CN116086449B - Hemispherical resonator gyro stabilized platform based on variable structure control and construction method thereof - Google Patents
Hemispherical resonator gyro stabilized platform based on variable structure control and construction method thereof Download PDFInfo
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Abstract
The invention relates to the technical field of inertial navigation, and provides a hemispherical resonator gyro stabilized platform based on variable structure control and a construction method thereof. S10, when a platform frame is deflected by external disturbance moment, angular velocity signals are measured through a hemispherical resonator gyroscope, and angle error signals are converted and output; s20, receiving and processing an angle error signal based on a variable structure control method through a control loop, and outputting a variable structure control signal; s30, receiving a variable structure control signal through the torque motor, and outputting a control torque for counteracting the external disturbance torque. According to the invention, the variable structure control method is adopted to optimize the control parameters of the control loop and output the variable structure control signals, so that the high-precision control of the platform is realized and the stability of the platform is improved.
Description
Technical Field
The invention relates to the technical field of inertial navigation, in particular to a hemispherical resonator gyro stabilized platform based on variable structure control and a construction method thereof.
Background
The hemispherical resonator gyro is used as a high-precision vibrating gyro, and the Goldwire acceleration sensitive base is utilized to move around an angle orthogonal to a vibration axis relative to an inertial space.
Hemispherical resonator gyroscopes have two working modes of force feedback and full angle. In the force feedback mode, the angular velocity of gyro sensitivity can be calculated, and the gyro in the mode is a rate gyro; in the full angle mode, the gyro sensitive angular velocity can be calculated by detecting the precession angle increment of the vibration mode, and the gyro is a rate integration gyro.
The high bandwidth, wide range and stable scale factor of the full angle mode enable the full angle mode to work in a high dynamic environment, but the characteristic that the harmonic oscillator is allowed to freely precess also brings about the defect that the gyro drift changes along with the vibration mode position.
Disclosure of Invention
The present invention is directed to solving at least one of the technical problems existing in the related art. Therefore, the hemispherical resonator gyro stabilizing platform based on variable structure control and the construction method thereof realize that the influence of angular position change on the hemispherical resonator gyro is reduced in a mode of actively isolating angular motion of the stabilizing platform, so that the hemispherical resonator gyro stabilizing platform is kept stable.
The invention provides a construction method of a hemispherical resonator gyro stabilized platform based on variable structure control, which comprises the following steps:
s10, when the platform frame is deflected by external disturbance moment, measuring an angular velocity signal through a hemispherical resonator gyroscope, and converting and outputting an angle error signal;
s20, receiving and processing an angle error signal based on a variable structure control method through a control loop, and outputting a variable structure control signal;
s30, receiving a variable structure control signal through the torque motor, and outputting a control torque for counteracting the external disturbance torque.
According to the construction method of the hemispherical resonator gyro stabilizing platform based on variable structure control provided by the invention, in the step S10, the construction method further comprises the following steps:
a filter circuit and a correction circuit are arranged on the hemispherical resonator gyroscope, and the control precision of the hemispherical resonator gyroscope is adjusted.
According to the construction method of the hemispherical resonator gyro stabilized platform based on variable structure control, in the step S20, the transfer function of the control loop is as follows:
in the formula ,
is the offset angle of the platform frame;
Jthe moment of inertia of the rotor and the rotor load of the moment motor is adopted;
scomplex variables that are the control loop;
According to the construction method of the hemispherical resonator gyro stabilizing platform based on variable structure control provided by the invention, the step S20 further comprises the following steps:
and counting the angle error value of the platform frame and the rotational inertia value of the platform frame, determining a lead-lag servo algorithm of the control loop based on a variable structure control method, and further adjusting the voltage value of the control signal output by the control loop.
According to the construction method of the hemispherical resonator gyro stabilized platform based on variable structure control, provided by the invention, the statistical method of the angle error value of the platform frame is as follows:
in the formula ：
is the angular error of the platform frame;
According to the construction method of the hemispherical resonator gyro stabilized platform based on variable structure control, which is provided by the invention, the open-loop transfer function of the hemispherical resonator gyro
The method comprises the following steps:
in the formula ,k 1 gain for hemispherical resonator gyroscopes;
scomplex variables that are the control loop;
Ｔ １ the time constant is 1 for the filtering link;
Ｔ ２ the time constant of the filtering link is 2;
Ｔ ３ a correction link time constant 1;
Ｔ ｄ the link time constant is 2.
