CN101936738B - Method for improving platform inertial navigation system speed channel - Google Patents

Method for improving platform inertial navigation system speed channel Download PDF

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Publication number
CN101936738B
CN101936738B CN201010260033A CN201010260033A CN101936738B CN 101936738 B CN101936738 B CN 101936738B CN 201010260033 A CN201010260033 A CN 201010260033A CN 201010260033 A CN201010260033 A CN 201010260033A CN 101936738 B CN101936738 B CN 101936738B
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China
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control
fet
pitching
switch
stablize
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CN201010260033A
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Chinese (zh)
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CN101936738A (en
Inventor
张朝霞
屈红星
张宏刚
高瑞冰
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中国航空工业第六一八研究所
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Abstract

The invention belongs to inertial platform control loop technologies of a platform inertial navigation system and relates to a method for improving a platform inertial navigation system speed channel. The speed channel comprises an alternating current amplification demodulating filter, a pitching mutarotation controlled start controller, a first-grade direct current amplifier, a straightening/stabilizing changeover switch and a second-grade direct current amplifier, wherein a control angle of the pitching mutarotation controlled start controller is 80+/-2 degrees; and the conducting resistance of a field-effect tube in the straightening/stabilizing changeover switch is smaller than or equal to 20 ohm. The invention overcomes the defects of design by least improvement, solves the problem of abnormal inertial navigation-switching-on work when an airplane carries out ultimate maneuver and transversely rolls at a large angle, improves the reliability and stability of the inertial navigation system, reduces the failure rate of the system and the damage rate of core components and saves the maintenance cost of the system.

Description

To improving one's methods of gimbaled inertial navigation system speed passage

Technical field

The invention belongs to gimbaled inertial navigation system inertial platform control loop technology, relate to improving one's methods gimbaled inertial navigation system speed passage.

Background technology

For the Fourth Ring three-axis platform; When aircraft is done the maneuvering flight of " somersaults "; In order to guarantee that inertially stabilized platform realizes normally rolling of outer roll ring; Also guarantee simultaneously to make the platform can be correctly as the reference data of vector, attitude, the scheme that we adopted be exactly to add the speed passage in the roll ring servo loop outside.There are two problems in the former speed Channel Design:

1, the unlatching control section of speed passage had leakage signal before not opening, and when causing aircraft to do extreme flight, the stable loop fault occurred;

2, hold up steady switch when setting upright state, can not cause roll inertial navigation system one when wide-angle to power on, the stable loop fault occurs surely going into signal dead ground short circuit.

Failure rate is than higher when causing gimbaled inertial navigation system to use in army, and this all brings very big problem for the normal training and the flight safety of army, even has influence on the safety of territorial air.Therefore, the improvement of being badly in need of the speed passage is designed and perfect is worked to satisfy inertial navigation system normally.

Summary of the invention

The objective of the invention is: two problems to gimbaled inertial navigation system speed Channel Design exists are improved; Solve aircraft and do extreme maneuver flight and roll inertial navigation one when the wide-angle unusual problem that works on power; Then improve the reliability of inertial navigation system; The failure rate of reduction system promotes the fighting capacity of my army, proposes a kind of improving one's methods to gimbaled inertial navigation system speed passage.

Technical scheme of the present invention is:

The speed passage comprises handing over to be put demodulation filtering, pitching and revolves the unlatching control, the first order direct current amplifier that become control, sets upright/stablize switch, second level direct current amplifier; The interior ring of sudden change revolves varying signal to be put demodulation filtering and inputs to the input end that the FET in the unlatching control that becomes control is revolved in pitching through handing over; The control end connecting resistance of the FET in the unlatching control that becomes control is revolved in pitching; The resistance of resistance for 1k Ω to 7k Ω; The control angle that the unlatching control that becomes control is revolved in pitching is 80 ° ± 2 °; The output terminal that the FET in the unlatching control that becomes control is revolved in pitching is received first order direct current amplifier; The output of first order direct current amplifier is received the input end of second level direct current amplifier again through the input end of setting upright/stablize the FET in the switch, sets upright/stablize the positive pole of the control termination diode of the FET in the switch, sets upright/stablize the negative pole and the ground connection of the output termination diode of the FET in the switch; Set upright/stablize the control end of the FET in the switch and hold up steady changeover control signal to join, the conducting resistance of setting upright/stablize the FET in the switch is smaller or equal to 20 Ω.

