惯组动态测试台误差分析及附加运动补偿算法

摘要

为了完成惯组的高精度、大动态测试任务，基于Gough－Stewart平台设计了电动六自由度惯组动态测试台。建立了系统的误差模型并分析了电动缸长度误差对系统精度的影响，分析了电动缸在惯组动态测试台运动过程中产生的被动螺旋附加运动，并对该运动补偿算法进行了研究。对被动螺旋附加运动产生的误差进行量化分析，结果表明，被动螺旋附加运动对惯组动态测试台的位姿精度存在非常显著的影响。为了消除该影响，编制了补偿算法，并将其应用于惯组动态测试台的实时控制系统中。实验结果表明，经过算法补偿后，惯组动态测试台的位姿精度达到了设计指标要求。%In order to implement high accurate and large dynamic test tasks of inertia measurement unit (IMU),6-degrees of freedom electric dynamic test table of IMU was designed on the basis of Gough-Stewart platform.Error model was established and the effect of electric cylinder length error on the accuracy of the system was analyzed.The passive spiral increment motion of electric cylinder produced in the movement of IMU dynamic test table was analyzed further and the compensation algorithm of the movement was studied.The quantitative analysis of the error brought from the passive spiral increment motion shows that the effect of the motion to the pose accuracy of dynamic test table is significant.In order to clear the effect,the compensation algorithm was accomplished and was applied to the real-time control system of the dynamic test table of IMU. Experimental results show that the position accuracy of dynamic test table of IMU reaches the design specification due to compensation algorithm.