According to the construction method of the hemispherical resonator gyro stabilized platform based on variable structure control provided by the invention, in the step S20, the transfer function of a correction network of a control loop
The method comprises the following steps:
in the formula ,scomplex variables that are the control loop;
k 2 to correct the gain of the network;
According to the construction method of the hemispherical resonator gyro stabilized platform based on variable structure control, in the step S30, the working principle of the torque motor is as follows:
in the formula ,
a rotating angle for the platform frame to rotate around the rotating shaft;
The invention also provides a hemispherical resonator gyro stabilizing platform based on variable structure control, which is obtained based on the construction method of the hemispherical resonator gyro stabilizing platform based on variable structure control, and comprises a hemispherical resonator gyro, a moment motor, a control circuit and a platform frame, wherein the hemispherical resonator gyro is arranged on the platform frame and is used for detecting an angular velocity signal of the platform frame, a driving end of the moment motor is connected with a rotating shaft of the platform frame, and the control circuit is respectively and electrically connected with the hemispherical resonator gyro and the moment motor.
The hemispherical resonator gyro stabilizing platform based on variable structure control provided by the invention further comprises a frame angle sensor, wherein the frame angle sensor is arranged on the platform frame and is electrically connected with an external monitoring system for detecting and transmitting the deflection angle of the platform frame.
The above technical solutions in the embodiments of the present invention have at least one of the following technical effects:
the invention provides a hemispherical resonator gyro stabilized platform based on variable structure control and a construction method thereof, comprising the following steps of S10, when a platform frame is deflected by external interference moment, measuring an angular velocity signal through a hemispherical resonator gyro, and converting and outputting an angle error signal; s20, receiving and processing an angle error signal based on a variable structure control method through a control loop, and outputting a variable structure control signal; s30, receiving a variable structure control signal through a torque motor, outputting a control torque for counteracting external disturbance torque, optimizing control parameters of a control loop by adopting a variable structure control method, outputting the variable structure control signal, realizing high-precision control of the platform, and improving the stability of the platform.
Additional aspects and advantages of the invention will be set forth in part in the description which follows, and in part will be obvious from the description, or may be learned by practice of the invention.
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In order to more clearly illustrate the invention or the technical solutions of the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described, and it is obvious that the drawings in the description below are some embodiments of the invention, and other drawings can be obtained according to these drawings without inventive effort for a person skilled in the art.
Fig. 1 is a schematic flow chart of a construction method of a hemispherical resonator gyro stabilizing platform based on variable structure control.
Detailed Description
For the purpose of making the objects, technical solutions and advantages of the present invention more apparent, the technical solutions of the present invention will be clearly and completely described below with reference to the accompanying drawings, and it is apparent that the described embodiments are some embodiments of the present invention, not all embodiments. All other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without making any inventive effort, are intended to be within the scope of the invention. The following examples are illustrative of the invention but are not intended to limit the scope of the invention.
In the description of the embodiments of the present invention, it should be noted that the terms "center", "longitudinal", "lateral", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", etc. indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings, are merely for convenience in describing the embodiments of the present invention and simplifying the description, and do not indicate or imply that the apparatus or elements referred to must have a specific orientation, be configured and operated in a specific orientation, and thus should not be construed as limiting the embodiments of the present invention. Furthermore, the terms "first," "second," and "third" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance.
In describing embodiments of the present invention, it should be noted that, unless explicitly stated and limited otherwise, the terms "coupled," "coupled," and "connected" should be construed broadly, and may be either a fixed connection, a removable connection, or an integral connection, for example; can be mechanically or electrically connected; can be directly connected or indirectly connected through an intermediate medium. The specific meaning of the above terms in embodiments of the present invention will be understood in detail by those of ordinary skill in the art.
In embodiments of the invention, unless expressly specified and limited otherwise, a first feature "up" or "down" on a second feature may be that the first and second features are in direct contact, or that the first and second features are in indirect contact via an intervening medium. Moreover, a first feature being "above," "over" and "on" a second feature may be a first feature being directly above or obliquely above the second feature, or simply indicating that the first feature is level higher than the second feature. The first feature being "under", "below" and "beneath" the second feature may be the first feature being directly under or obliquely below the second feature, or simply indicating that the first feature is less level than the second feature.
In the description of the present specification, a description referring to terms "one embodiment," "some embodiments," "examples," "specific examples," or "some examples," etc., means that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the embodiments of the present invention. In this specification, schematic representations of the above terms are not necessarily directed to the same embodiment or example. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples. Furthermore, the different embodiments or examples described in this specification and the features of the different embodiments or examples may be combined and combined by those skilled in the art without contradiction.
