| 轻小型惯性稳定平台位置环协同通信控制方法 |
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| 引用本文： | 贾媛,周向阳.轻小型惯性稳定平台位置环协同通信控制方法[J].测绘科学,2018(1):101-106. |
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| 作者姓名： | 贾媛 周向阳 |
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| 作者单位： | 北京航空航天大学惯性技术重点实验室/新型惯性仪表与导航系统技术国防重点学科实验室,北京 100191;北京航空航天大学仪器科学与光电工程学院北京100191 |
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| 摘 要： | 针对轻小型航空遥感系统对姿态大机动的快响应需求,设计了一种轻量型惯性稳定平台位置环协同通信与姿态超限快响应控制策略,将位置环反馈回路设计为两种可切换工作模式。伺服模式下,参考位置姿态系统的输出,通过设计二者协同通信,保证稳定平台对飞行姿态及扰动的实时隔离;编码器实时监测框架间相对角位置,超限位且载荷视轴与垂直方向误差较大时切换模式。超限快速回复模式下,以编码器值为位置环反馈量,使用大增益将平台由超限位置迅速调整到最大限定位置,并实时监测POS值,在载荷视轴位置误差较小时返回伺服模式。实验表明,该方法可靠、有效实现了稳定平台与位置传感器的高精度实时通信与控制。
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| 关 键 词： | 惯性稳定平台 位置姿态系统 编码器 通信 模式转换 inertially stabilized platform position and orientation system encoder communication mode conversion |
A cooperative communication and control strategy for the position loop oflight-small inertially stabilized platform |
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| JIA Yuan,ZHOU Xiangyang.A cooperative communication and control strategy for the position loop oflight-small inertially stabilized platform[J].Science of Surveying and Mapping,2018(1):101-106. |
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| Authors: | JIA Yuan ZHOU Xiangyang |
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| Abstract: | According to demands of the light-small airborne remote sensing system for fast response under big-mobile gesture,a cooperative communication and attitude transfinite fast response control strategy is designed for position loop of light-small inertial stabilized platform.Two switch work modes are designed for the stabilized platform position feedback loop.In servo mode,collaborative communication between stabilized platform and position and orientation system(POS)is designed.Taken the output from POS as location tracking reference,stabilized platform can isolate flight attitude and the disturbances in real time;Monitoring relative angular position between gimbals through encoders in real time,switch to overrun quick-restored mode when the gimbal angle is overrun and the vertical angular error of line of sight (LOS)is big.In overrun quick-restored mode,taken the value of encoders as the position loop feedback,large gains are used to control platform quickly restore from transfinite position to the maximum limit position.And POS values are real-time monitored to return the servo mode when the load LOS position error value becomes small.The experimental results show that the proposed method is reliable,and the high precision realtime communication and control of the stable platform and position sensor is realized effectively. |
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