宇航计测技术 ›› 2023, Vol. 43 ›› Issue (4): 41-47.doi: 10.12060/j.issn.1000-7202.2023.04.07

• 精密测试技术 • 上一篇    下一篇

旋转惯导中转位电机控制算法对导航精度的影响分析

梁洪涛1，王一兵2,朱燕萍2,任晖3,何绪龙3   

  1. 1.海装驻北京地区第一军事代表室，北京100076；
    2.北京航天发射技术研究所，北京100076；
    3.北京航天计量测试技术研究所，北京100076
  • 出版日期:2023-08-15 发布日期:2023-09-19
  • 作者简介:梁洪涛（1979-），男，工程师，硕士，主要研究方向：机械电子设备加工制造、运输车辆制造及惯性导航。

Analysis for Impact of Motor Control Algorithms on Navigation Accuracy in Rotating Inertial System

LIANG Hong-tao1，WANG Yi-bing2，ZHU Yan-ping2，REN Hui3,HE Xu-long3   

  1. 1.No.1 Navy Agent’s Room of Equipment Department in Beijing Aera,Beijing 100076,China；
    2.Beijing Institute of Space Launch Technology,Beijing 100076,China;
    3.Beijing Aerospace Institute for Metrology and Measurement Technology,Beijing 100076,China
  • Online:2023-08-15 Published:2023-09-19

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摘要： 随着陆用和海用装备对导航系统高精度、快速性和长航时要求的提高，旋转惯导成为满足这些要求的重要技术路线之一。旋转惯导中转位机构的转动精度、加减速平稳性和启动速度等成为影响姿态解调精度的关键因素。初始对准、转位调制和姿态解调特性表明，旋转惯导对电机控制的要求为速度平稳、加速度可控。为此，分析了现有的分段速度控制算法和基于S曲线规划的电机控制算法对导航精度的影响。仿真和试验表明，满足转位过程平稳连续、加减速可控的要求，实现了位置转动精度提高、加减速过程的对称性，避免了速度超调过大对电机可靠性的不利影响。

关键词: 旋转惯导, 电机加减速控制, S曲线, 导航精度

Abstract: With higher requirements for accuracy,rapidity and endurance on navigation system used in stationary and marine plant,rotating inertial navigation has become one of the most important technical strategies that can fulfill these requirements.Indexing accuracy,acceleration and deceleration smoothness,and launch speed of the indexing mechanism in rotating inertial navigation are the key factors which will affect the precision of posture demodulation.According to the characteristics of initial alignment,index modulation and posture demodulation,analysis indicates that rotating inertial navigation demands for smoothness of speed and controllability of acceleration.The influence of the segmented speed control method and S-curve method on the navigation accuracy is analyzed.Simulation and experiments show that the smoothness of speed and controllability of acceleration and deceleration during rotation procedure,improvement of rotation precision and symmetrical process of acceleration and deceleration is achieved,and the adverse effect on the reliability of motor brought by excessive speed overshoot is avoided.

Key words: Rotating inertial navigation, Acceleration and deceleration motor control, S-curve, Navigation accuracy

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