基于光纤陀螺的旋转惯导数字稳定回路设计与实现

为进一步提高基于光纤陀螺的旋转捷联惯导系统导航精度,设计了一种数字式稳定控制回路.分析了捷联惯导系统对稳定回路控制的要求,建立了简单实用的稳定回路模型及其各参数的测试方法,并研究了一种PII2的控制方法及相应控制系数的选取策略.仿真对比结果表明,在以光纤陀螺组成的稳定回路中,相比于传统PID控制,PII2控制能有效减小角度静差.实验测试结果表明,该稳定回路达到了较高的动态精度,满足设计要求.

Design and implementation of digital position stabilization loop for fiber optic gyroscope based rotational inertial navigation system

To further improve the precision of rotational strap-down inertial navigation system based on fiber optic gyro, an appropriate digital position stabilization loop is designed. The requirement of strap-down inertial navigation system to stabilization loop is analyzed. Simple and practical models are built and test methods of rotational inertia and friction torque in these models are given. The proportional integral double-integral(PII²) controller and strategy for its parameters are studied. The simulation results show that the PII² controller is more effective to decrease steady-state angle error than the PID controller in this stabilization loop based on the fiber optic gyro. The experimental results show that this stabilization loop’s dynamic precision is high and meets the design requirements.