Advantage of the present invention is: exposed problems in using through equipment; Find out the defective that exists in the former design, and through minimum change, solved aircraft extreme maneuver flight and roll inertial navigation one when the wide-angle unusual problem that works on power; The reliability and stability when use on the inertial navigation system border have been improved; Reduce the failure rate of system, reduced the spoilage of core components and parts, practiced thrift the maintenance cost of system.

Description of drawings

Fig. 1 is a theory diagram of the present invention;

Fig. 2 is the performance plot of FET;

Fig. 3 sets upright/stablizes the synoptic diagram of switch for the present invention.

Embodiment

Explain further details in the face of the present invention down.

Gimbaled inertial navigation system speed passage, based on roll spin in the input signal source varying signal through one by exchange to amplify, with reference to separate be in harmonious proportion friendship that bank of filters becomes put demodulation filtering 1, by pitching revolve become that control opens that control 2, first order direct current amplifier 3, control sets upright state and steady state (SS) set upright/stablize the topworks's torque motor that directly inputs to platform after switch 4, second level direct current amplifier 5, the last power amplifier of process more further amplify.It is characterised in that: the unlatching control 2 that change control is revolved in pitching has big leakage signal before the speed passage is not opened, and sets upright/stablize switch 4 can not directly affect the problem of speed passage disconnection the speed passage fully in the stage of setting upright operate as normal.The interior ring of sudden change revolves varying signal to be put demodulation filtering 1 and inputs to the input end that the FET in the unlatching control 2 that becomes control is revolved in pitching through handing over; The control end connecting resistance R1 of the FET N2 in the unlatching control 2 that becomes control is revolved in pitching; The resistance of resistance R 1 for 6k Ω to 7k Ω; The control angle that the unlatching control 2 that becomes control is revolved in pitching is 80 ° ± 2 °; The output terminal that the FET N2 in the unlatching control 2 that becomes control is revolved in pitching is received first order direct current amplifier 3; The input end of the FET N1 of the output of first order direct current amplifier 3 in setting upright/stablize switch 4 is received the input end of second level direct current amplifier 5 again; Set upright/stablize the positive pole of the control termination diode of the FET N1 in the switch 4; Set upright/stablize the negative pole and the ground connection of the output termination diode of the FET N1 in the switch 4, set upright/stablize the control end of the FET N1 in the switch 4 and hold up steady changeover control signal to join, the conducting resistance of setting upright/stablize the FET N1 in the switch 4 is smaller or equal to 20 Ω.

1, the unlatching control 2 that becomes control is revolved in pitching

1.1, principle of work:

Speed passage opening point is realized through FET in electronic circuit, and is controlled the unlatching of speed passage through the size of the angle of pitch.This FET characteristic is seen shown in Figure 2, wherein:

Vp=-7V;

Vk=-1.4V。

Visible by this FET characteristic, at the Vk place, Id changes the most violent, and promptly equivalent resistance changes acutely, becomes conducting by ending.Utilize this characteristic, select this point to be the working point of speed passage opening point.

1.2, the problem that exists:

In actual production, find many cover systems when doing three tumbling tests of the limit, system's newspaper stable loop fault, platform rockover.Through analysis of experiments, there is relative angle to change at inner and outer ring, when encircling in promptly outer shroud can not well be followed the tracks of, stable loop is not controlled by the angle of pitch, and the speed passage of outer shroud is opened, and makes outer ring filling, ring in the bump, thus make platform deflection report the stable loop fault.The speed passage has the leakage signal phenomenon when outer shroud has the large-signal input, belongs to the design defect problem.

1.3, improve design:

1.3.1, theoretical analysis:

As can be seen from Figure 2 when the angle of pitch during less than opening point, the speed passage can not open circuit fully, still has certain resistance, if when the speed channel input signal changes greatly, still can cause the speed passage that output is arranged, and possibly cause adverse effect.