The following describes a construction method of a hemispherical resonator gyro stabilizing platform based on variable structure control with reference to fig. 1, which comprises the following steps:
s10, when the platform frame is deflected by external disturbance moment, measuring an angular velocity signal through a hemispherical resonator gyroscope, and converting and outputting an angle error signal;
s20, receiving and processing an angle error signal based on a variable structure control method through a control loop, and outputting a variable structure control signal;
s30, receiving a variable structure control signal through the torque motor, and outputting a control torque for counteracting the external disturbance torque. It can be appreciated that hemispherical resonator gyroscopes, which are the core elements of a platform control system, act as angular rate sensing elements. The hemispherical resonator gyroscope is used for converting physical vibration of a harmonic oscillator into an electric signal through a reading electrode; amplifying and processing the electric signals; and outputting the excitation signal obtained by processing to a driving electrode to control the vibration of the harmonic oscillator. Based on the basic principle of the hemispherical resonator gyroscope, the hemispherical resonator gyroscope is a rate integral gyroscope, so that stable closed-loop control of the hemispherical resonator gyroscope is realized, the control precision is improved, and a filtering link for filtering high-frequency noise and a correction link for improving the precision of the hemispherical resonator gyroscope are added into a hemispherical resonator gyroscope circuit.
Further, the torque motor is an actuator of the control loop of the platform, and in this embodiment, the torque motor is a dc torque motor for generating a torque proportional to the power output current of the amplifier.
Further, the control loop comprises a rotary control board and a motor driving board, so that the platform frame is kept unchanged in position and stable in an inertial space under the action of various external interference moments.
According to the construction method of the hemispherical resonator gyro stabilizing platform based on variable structure control provided by the invention, in the step S10, the construction method further comprises the following steps:
a filter circuit and a correction circuit are arranged on the hemispherical resonator gyroscope, and the control precision of the hemispherical resonator gyroscope is adjusted.
According to the construction method of the hemispherical resonator gyro stabilized platform based on variable structure control, in the step S20, the transfer function of the control loop is as follows:
in the formula ,
is the offset angle of the platform frame;
Jthe moment of inertia of the rotor and the rotor load of the moment motor is adopted;
scomplex variables that are the control loop;
According to the construction method of the hemispherical resonator gyro stabilizing platform based on variable structure control provided by the invention, the step S20 further comprises the following steps:
and counting the angle error value of the platform frame and the rotational inertia value of the platform frame, determining a lead-lag servo algorithm of the control loop based on a variable structure control method, and further adjusting the voltage value of the control signal output by the control loop.
According to the construction method of the hemispherical resonator gyro stabilized platform based on variable structure control, provided by the invention, the statistical method of the angle error value of the platform frame is as follows:
in the formula ：
is the angular error of the platform frame;
According to the construction method of the hemispherical resonator gyro stabilized platform based on variable structure control, which is provided by the invention, the open-loop transfer function of the hemispherical resonator gyro
The method comprises the following steps:
in the formula ,k 1 the gain of the hemispherical resonator gyroscope is the product of the gain of the filtering link and the correction link;
scomplex variables that are the control loop;
Ｔ １ the time constant is 1 for the filtering link;
Ｔ ２ the time constant of the filtering link is 2;
Ｔ ３ a correction link time constant 1;
Ｔ ｄ the link time constant is 2.
According to the construction method of the hemispherical resonator gyro stabilized platform based on variable structure control provided by the invention, in the step S20, the transfer function of a correction network of a control loop is controlled
The method comprises the following steps:
in the formula ,scomplex variables that are the control loop;
k 2 to correct the gain of the network;
The correction network is the core of the whole control loop, can enable the stable platform to work stably under the action of external interference moment, enables the control loop to meet certain static and dynamic indexes, adopts a lead-lag correction mode, has a transfer function of being in a low frequency band, has dynamic anti-interference rigidity influenced by correction attenuation degree, reduces attenuation of a correction network curve as much as possible under the condition that the control loop has good stability, enables the control loop to have enough rigidity, and simultaneously, has a high frequency band trying to lower a passband, and reduces high-frequency interference.
According to the construction method of the hemispherical resonator gyro stabilized platform based on variable structure control, in the step S30, the working principle of the torque motor is as follows:
in the formula ,
a rotating angle for the platform frame to rotate around the rotating shaft;
The design principle of the construction method of the hemispherical resonator gyro stabilizing platform based on variable structure control provided by the invention is as follows:
the rotating shaft of the platform frame is treated as a single-input and single-output structure, and the rotating shaft takes fixed moment of inertia to design a corresponding control loop.
In the working process, the open loop gain of the control loop can be changed within a certain range due to the change of the angle error and inertia of the platform frame, so that the phase margin is changed. The stable platform has the aim of high servo precision requirement, and is designed into a conditional stable control loop for considering the contradiction between stability and servo precision. If the platform frame angle error and inertia change too much, the control loop may be destabilized.
Aiming at the changes of the angle error and the moment of inertia of the platform frame, a change curve can be obtained by combining theoretical deduction and actual measurement, and the open-loop amplification factor of the stable platform control loop is approximately kept constant by adopting a variable structure control method.
The variable structure control method is a nonlinear control method, has good robustness to uncertain factors, is quick in response, simple in structure and easy to realize, but discontinuous switching characteristics of variable structure control can cause buffeting of a system, and can cause adverse effects on the system.
