航空遥感用三轴惯性稳定平台动力学建模与仿真

摘要

Due to the mechanical characteristics of inertial stabilized platform for aerial remote sensing system, the aeroplane's rotational environment is transmitted to the camera mounted on the platform, which has degraded the quality of image. Based on Lagrange mechanics and starting from analytical mechanics, a dynamic model of inertial stabilized platform is developed under the condition of considering the bearing friction, with the purpose of analyzing the complex coupling relation. Simulation results show that compared with coupling torque between frames, the base vibration has greater effect on the motion of camera relative to inertial coordinates. And higher frequency of base vibration has less effect on the motion of camera relative to inertial coordinates when the bearing friction is kinetic friction, which has been demonstrated to be valid by the theory in the paper. Results obtained will be a theoretical basis for the further study of the active vibration control of inertial stabilized platform.%航空遥感用三轴惯性稳定平台由于其机械结构特点,飞机姿态的扰动会耦合到安装在平台的相机上,影响相机的成像质量.为了对复杂耦合关系进行分析,从分析力学的角度出发,采用拉格朗日第二类方程,考虑轴承摩擦,建立了航空遥感用三轴惯性稳定平台动力学模型.在此基础上,对基座振动对相机相对于惯性系的扰动进行了数值仿真.仿真结果表明:基座振动同框架间的耦合力矩相比,基座振动对相机相对于惯性系的扰动占主导作用.当轴承间为动摩擦时,基座振动频率越高,对相机相对惯性系的扰动越小,并从理论上证明了此结论的正确性.研究结果为深入研究航空遥感用三轴惯性稳定平台的振动主动控制提供了理论依据.