车载捷联式三轴稳定平台动力学建模与分析

摘要

To attain the coupling characters of vehicle-borne strapdown 3-axis stable platform,a complete kinematics and dynamics model of 3-axis stabilization platform system was achieved.Kinematics model analysis indicates that the main difference between strapdown stabilization platform and rate gyroscope stable platform lies in information acquisition and control mode.The rate gyroscope platform gets stability using hardware directly,while strapdown platform gets stability based on the software compensation.Dynamics model shows that the nonlinear cross coupling exists not only between vehicle body and gimbals of stable platform system,but also among gimbals each other.The coupling test not only validated the model,but also obtained the cross coupling boundary ranges of each gimbal,which affords a theoretical foundation for the further study of vehicle mounted strapdown 3-axis stable platform system.%为了获得车载捷联式三轴稳定平台的耦合力矩特性,建立了稳定平台系统的运动学与动力学模型.运动学模型分析结果表明,捷联稳定方式与陀螺稳定方式的基本区别在于信息的获取和控制方式,速率陀螺稳定是一种直接硬件补偿方法,而捷联稳定是一种软件补偿方法.动力学模型分析表明,车体与稳定平台系统各框架和各框架间均存在非线性耦合力矩.系统耦合性试验验证了系统模型的有效性,且获得了各框架耦合性大小的边界范围,为进一步研究车载捷联式三轴稳定平台系统性能提供了理论基础.