Engineer Applicable Research On The Stabilization Loop Of High Precision Inertial Navigation System

The inertial navigation system (INS) has a close relationship with the development of navigation, aviation and spaceflight. And the stabilized platform is one of the most important parts in the navigation system, which eliminates the disturbance and forces the platform to the local present coordinate. The stabilization of the platform determines the precision of INS, while the platform stabilization loop forces the platform to the inertial space. Therefore, the servo loop is designed to be high precise and rapid response. In addition, the control moment and disturbance rejection are necessary factors. The solution combines classical PID law with analogue electronic system is now a mature technology. The paper set up the control model of the close-loop through the experiment testing, and then designs and realizes a lead-lag controller. The conventional platform stabilization loop is constructed by analogue electronic system, which makes the system big, costly and frequently in failure, so digital control is adopted as a new direction. Under this background, I found a appropriate method adapted to our system and platform stabilization loop based on DSP is researched in this paper, which double-loop control method is used.The software and hardware of double-loop digital platform stabilization loop is designed. Peripheral hardware interface and theory of digital controller are emphasized in hardware design section; PWM wave producing module closely related chip structure and serial communication is emphasized in software design section. Because DSPs have the advantage in efficiency, speed and precision, TMS320LF2407A, a product of Texas Instruments Inc., which has 8 PWM output channels, is chosen as the core chip of the digital control system.