Improved Design And Research On Heading Loop For Inertial System

The stabilizing circuits for inertial platform require good characteristics of quick speed, strong anti-jamming and high accuracy as the rapid development of navigation and aviation.The stabilizing circuits for inertial platform use DC motor as control unit. In consideration of gyro parameters and system characteristics, this paper firstly discusses the system design problem by the classical PID control methods. The simulation and experiment results show that the system performs good characteristics in angle input situation. But in moment disturbance situation there are big dynamic errors in the stabilizing circuits system. The simulations also disply that in classical PID control the characteristics of high speed, overshoot and anti-jamming can hardly be improved. So, this paper analyzes the principle and structure of classical PID control method, obtains the excellence and shortcoming aspects of it. According to the principle of keeping the excellence aspects and removing the shortcoming aspects, acticve disturbance rejection control (ADRC) rules are introduced gradually. Then not only put it into the control of stabilizing circuits for inertial platform, but also make simulations by computer. The simulation results show that the capability of tracking and resisting the disturbance in stabilizing circuits is highly improved by using this method. The reliability and dynamic accuracy of the platform are also improved. The active disturbance rejection control system characteristics such as high robustness, high accurate and quickness are displayed.In the end of this paper the DSP realisation problem of ADRC of the stabilizing circuits for inertial platform are discussed, the software and hardware designs of the system realization are provided.