系统工程与电子技术

• 制导、导航与控制 • 上一篇    下一篇

一种旋转调制惯导系统的复合旋转控制算法

邓志红, 蔡山波, 王博, 付梦印   

  1. 1. 北京理工大学自动化学院, 北京 100081; 2. 南京理工大学, 江苏 南京 210094
  • 出版日期:2016-10-28 发布日期:2010-01-03

Compound rotation control algorithm for rotational INS

DENG Zhi-hong, CAI Shan-bo, WANG Bo, FU Meng-yin   

  1. 1. School of Automation, Beijing Institute of Technology, Beijing 100081, China;
    2. Nanjing University of Science and Technology, Nanjing 210094, China
  • Online:2016-10-28 Published:2010-01-03

摘要:

首先分析了旋转平台控制误差对惯导系统(inertial navigation system, INS)调制效果的影响;然后建立了旋转平台的数学模型,结合旋转调制误差抑制效果对控制性能的要求,提出了一种自抗扰和滑模变结构相结合的复合旋转控制方法,该方法充分利用了滑模变结构控制快速减小误差的优势和自抗扰控制的精确估计能力,并设计了融合策略。仿真和实验结果表明,相比于传统PID控制方法,本文方法减小了旋转平台转速控制误差,且使反向角度超调误差和调节时间都减小了50%以上,提高了旋转调制惯导系统的性能。

Abstract:

Firstly, the modulation influence of rotational platform’s control error on the inertial navigation system (INS) is analyzed. Then, based on the mathematical model of the rotational platform and the control requirements for the rotation modulation technology, a compound algorithm based on active disturbance rejection control (ADRC) and sliding model control (SMC) is put forward. The compound algorithm takes full advantage of SMC’s superiority to decrease control error and ADRC’s ability to estimate system states. Meanwhile, a fusion strategy is designed. The simulation and experiment results show that compared with the traditional PID method, the proposed algorithm decreases the speed error of the platform, and minishes the angular overshoot and responding time more than 50% when changing the rotation direction.