If speed passage opening point is too small; This moment, the output of speed passage did not end; Its moment is superimposed upon the outer roll motor output torque of influence on the main channel, even causes framework control vibration, causes the process of rolling not steady; The outer shroud angle changes greatly, rolls frame restraint angle in surpassing and will cause framework to bump shelves causing platform unstability or nutating.

Therefore, from the angle that suppresses to disturb and steadily roll, guaranteeing to select big speed passage opening point under enough speed passage unlatching scope prerequisites as far as possible.

1.3.2, innovative approach and effect:

Through the verification experimental verification of simulation calculation and many cover systems, the resistance R 1 in the unlatching control 2 that becomes control is revolved in the adjustment pitching, and the opening point of speed passage is adjusted to about 80 ° by original 70 °, can improve speed passage leakage signal problem.Solution changes because of inner and outer ring has relative angle; Promptly collar bearing has outer shrouds such as " dead point " or conducting ring, motor moment loose contact can not well follow the tracks of under the situation of interior ring outside; Speed passage leakage signal causes outer ring filling; Clash into the problem of interior ring, reduced the frequency of system's newspaper fault, thoroughly failure problems is reported in the resolution system extreme maneuver.

2, set upright/stablize switch 4

2.1, principle of work:

As shown in Figure 3, in setting upright process, the switch 4 of setting upright/stablize of speed passage should be with speed passage first order direct-flow output signal ground connection, makes the speed passage be output as zero under the state setting upright.After system's commentaries on classics was stable, the switch 4 of setting upright/stablize of speed passage broke off with ground, makes the speed passage be in on-state.

2.2, the problem that exists:

When Platform INS Inertial is opened the work of full machine; The first step of system works flow process is set upright inside and outside roll ring stand exactly, this moment platform if under roll wide-angle initial position, will make platform set upright not in place and rockover; But system can not report fault, the flow process below continuing.Will cause gyro like this and add meter and bump shelves, injure even break, cause heavy economic losses, reduce the reliability of inertial navigation system and the rapid decline of performance.

The situation that roll is in the wide-angle initial position all possibly appear in inertial navigation system transportation back or occurred the inertial navigation fault aboard and cut under the multiple situation such as full machine, if open inertial navigation system in this position, and described fault mode above will occurring.

Described fault above repeatedly taking place in actual use, repeatedly injure in addition break gyro with add meter, caused tremendous loss.

2.3, improve design:

2.3.1, theoretical analysis:

When roll is set upright under the wide-angle situation; When inside and outside roll is set upright simultaneously; In roll ring and retract by initial position in the process of zero-bit, in roll ring position and alter a great deal, become sinH (promptly outer input of rolling stable and speed passage) very big variable output arranged thereby roll spin in causing; Outer shroud speed passage with this signal demodulation, filtering and differential after, the direct current amplifier stage of ingress rate passage.The gain of speed passage first order direct current amplifier stage is controlled by the angle of pitch, increases along with the increase of the angle of pitch.Between the first order direct current amplifier and the second level, control by the FET N1 that sets upright/stablize in the switch 4.When setting upright the state operate as normal, roll the speed passage outward and set upright/stablize FET N1 in the switch 4, make the speed passage be output as zero first order direct-flow output signal ground connection.If speed passage FET N1 can not be fully with prime signal shorted to earth, then the speed passage just has output, thereby it is undesired to cause outer shroud to be set upright.

Learn that from last surface analysis in setting upright process, the output of speed passage is to cause outer roll ring under the wide-angle situation, to set upright the immediate cause of down tilt platform, the initial position of the big or small direct and outer shroud of speed passage output valve and the size of the angle of pitch are relevant.

2.3.2, innovative approach and effect:

Can learn that from principle of work in setting upright process, the switch 4 of setting upright/stablize of speed passage should be with speed passage first order direct-flow output signal ground connection; Make the speed passage be output as zero under the state setting upright; But find that in the reality test speed passage has bigger output,, find that the conducting resistance of FET in the switch 4 is set upright/stablized to the speed passage is 120 Ω~170 Ω through analyzing and repeated validation; So in fact can not attenuate the signal to zero fully; Because the gain of second level direct current amplifier is 50 times setting upright under the state, the speed passage just has very big output after this amplifier amplifies again, thereby causes that outer shroud sets upright fault.

