基于平台罗经的稳定平台控制系统研究

【作者】 王文；

【导师】 罗小蓉； 李勇建；

【作者基本信息】 电子科技大学 ， 电子与通信工程， 2009， 硕士

【摘要】 本文详细阐述了一种基于平台罗经的船用稳定平台控制系统的设计及性能参数测试方法研究。稳定平台是惯性技术应用的重要领域之一,是一个典型的惯性与伺服控制技术相结合的机电一体化控制系统产品,其核心问题是载体水平姿态信息测量和伺服控制技术。平台罗经是将传统的平台和罗经进行紧密结合的一种精密复杂的惯性导航仪器,它可以为大中型舰船的导航、武器装备、指挥控制等系统提供精确的航向和水平基准信息。因此,基于平台罗经的船载稳定平台系统,在船载雷达跟踪与侦察、电子对抗、火力控制、遥感和遥测系统等领域有着广泛的应用。本文依托中国电子科技集团第26研究所某型船载稳定平台项目,以理论分析为基础,通过把大量的理论仿真实验和项目实践试验相结合的研究方法,展开全数字化伺服稳定跟踪技术及测试技术的研究,取得了以下创新成果:1、利用模拟滤波器成熟的理论设计出适合于海浪干扰的Butterworth数字低通滤波器,减轻了海浪干扰对于稳定平台控制的影响;2、从课题项目实际应用出发,以高性能微处理器为核心组成数字化伺服控制系统,将最小二乘拟合算法、改进型PID控制和前馈控制相结合的复合控制算法等技术与工程实践进行有机结合,建立起系统控制模型。利用Matlab和Simulink软件进行计算和仿真试验,研制出运转连续的、平稳的,满足系统性能指标的船载稳定平台;3、为降低成本,充分利用26所现有的测试设备资源,设计出了适合本项目的测试平台。在此基础上,对该稳定平台控制系统进行了稳态误差、稳定精度及动态性能等主要参数测试,并对测试数据进行了记录和分析处理。该测试平台对于其它类似平台的性能测试具有一定的通用性。由仿真和测试结果表明,稳定平台的各项技术性能指标基本满足使用要求,说明了本论文的研究方法和所采用的技术途径正确、可行,验证了所采用稳定跟踪控制策略及算法在工程产品上应用的可实现性。通过该项目的研究,促进了CETC26所惯性技术在惯性与控制技术相结合方面的发展,为26所开辟惯性控制类平台产品打下了一定的基础。更多还原

【Abstract】 This paper describes a design and performance parameters of test method, which is based on marine stable platform control system of platform compass. Stability platform is one of the important areas of Inertial Technology; it is also a typical mechanical and electrical integration of control system products that inertia and servo control technology are combined, the core issue is horizontal attitude information measurement of carrier and servo control technology. Platform compass is a sophisticated inertial navigation equipment that the traditional platform and compass is closely connected, which can provides precise heading and level of baseline information for medium-sized ships, weapons & equipment, command & control system and so on. Therefore, the ship-borne stable platform system of platform-based compass, it is widely used in ship-borne radar tracking and surveillance, electronic warfare, fire control, remote sensing and telemetry system.This paper relies on a certain type of ship stability platform project of the 26th China Electronics Technology Group, based on theoretical analysis, research methods of a large number of simulation experiments and projects in practice have been adopted, developing a research of all-digital servo stability tracking technology and testing technology, and achieved the following innovation results:Firstly, the use of mature theoretical about analog filters design Butterworth digital low-pass filter that suitable for wave interference, which reduces the impact of the waves interfering with a stable platform control.Secondly, from the practical application of the subject project, digital servo control system, which cores is high-performance microprocessor. It will be make a organic combination of technology and engineering practice to establish a system control model, the technology contains the least-squares fitting algorithm, improved PID control, complex control algorithms of a combination of feed forward control. Therefore, softwares of Matlab and Simulink are used to calculate and simulate test, and developing a stability ship-borne platform of continuous operation, smooth, and meeting the system performance index. Thirdly, in order to reduce costs, make full use of 26th existing test equipment resources, a suitable test platform for this project is designed. On this basis, the stable platform control system is testing for major parameters of the steady-state error, stable precision and dynamic performance tests, and test data were recorded and analysis processing. This test platform for other similar platforms has some versatility.The results of simulation test shows that the technical performance indicators of the stable platform is basically satisfying the request, it is also shows that the research methods and the used technical approach of this paper are correct and feasible, and to verify the achievability of stability tracking control strategy and algorithm in the application of engineering products. Through the project’s research, it is to promote the development of inertial and control technology in CETC 26, which lays a certain foundation for furthering study on inertial control class products.更多还原