多源扰动下惯性稳定平台传动齿隙建模与多模控制方法研究

Transmitting backlash is the key factor to cause control error for inertial stabilized platform (ISP), whose error mechanism becomes more complex with multi-source disturbance. This project uses airborne remote sensing ISP as a medium to carry out the related researches. Firstly, the inner and external disturbance factor models are studied and platform dynamic effect caused by external disturbance is analyzed and internal disturbance generated by gyroscope error is restrained, which provide priori knowledge for the control methods. Secondly, backlash model of stabilized platform and mapping model between backlash and the angular position of frameworks are researched. Furthermore, the multi-body dynamics effect of platform under the action of external disturbance and backlash is analyzed, which leads to establish multi-parameter gear kinematics and dynamics parameters passing and forecasting model, providing the basis for control strategy. Afterwards, parameter passing and forecasting model are introduced to control method design and both the rule of smooth switching between control modes and the control parameters adjusting method online are put forward. Moreover, platform multi-mode control method with multi-source disturbance is studied according to backlash stages and platform mechanical parameter to realize error compensation for stable platform backlash with multi-source disturbance and improve the platform stabilization accuracy. Lastly, the research methods are all verified and optimized by both indoor experiment and outdoor running cars experiment. This project brings backlash model and transfer characteristics of motion parameters into control system design, providing a new method for enhancing the stabilization accuracy for ISP.

传动齿隙是引起稳定平台控制误差的重要因素，在多源扰动下其误差机理更复杂。本项目以航空遥感惯性稳定平台为载体开展相关研究，首先研究平台内外扰动因素模型、分析外部扰动引起的平台动力学效应、抑制陀螺误差引起的内部扰动，为控制方法设计提供先验知识；其次研究稳定平台齿隙模型、齿隙与框架间角位置映射模型，并分析外部扰动和齿隙作用下平台多体动力学效应，建立多参量齿轮运动学、动力学参数传递及预测模型，为制定控制策略提供依据；然后将参数传递与预测模型引入控制方法设计，提出控制模式平滑切换准则和控制参数在线调整方法，并根据齿隙阶段和平台力学参数，研究多源扰动下平台多模控制方法，实现多源扰动下稳定平台齿隙误差补偿、提高平台稳定精度；最后采用室内实验和跑车实验并用的手段对研究方法进行验证与优化。项目将多源扰动下齿隙模型和运动参数传递特性引入到控制系统设计中，为提高齿轮传动惯性稳定平台的稳定精度提供新的方法。

传动齿隙是引起稳定平台控制误差的重要因素，在多源扰动下其误差机理更复杂。因此，依据多源扰动下平台的动力学响应机理，研究相应的误差建模与复杂控制方法，是实现高精度、高稳定度控制的有效手段。项目从齿隙模型分析、有齿隙下的平台多体动力学建模和多源振动下的多模复合控制方法研究入手，通过仿真、齿隙平台实验、飞行实验，对所研究方法进行了验证，结果表明本项目方法的有效。本项目进行了用于平台速率前馈陀螺仪的确定性误差与动态随机误差的补偿方法研究。此外，为提高航空遥感系统的集成度，进行了POS与平台集成一体的设计与方法仿真研究，将平台控制与组合导航方法集成融合，并在此项目支持下开展了相关组合导航方法研究。项目研究将为提高惯性稳定平台控制性能和航空遥感系统的集成度提供技术支撑，并能促进稳定平台与导航系统的深度融合提供思路。