Therefore; The output that under setting upright state, reduces the speed passage will reduce the conducting resistance of setting upright/stablize FET in the switch 4 exactly; Through investigating and the repeated validation test; After selecting the FET of conducting resistance smaller or equal to 20 Ω for use, the output of setting upright speed passage under the state reduces greatly, is not enough to cause that outer shroud sets upright fault.

Embodiment one

The maximum angular speed of three experiments of rolling is the motor-driven limit of aircraft; Orientation: 180 °/S, roll: 400 °/S, pitching: 40 °/S; The resistance that the control end institute connecting resistance of the FET in the unlatching control that becomes control is revolved in pitching is 6k Ω; The control angle that the unlatching control that becomes control is revolved in pitching is 80 °, and the FET of setting upright/stablizing in the switch is selected 3DJ3C (Shanghai Shuan Ling) for use, and the conducting resistance is 20 Ω; Inertial navigation system is started shooting in proper working order when the roll angle is in any angle, and it is normal to do three experimental works of rolling.

Embodiment two

The maximum angular speed of three experiments of rolling is the motor-driven limit of aircraft; Orientation: 180 °/S, roll: 400 °/S, pitching: 40 °/S; The resistance that the control end institute connecting resistance of the FET in the unlatching control that becomes control is revolved in pitching is 7k Ω; The control angle that the unlatching control that becomes control is revolved in pitching is 82 °, and the FET of setting upright/stablizing in the switch is selected 3DJ3C (Shanghai Shuan Ling) for use, and the conducting resistance is 16 Ω; Inertial navigation system is started shooting in proper working order when the roll angle is in any angle, and it is normal to do three experimental works of rolling.

Claims (1)

1. improving one's methods to gimbaled inertial navigation system speed passage; The speed passage comprises handing over to be put demodulation filter [1], pitching and revolves the control device for opening [2], the first order direct current amplifier [3] that become control, sets upright/stablize switch [4], second level direct current amplifier [5]; It is characterized in that: the interior ring of sudden change revolves varying signal to be put demodulation filter [1] and inputs to the input end that the FET in the control device for opening [2] that becomes control is revolved in pitching through handing over; The control end connecting resistance [R1] of the FET [N2] in the control device for opening [2] that becomes control is revolved in pitching; The resistance of resistance [R1] for 6k Ω to 7k Ω; The control angle that the control device for opening [2] that becomes control is revolved in pitching is 80 ° ± 2 °; The output terminal that the FET [N2] in the control device for opening [2] that becomes control is revolved in pitching is received first order direct current amplifier [3]; The input end of the FET [N1] of the output of first order direct current amplifier [3] in setting upright/stablize switch [4] is received the input end of second level direct current amplifier [5] again; Set upright/stablize the positive pole of the control termination diode of the FET [N1] in the switch [4]; Set upright/stablize the negative pole and the ground connection of the output termination diode of the FET [N1] in the switch [4], set upright/stablize the control end of the FET [N1] in the switch [4] and hold up steady changeover control signal to join, the conducting resistance of setting upright/stablize the FET [N1] in the switch [4] is smaller or equal to 20 Ω.
CN201010260033A 2010-08-19 2010-08-19 Method for improving platform inertial navigation system speed channel CN101936738B (en)

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CN102323008B (en) * 2011-09-01 2013-10-23 中国航空工业第六一八研究所 Balance testing method for inertial platform of platform type inertial navigation system
CN103123262B (en) * 2011-11-21 2017-05-17 上海航天控制工程研究所 Method for preventing inertial platform frame from rolling over
CN104713572B (en) * 2013-12-11 2017-10-27 中国航空工业第六一八研究所 A kind of inertial navigation system dynamic testing method

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CN101413800B (en) * 2008-01-18 2010-09-29 南京航空航天大学 Navigating and steady aiming method of navigation / steady aiming integrated system

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Owner name: AVIC XI AN AUTOMATIC CONTROL TECHNOLOGY CO., LTD.

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