基于三环控制的惯性稳定平台不平衡扰动建模

摘要

Unbalance disturbance is one of the main disturbance factors of inertially stabilized platform, which affects the stability and tracking performance of inertially stabilized platform heavily. As its complex cause of formation, it is difficult to establish an accurate model of unbalance disturbance for inertially stabilized platform. Based on the source of unbalance disturbance and the control system model of inertially stabilized platform, this paper makes use of the drift angle which is caused by the angular movement and friction of the base. The platform will turn due to the action of the drift angle, and then unbalance disturbance is formed. The research shows that unbalance disturbance will affect the performance of platform heavily, and the output of stabilized angle will exceed accuracy requirements by the action of unbalance disturbance when the amplitude of disturbance angular movement is relatively large. The research achievement provides a specific model basis for analyzing the effect of unbalance disturbance, and it provides an object condition for the research of restraining unbalance disturbance.%不平衡扰动是惯性稳定平台的主要扰动因素之一，严重影响惯性稳定平台的稳定和跟踪性能，而且由于其形成原因的复杂性，对于惯性稳定平台的不平衡扰动，建立精确的模型比较困难。本文从不平衡扰动的来源出发，在惯性稳定平台三环控制系统模型的基础上，考虑到基座角运动和摩擦等扰动会使得平台偏转，而在偏转角的作用下会产生平台的不平衡扰动，进而完成不平衡扰动的建模。研究表明，不平衡扰动会对平台的性能造成较大影响，而且当干扰角运动幅值较大时，在不平衡扰动的作用下，系统角度输出稳态值会大大超过精度要求。研究成果为分析不平衡扰动对惯性稳定平台的影响提供了具体的模型依据，并为稳定平台不平衡扰动抑制方法的研究提供了对象条件。