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首页> 外文会议>Saint Petersburg International Conference on Integrated Navigation Systems; 20070528-30; Saint Petersburg(RU) >TERMINAL MOTION CONTROL OF GYRO-STABILIZED PLATFORM FOR ELIMINATION OF DYNAMIC 'BOUNCE' IN THE REGIME OF POWER STABILIZATION
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TERMINAL MOTION CONTROL OF GYRO-STABILIZED PLATFORM FOR ELIMINATION OF DYNAMIC 'BOUNCE' IN THE REGIME OF POWER STABILIZATION

机译：动力稳定系统中消除动态“弹跳”的陀螺稳定平台的终端运动控制

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摘要

We introduce an algorithm of motion control of three-extent gyro-stabilized platform (GSP) in the regime of rough approximation (RA) that includes two stages of terminal control with full feedback on all state variables. At the first stage the axes of GSP are set from arbitrary initial position into deliberately defined intermediate position that approaches the set one thus providing stable initial conditions for the second stage of control. At the second stage from the set initial (intermediate) position GSP is shifted to the point different from the ultimate one on the value of the known, set by design characteristics of gyro unit (GU), dynamic "bounce" Δα with the set velocity so that the sensor (S) ofGU always reached certain rest remaining in this position till the end of control. Thus provided dynamic "bounce" from the same point with same symbol towards terminal phase state. Results of computer modeling of GSP axes motion are given.
机译：我们在粗略近似（RA）体制中引入了一种三度陀螺稳定平台（GSP）的运动控制算法，该算法包括两个阶段的终端控制，对所有状态变量进行完全反馈。在第一阶段，将GSP的轴从任意初始位置设置为故意接近设定位置的中间位置，从而为第二阶段控制提供稳定的初始条件。在第二阶段，从设定的初始（中间）位置GSP移至与已知值不同的点，该值由陀螺仪单元（GU）的设计特性设定，动态“弹跳”Δα具有设定速度因此，GU的传感器（S）始终保持一定的静止状态，直到控制结束。因此提供了从相同符号的相同点向终端相状态的动态“反弹”。给出了GSP轴运动的计算机建模结果。

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