| In navigation systems, double-gimbaled gyroscope has been playing an increasingly important role as critical measurement device, and the synchronization of inner and outer gimbals of the gyroscope gradually becomes a research topic. Synchronization control method is still in continuous development and a variety of control theories have been applied. To ensure the tracking performance and synchronization performance, we often need to select the system output function skillfully or cleverly transform the system states. Of course, we have to analyze specific issues to select different synchronization control methods.Based on TMS320F2812 DSP, this paper improved the double-gimbaled gyroscope control system hardware design, and completed the software design to satisfy the design requirements and so the double-gimbaled gyroscope control system could work normally. Then, this paper developed the host interface with Visual C++6.0 to provide a friendly platform for users. According to the actual model, and based on the optimal control theory and sliding mode control theory, this paper developed the master-slave synchronization control method, cross-coupled synchronous control method and sliding mode synchronization control method. Considering the actual existence of uncertainties such as the motor vibration, voltage fluctuation in the synchronous control system, this paper used special signals to mimic the interference of these uncertainties. The simulation results show that the proposed synchronization control methods can compensate the uncertainties very well, and the system has good tracking performance and synchronization performance.In the last part, this paper did the simulations in Matlab/Simulink environment. Finally, this paper did some experiments using the simulation parameters and compared the synchronization control methods and obtained a conclusion. The experimental results exhibited that the designed synchronization algorithms could meet our requirements very well. |
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