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首页> 外文会议>Saint Petersburg International Conference on Integrated Navigation Systems; 20060529-31; Saint Petersburg(RU) >COMBINED TERMINAL-PROGRAMMED COMPENSATORY CONTROL REGULATOR OF GYROSTASBILIZED PLATFORM MOVEMENT
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COMBINED TERMINAL-PROGRAMMED COMPENSATORY CONTROL REGULATOR OF GYROSTASBILIZED PLATFORM MOVEMENT

机译：陀螺稳定平台组合终端程序补偿控制调节器

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摘要

There is a algorithm of movement control of three-phase gyro-stabilized platform (GSP) in rough reduction regime (RRR) including two control laws: terminal (dynamic) with complete feedback by all state variables and in the neighborhood of terminal control point -programmed with apply of principle of Pontryagin maximum. Taking into account nonlinearity of the system it was decided to calculate drag torque at every step of integration and compensate it by corresponding impact, thus approximating concerned dynamic system to the linear one. Minimized quality integral corresponding to the minimum of spent energy provides functioning of final control element (direct current torque sensor (DCTS)) in the linear zone, thus excluding relay regimes of DCTS and providing achievement of final parameters of all three axes at a time. There are experimental results and results of computer modeling.
机译：三相陀螺稳定平台（GSP）的运动控制算法具有粗略简化状态（RRR），包括两个控制律：终端（动态），所有状态变量都具有完全反馈，并且在终端控制点附近-使用Pontryagin最大原理进行编程。考虑到系统的非线性，决定在积分的每个步骤计算阻力转矩，并通过相应的影响对其进行补偿，从而使相关的动态系统近似于线性系统。对应于所消耗能量的最小值的最小质量积分提供了线性区域中的最终控制元件（直流扭矩传感器（DCTS））的功能，因此排除了DCTS的继电方式，并一次实现了所有三个轴的最终参数。有实验结果和计算机建模结果。

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