inner gimbal in MATLAB/Adams show the effectiveness of the proposed compensation method for unbalanced moment.

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