Research Of Rotational Control For Floated Inertial Platform

Our increasingly greater nation demands the remote accurate strategy missile to address the security threats and protect national rights.The floated inertial platform(floated platform)is a kind of advanced inertial platform.It is a crucial system for enhancing precision of strategy missile.Based on experimental data of high-precision floated platform developed by our group,this essay aims at developing a control method to meet the need of self-calibration and self-alignment through analyzing the exposed problems in experiments.The main work is as follows:Torquer,the controller of sphere's attitude,provides torque driving sphere rotating.However,the experiment exposes the shortage of amplitude of torque.The essay analyzes the cause of that problem,and design new torquer to optimize the performance of the structure.After that,three dimensional simulations has been taken for these two kind of torque.The result shows that new torquer provides lower drag force and more flow rate in the same input power and the amplitude of torque raise dramatically to 2.4 times.The new torquer provides an available solution of the above problem.Photoelectronic sensor,the observer of sphere's attitude,measures the angular and angular velocity of the sphere.This essay defines three kinds of coordinate based on characters of sensor.For assisting self-calibration and self-alignment,the function of updating quaternion can be deduced through analyzing the relevance between data of sensor and angular of sphere.The sphere,controlled objects,responses the torque around the sphere with the change of attitude.This essay totally analyzes the force and torque,and provides a precisely model of drag torque form electric brush and oil.Additionally,buoyant force,supporting force and other force and their torque are also demonstrated in the essay.After that,the rotational dynamic model has been built.Control method,playing a crucial part in sphere rotational control,calculates control signal to controller.So that sphere could achieve self-calibration and self-alignment alone with order signal.This essay chooses adaptive fuzzy sliding mode to control sphere attitude.Referring with controller output curves,quaternion updating function and rotational dynamic model,a simulation program has been built for calculation under Simulink.The result demonstrates that the control method is better than PID control method,which can finish the task with quick response,lower static error and unremarkable overshoot,and the output of this method is also acceptable.The result of simulation provides a viable way to finish self-calibration and self-alignment.