三轴旋转惯性导航系统的旋转控制建模研究

为了减小载体运动对于旋转惯性导航系统误差调制作用的影响，建立三轴旋转惯性导航系统在隔离载体运动条件下的控制模型。基于三轴框架结构定义合理的坐标系，分析载体运动在三轴框架中的传递过程，建立载体运动与周期性旋转惯性测量单元运动之间的数学解析关系。在此基础上，根据欧拉动力学方程，建立三轴框架运动与电机力矩、载体运动之间的动力学模型。联合载体运动传递过程和动力学模型，建立三轴旋转惯性导航系统在隔离载体运动条件下的控制模型，得到了载体运动过程中外环轴上的转动惯量随俯仰角而实时变化的解析形式。仿真和实际实验验证了理论分析结果，可为旋转控制算法设计提供理论参考。

Rotation Control Modeling of Triaxial Rotating Inertial Navigation System

A control model of triaxial rotating inertial navigation system (RINS) is established to reduce the influence of carrier movement on the error modulation.A reasonable coordinate system is defined based on the triaxial frame structure,and then the transfer process of the carrier motion from the base to initial measurement unit (IMU) is analyzed to find the mathematical relationship between carrier motion and IMU motion.A dynamic model of triaxial frame motion,motor torque and carrier transport power is established based on Euler dynamic equation.A dynamic model of triaxial frame motion,motor torque and carrier motion is established according to Euler dynamic equation.And a control model of triaxial RINS under the condition of carrier motion isolation is established by using the proposed dynamic model and the motion transfer process.Accordingly,the analytical form of real-time change in rotary inertia on the outer ring axis is obtained,which is verified by simulation and actual test.