惯性稳定平台建模及振动传递率分析

根据对称性,在任意一个自由度方向将惯性稳定平台简化为单自由度系统。根据动力学原理,建立了惯性稳定平台的驱动模型和数学模型。万向环和柔性支撑组合使用让惯性稳定平台系统结构紧凑,对线振动不敏感,能抑制部分角振动。转动惯量比较小时,驱动力矩主要由控制带宽决定。依据数学模型推导出振动传递率和惯性稳定平台系统扭转固有频率以及环境振动角频率之间的关系,惯性稳定平台系统结构上对大于6Hz的环境角扰动能够起到隔振作用。惯性稳定平台在两个自由度方向的闭环控制带宽都达到了100Hz,但系统闭环后的隔振效果有待进一步研究。

Modeling and jitter transfer research on inertial stabilization platform

According to symmetry, at arbitrary degree of freedom, inertial stabilization platform was simplified to one degree of freedom. Drive model and math model of inertial stabilization platform were built. The combined use of gimbal and flexible support makes system structure compact. It is not sensitive to linear vibration, and can partly suppress angular vibration. As inertial moment of rotation was very small, drive torque was mainly decided by control bandwidth. By derivation on the math model, the relationship between natural torsion frequency, environment vibration angular frequency and vibration transfer ratio. Environment angular disturbance with the frequency above 6Hz can be suppressed. Bandwidths of inertial stabilization platform in two degrees both reach 100 Hz. But it remains to be studied when the system is controlled by closed loop.