陀螺稳定平台伺服控制系统研究

工学硕士学位论文

陀螺稳定平台伺服控制系统研究

王石静

哈尔滨工业大学

2008年6月

图内图书分类号：TP273

国际图书分类号：621.3

工学硕士学位论文

陀螺稳定平台伺服控制系统研究

硕 士 研究生：王石静

导 师：杨 明教授

副 导 师：霍 炬讲师

申 请 学 位：工学硕士

学 科、专 业：控制科学与工程

所 在 单 位：控制与仿真中心

答 辩 日 期：2008年6月

授予学位单位：哈尔滨工业大学

Classified Index: TP273

U.D.C.: 621.3

Dissertation for the Master Degree in Engineering

RESEARCH ON SERVO CONTROL

SYSTEM OF GYRO-STABILIZED

PLATFORM

Candidate:

Supervisor:

Associate Supervisor: Academic Degree Applied for: Speciality:

Affiliation：

Date of Defence:

Degree-Conferring-Institution:Wang Shijing

Prof. Yang Ming

Lecturer Huo Ju

Master of Engineering

Control Science and Engineering Control and Simulation Center June, 2008

Harbin Institute of Technology

哈尔滨工业大学工学硕士学位论文

摘 要

陀螺稳定平台能够隔离载体扰动，保持平台上探测设备的视轴在惯性空间的稳定，从而保证探测设备对目标的精确跟踪，在现代武器系统中得到了广泛的应用。本文针对项目需求，研究了陀螺稳定平台工作原理，建立了数学模型，对影响系统精度的摩擦力矩和陀螺噪声这两大主要因素进行了深入研究，并分析和研究了解决这两大问题的方法。

首先，在了解了陀螺平台系统工作原理的基础上，建立了系统的各组成部分模型，并根据载体扰动传递机制完善了模型。其中，非线性摩擦对系统精度的影响很大，所以，本文建立了适用于仿真分析的摩擦模型，这对分析扰动对系统精度的影响情况以及研究控制器控制效果奠定了基础。

其次，测量元件陀螺的噪声是影响系统精度的另一个重要因素。本文用IEEE公认的陀螺参数分析的标准方法——Allan方差法分析了陀螺信号噪声；研究了三种滤波方法——数字低通滤波、小波变换阈值滤波、自适应滤波，并将这三种方法直接用于处理陀螺信号；仿真分析比较了滤波效果。此外，分析了滤波前后陀螺信号的幅度谱，利用Allan方差法并通过最小二乘拟合得到了滤波前后陀螺信号中各误差源的幅度，从不同的角度进一步证实了：三种方法中，自适应滤波效果最佳。

最后，设计了平台伺服系统控制器，主要研究了传统的超前滞后控制和滑模变结构控制。并对这两种控制器的控制效果进行了系统稳定仿真实验分析，结果表明变结构控制效果远远优于超前滞后控制。此外，进行了系统位置跟踪的仿真实验，结果表明变结构控制下系统可以较精确地跟踪一般的低频运动目标，满足一定的跟踪精度要求。

关键词陀螺稳定平台；非线性摩擦；陀螺噪声；滤波方法；控制器

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哈尔滨工业大学工学硕士学位论文

Abstract

Gyro-stabilized platform can isolate the disturbance of carrier to keep the line-of-sight of exploring equipment stable in the inertial space, which is sure that exploring equipment can trace to targets accurately, so gyro-stabilized platform have great application in the modern weapon system. According to the needs of the project, this paper studied the operation principle of gyro-stabilized platform system, built mathematic model of the system, deeply studied friction moment and gyro noise which are main influencing factors of system precision, analyzed and studied the solving methods of the two questions.

At first, based on understanding the operation principle of gyro-stabilized platform system, this paper built the model of each part of the system, perfected the model based on the transmission mechanics of the disturbance of carrier. Nonlinear friction have great influence on system precision, so this paper built friction model that is appropriate for simulation, which have great sense on studying the influence of disturbance and the control effect of controllers.

Then, the noise of gyro is another main influencing factor of system precision. This paper used Allan variance method which is IEEE well-known standard method of the analyses of gyro parameter to analyze gyro signal noise. This paper studied three filtering methods: digital low-pass filter; wavelet threshold-value filter; self-adaptation filter, and used the three methods to deal with the gyro signal, compared the effect of filtering by simulation. Besides, this paper analyzed amplitude-frequency spectrum (AFS) of gyro signal before and after filtering, obtained the amplitude of various error sources in gyro signal by using the Allan variance method and the least square fitting procedure, then from different aspects verified that the filter effect of self-adaptation filter is the best in the three filter methods.

At last, this paper built the controller of the platform servo-system, mainly studied classical lead-lag control and variable structure control (VSC). The control effect of the two controllers was analyzed and compared by simulation, and the results indicated VSC’s control effect is better than lead-lag control’s. Besides, this paper did the simulation experiments of system position tracing.

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