导航与控制 ›› 2020, Vol. 19 ›› Issue (4/5): 143-153.doi: 10.3969/j.issn.1674-5558.2020.h4.017

• 惯性系统技术 • 上一篇    下一篇

基于稳定奇异值的惯性平台全姿态控制方法

闵跃军1,2, 魏宗康1,2   

  1. 1.北京航天控制仪器研究所,北京 100039;
    2.超精密航天控制仪器技术实验室,北京 100039
  • 收稿日期:2020-03-19 出版日期:2020-10-05 发布日期:2020-12-22
  • 作者简介:闵跃军,男,精密机械仪表专业,研究员。现任中国航天科技集团公司九院13所所长/230厂厂长,超精密航天控制仪器技术实验室主任。长期从事多个型号惯性导航系统的研制,先后担任多个型号惯性导航系统的技术负责人,为国务院特殊津贴专家,中国航天基金奖获得者,获“中国载人航天工程突出贡献者”称号。
  • 基金资助:
    国防科技创新特区(编号:18-163-15-LZ-001-002-10)

All Attitudes Control Method of Inertial Platform Based on Stable Singular Value

MIN Yue-jun1,2, WEI Zong-kang1,2   

  1. 1. Beijing Institute of Aerospace Control Devices, Beijing 100039;
    2. Laboratory of Science and Technology on Ultra-precision Aerospace Control Instrument, Beijing 100039
  • Received:2020-03-19 Online:2020-10-05 Published:2020-12-22

摘要: 在载体大机动飞行的背景下,要求惯性平台具备全姿态的功能。传统的认知中,三轴平台因为内框架角不能工作在接近于±90°的大角度而不具备全姿态功能,为此在内框架增加了限位装置以限制内框架角的工作范围。在三轴平台的基础上发展出了四轴平台以使内部三个轴始终处于正交状态,从而实现全姿态功能,但外框架角却在工作于±90°时不能保证内框架角处于零位。本文提出了一种基于稳定奇异值的惯性平台全姿态控制方法,验证了三轴平台在框架锁定时通过主动控制可具备自解锁功能,从而具备全姿态能力,颠覆了传统参考资料中对三轴平台的认知。相对于四轴平台,三轴平台少了一个框架,体积和质量都可减小。因此,在高精度惯性导航的工程应用中,将会从四轴平台又回归到三个框架角都具备±180°回转能力的三轴平台。

关键词: 惯性平台, 全姿态控制, 稳定奇异值, 三轴平台, 四轴平台

Abstract: The inertial platform has to function in all attitudes for a vehicle flexible flight. In the past, three-axes platform cannot achieve this because the inner frame angle is not able to be ±90°. A nail is therefore clenched to the inner frame in order to limit the inner frame angle. The four-axes platform is developed to realize all attitude function based on the three-axes platform in order to make the platform axes, inner frame axes and outer frame axes being perpendicularity with each other. But this condition will not be satisfied when the outer frame angle is ±90°. An all attitudes controlling method of inertial platform based on singular value stability is proposed in this paper. With this method, the three-axes platform can be self unlocked by active control when the three turning axes are in a plane. The above conclusion overthrows the traditional knowledge. In contrast to four-axes platform, the three-axes platform has the advantage of fewer volume and weight. So the three-axes platform with ±180° turning range, not the four-axes platform, will achieve higher precision when applied to inertial navigation.

Key words: inertial platform, all attitude control, stable singular value, three-axes platform, four-axes platform

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