Design And Research Of The Stability Control System For Floating Inertial Platform

As China faces an increasingly grim international situation and challenges from many aspects,it is imperative to enhance national defense comprehensive strength and national strategic deterrent capability.Inertial platforms and other navigation guidance equipment's performance are essential as the key to influence the accuracy of the strategic missile system.As a new-type inertial navigation platform,the floated inertial platform can isolate the interference during flight and provide accurate and effective inertial reference.In this paper,the stability control of floated inertial platform testing system is studied.The main work is described as follows:The floating stability control of the floated inertial platform testing system is described,and the working principle of the system is briefly introduced.Several related coordinate systems are defined and then the mathematical model of the main moments is established by analyzing the interaction moments of the platform.The dynamic equation of the stabilized platform rotating around its center is derived in consideration of some disturbances and the interference characteristics of the sphere are analyzed.The result shows that the spherical attitude can't be stabilized under the interference of periodic spherical motion.The performance of FOG signal is analyzed by Allan variance method.The traditional LMS adaptive filtering and wavelet de-noising are separately improved according to the real-time requirement of floated inertial platform testing system.In order to verify the effectiveness of the method,the system real-time data were used to simulate the real-time noise reduction and statistical analysis.The result shows that the two methods have obvious noise reduction effect,and meet the real-time requirements of the system,the improved wavelet real-time noise reduction is better than LMS adaptive filtering.The theory of Auto Disturbances Rejection Control(ADRC)is introduced.The basic principle of each component of controller is discussed,and the structure and algorithm of ADRC are given.The parameter significance of each component of ADRC controller is introduced.Some rules of ADRC controller parameter setting are given by studying the parameter tuning of ADRC.Finally,the simulation of the attitude control of the floated inertial platform testing system is carried out.The simulation model is set up by MATLAB/SIMULINK.To solve the system model uncertainty,measurement noise,three-axial coupling and unmodeled disturbances,the ADRC controller is proposed.Simulation results show that the sphere can isolate the external disturbances,can quickly tend to be stable without overshoot under ADRC control.The system has very strong robustness under the condition of parameter uncertainty with the control of ADRC.At the same time,the Smith predictor compensator is introduced by considering the transmission time delay.An improved Smith predictor auto-disturbance rejection controller is proposed,which is based on the consideration of improving the effect of the model mismatch.The simulation results show that improved Smith predicting ADRC controller can eliminate the influence of transmission time delay of the system.By virtue of this improved controller,this platform can quickly tend to be stable without overshoot and can provide an effective inertial reference for the vehicle.