大型平台的惯性稳定与地理坐标系姿态跟踪

摘要

介绍了一种大型两轴稳定平台的惯性稳定和地理系姿态跟踪原理,建立了稳定平台俯仰框架和横滚框架的运动学模型和动力学模型,进行了稳定平台横滚通道的角速度回路和角位置回路设计,仿真分析了姿态角测量误差作用下的稳定平台姿态跟踪性能,与利用加速度计反馈实现调平的两轴阻尼稳定平台进行对比,比对结果验证了本文设计的控制系统在水平姿态跟踪速度和抗干扰能力上的优势.平台样机进行了姿态跟踪测试,结果验证了结合定位定向系统(POS)的稳定平台惯性稳定和姿态跟踪控制方法可行.%The principles of inertial stabilizing and geographic coordinate system attitude tracking for a kind of large two-axis stabilization platform are described.The kinematics models and dynamics models of the pitch and roll gimbals of the platform are built.The angle rate control loop and angle position control loop of roll control channel are designed.The simulations of attitude tracking under the condition of the attitude measurement error are done,compared with that of a kind of twoaxis damped stabilization platform utilized the accelerators feedback for horizontal attitude leveling.The result demonstrated that the designed control system in this paper has the advantages in quickly attitude tracking and anti-disturbance capabilities.The attitude tracking test of the stabilized platform prototype was done.Feasibility of the inertial stabilizing and attitude tracking control methods for the stabilizing platform combined with position and orientation system (POS) are demonstrated.