适用于主动式半捷联的伺服电机多级控制调速方法

针对现有捷联式惯性测量技术存在的被测载体在高自旋运动环境下姿态测量精度低的问题,提出了半捷联惯性测量的概念、原理和主动式半捷联惯性测量的实现方法,同时针对主动式半捷联惯性测量系统中对电机转速较高的控制要求,提出了适用于伺服电机速度调节的多级控制策略.通过测速陀螺输出补偿系统、转速复合测量系统、智能修改PID参数系统、高动态响应电机驱动执行系统等具体控制方法的实施,实现了对电机转速的精确控制,有效地抑制了被测载体高自旋对惯性系统姿态测量精度的影响,具有一定的工程应用价值.

Servo Motor Speed Control Method of Multi-level Control Strategy for Active Half-strapdown

Aiming at the problem that the measured accuracy of the attitude is low when measured carrier is in the high spin motion environment for the existing strapdown inertial measurement technology, this paper proposes the concept and principle of half-strapdown inertial measurement and the realization of active half-strapdown inertial measurement. At the same time,for high control requirements of motor rotating speed in active half-strapdown iner-tial measurement system,a multi-level control strategy applied to the servo motor speed is proposed. The precise control of the motor speed is realized by the implementation of the specific control method such as the speed gyro output compensation system,the speed compound measuring system,the intelligent modification PID parameter sys-tem and the high dynamic response motor drive execution system. This method can effectively suppresses the influ-ence of the high spin of the measured carrier on the attitude measurement accuracy of the inertial system which has a certain engineering application value.