航空学报 > 2009, Vol. 30 Issue (12): 2416-2422

基于鲁棒H控制的DTG动基座锁定回路设计

杨胜, 房建成, 郭雷   

  1. 北京航空航天大学 仪器科学与光电工程学院
  • 收稿日期:2008-09-27 修回日期:2009-02-06 出版日期:2009-12-25 发布日期:2009-12-25
  • 通讯作者: 杨胜

Design of Rebalance Loop for DTG on Moving Base Using Robust H Control

Yang Sheng, Fang Jiancheng, Guo Lei   

  1. School of Instrument Science and Opto-electronics Engineering, Beijing University ofAeronautics and Astronautics
  • Received:2008-09-27 Revised:2009-02-06 Online:2009-12-25 Published:2009-12-25
  • Contact: Yang Sheng

摘要: 针对动力调谐陀螺(DTG)动基座锁定问题,提出一种基于鲁棒H控制的DTG动基座锁定回路设计方法。首先,建立了DTG的状态空间模型,将基座角运动视为外部干扰输入,将陀螺启动(或停止)过程中由于转子转速变化引起的参数变化视为模型摄动;然后,采用能够处理参数摄动下干扰抑制问题的鲁棒H控制器设计了DTG动基座锁定回路,并将其转化?曜吉獺∞控制问题,采用线性矩阵不等式(LMI)求解。仿真结果表明:在不需要转速信息的情况下,该回路可以实现从启动到停止整个过程中将陀螺转子锁定零位附近。

关键词: 动力调谐陀螺, 再平衡回路, 动基座, 鲁棒H控制, 线性矩阵不等式

Abstract: When a dynamically tuned gyroscope (DTG) starts or stops on a moving base, its rebalance loop should keep the tilt angle small enough to protect the flexure joint. Presented in this article is a design method for a DTG rebalance loop on a moving base using robust Hcontrol. The mathematical model of the DTG described in the state space is first established, taking the applied angular rate as external disturbance input, and the parameter changes along with the rotor spin rate during the start or stop phase as system parameter perturbation. Next, a robust Hcontrol, which is able to cope with disturbance attenuation in the case of parameter perturbation, is adopted to realize the DTG rebalance loop on a moving base. Then, the robust Hproblem is transformed to a standard Hproblem and the linear matrix inequality (LMI) method is used to design the desired controller. Simulation results show that the designed rebalance loop can keep the tilt angle within arc-minute during start or stop on a moving base without the need for rotor spin rate information.

Key words: dynamically tuned gyroscope, rebalance loop, moving base, robust Hcontrol, linear matrix inequalities

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