陀螺惯性平台视轴稳定双速度环串级控制的研究

针对光电跟踪系统视轴稳定采用由速率陀螺构成的单速度环伺服控制的不足，本文提出采用以直流测速机为测量反馈元件构成模拟速度内环，利用陀螺的“空间测速机”功能组成数字稳定外环的双速度环串级控制结构。将速度稳定环的抗摩擦力矩干扰功能和隔离载体扰动功能分开设计实现。从系统抗干扰性、鲁棒性等方面与单环控制进行了理论分析和比较。伺服控制器分别采用有源PI校正和时间最小参数自调整PID控制算法。在四轴稳定跟踪转台上的性能测试结果达到了系统要求的稳定精度，表明该方法能明显减小载体扰动造成的误差，在一定的测量噪声和加速度敏感度范围内，能够有效地隔离载体扰动，控制性能良好。

Study on dual rate-loo Pcascade control for LOS stabilization of gyro inertia platform

Considering the shortcomings of single rate-loop servo control composed of rate gyro for LOS stabilization of opto-electronic tracking system, a dual rate-loop cascade control structure is presented, which uses the DC tachometer to constitute the analog inner loop, and the rate gyro to constitute the digital outer loop. The functions of rejecting friction disturbance and insulating carrier turbulence are designed respectively. The system performances of disturbance rejection and robustness are analyzed and compared with single rate-loop control. The inner loop adopts PI algorithm and the outer loop adopts a time optimal self-tuning PID algorithm. The experimental results show that the proposed method reaches the system required stability, reduces error and reduces carrier disturbance under certain gyro noise level and acceleration sensitivity.