Research And Design Of Dual-axis Stabilized Platform Loop And Decoupling

Inertial navigation systems (INS) is indispensable to navigating and positing system of aviation, aerospace, marine and land vehicle, Loop of the stabilized platform is one of the key technique in accurate navigation.In the Gyro Stabilized Platform,the couplings between axes influence the Performance of the inertial navigation system directly. In order to improve the accuracy of stable platform, it must be decoupled.Firstly, this paper introduces the domestic and foreign development of the stability loop and decoupling technologies.The application prospects and the major technical indicators is introduced too.Then, analyze the model of each component, after establishing the whole system model, design the software and hardware of the link, and focus on analysis and design correction network of the stability loop. As known to all, temperature can lower the accuracy of the Navigator. So we use the combination of secondary temperature controlling, multiple acquisition and sub-programs. After the debugging and test to the software and hardware, The temperature was controlled at the required temperature range, the accuracy of the navigation device was ensured.When debugging the loop, we discovered the phenomenon of periodic jitter, which was caused by the couplings between axes.We assess the coupling system, and make a study of pre-compensation decoupling and state-space model decoupling based on the transfer function of the Dynamically Tuned Gyro.Achieve the output-decoupling control theoretically. Eliminate the dynamic Interaction in the gyro using the Auto Disturbances Rejection Controller (ADRC). Design the cross-coupling control based on the Tracking Differentiator (TD), and give the method of Auto Disturbances Rejection decoupling Controller. Based on the principle of feed-forward compensating control, we analyze the tracking performance of the rolling angle and the yaw angle which have been decoupled by the Auto Disturbances Rejection decoupling Controller. Compared with the decoupling controller based PID, the Tracking error is reduced by 20 times.The simulation and the board level test result indicate that this system is credible and stable. The software and hardware of each component, especially correction network and the temperature module, proved to be able to have been meet predetermined requirement by its engineering application. We eliminate the dynamic Interaction in the gyro using the Auto Disturbances Rejection Controller (ADRC), the simulation and the board level test results indicate that the strategy is feasible and effective.Compared with the decoupling controller based PID, the decoupling controller based ADRC has excellent control effect. It can Increase the Accuracy and strengthen stability of system.