Therefore, a method for weakening the buffeting of the platform is designed to improve the performance of a control loop based on a variable structure control method. The control law is selected according to the angle error of the platform frame, so that the overshoot is reduced and the stability of the control system is improved while the high rigidity (steady state error meeting the requirement) is ensured. In switching between control signals of different variable structures, in order to avoid frequent switching at the boundary of the domain, which leads to output oscillation, a switching condition with hysteresis relay characteristics may be employed.
In addition, in order to realize stable switching, when the initial value of the control signal after switching is not zero, a gentle control signal transition curve should be planned so as to reduce the overshoot of switching instant.
Compared with the prior art, the invention can realize the angle measurement better than 2'; the three-closed-loop control method of the angular position, the angular velocity and the current loop reduces moment fluctuation and improves speed stability; the variable structure control method is adopted, the dynamic performance of the stable platform is improved through optimized control parameters, the steady-state error of the angle of the line control platform is better than +/-5″ under the condition of 1ms resolving period, and the high-precision control of the stable platform can be realized.
The hemispherical resonator gyro stabilizing platform based on the variable structure control provided by the invention is described below, and the hemispherical resonator gyro stabilizing platform based on the variable structure control described below and the method for constructing the hemispherical resonator gyro stabilizing platform based on the variable structure control described above can be correspondingly referred to each other.
The invention also provides a hemispherical resonator gyro stabilized platform based on variable structure control, which is obtained by the construction method of the hemispherical resonator gyro stabilized platform based on variable structure control.
The hemispherical resonator gyro stabilizing platform based on variable structure control provided by the invention further comprises a frame angle sensor, wherein the frame angle sensor is arranged on the platform frame and is electrically connected with an external monitoring system for detecting and transmitting the deflection angle of the platform frame. It can be understood that the control loop is used for enabling the hemispherical resonator gyro stabilizing platform to keep the angular position of the platform unchanged and stabilize in an inertial space under the action of various external interference moments. The control loop consists of an interface circuit, a controller and a power amplifier, wherein the interface circuit comprises an angle measurement interface circuit and a communication interface circuit.
Furthermore, the frame angle sensor adopts a high-precision absolute type circular grating and a reading head, the circular grating adopts a single-channel absolute type grating ruler and a precise optical system, an independent position checking algorithm and a sealed reading head are arranged in the circular grating, the frame angle sensor has anti-pollution capability and higher technical indexes, the grating ruler is used as a scale grating, and the reading head is used as a photoelectric detection device for indicating the circular grating and moire fringes.
The controller is realized by a digital signal processing chip, the communication with an upper computer is completed through a serial port, the receiving processing of the data of the hemispherical resonator gyroscope and the angle measuring unit is realized through a multifunctional digital IO port, the data is calculated according to a preset control algorithm according to a given instruction of the upper computer, the digital signal processing chip drives a digital-to-analog converter to output an analog voltage signal to a driving chip of a torque motor through a serial peripheral interface, and the torque motor is driven to drive a platform frame to rotate. The reading of the circular grating angle measurement data is realized through interruption, a designated port is read in an interruption service program, the data input by an angle measurement unit is obtained, the data are correspondingly processed, and the data are converted into angle values which can be processed by a digital signal processing chip.
Further, the angle measurement interface circuit is a bridge connecting the grating reading head and the controller, and is programmed in FPGA (Field Programmable Gate Array) to implement the circular grating interface protocol, and a special programmable chip can also be used to implement the circular grating interface protocol. The circular grating interface protocol is a fast synchronous serial interface for acquiring position data from a circular grating, and is a master-slave interface, wherein the master interface controls position acquisition time sequence and data transmission speed, and the slave interface is composed of two unidirectional differential couplers.
The communication interface circuit adopts a serial 422 interface, can receive control commands and hemispherical resonator gyroscope data, and can send angle data in real time. The interface can be realized by a serial port integrated by a digital signal processing chip or by programming an FPGA.
The above technical solutions in the embodiments of the present invention have at least one of the following technical effects:
the invention provides a hemispherical resonator gyro stabilized platform based on variable structure control and a construction method thereof, comprising the following steps of S10, when a platform frame is deflected by external interference moment, measuring an angular velocity signal through a hemispherical resonator gyro, and converting and outputting an angle error signal; s20, receiving and processing an angle error signal based on a variable structure control method through a control loop, and outputting a variable structure control signal; s30, receiving a variable structure control signal through a torque motor, outputting a control torque for counteracting external disturbance torque, optimizing control parameters of a control loop by adopting a variable structure control method, outputting the variable structure control signal, realizing high-precision control of the platform, and improving the stability of the platform.
Finally, it should be noted that: the above embodiments are only for illustrating the technical solution of the present invention, and are not limiting; although the invention has been described in detail with reference to the foregoing embodiments, it will be understood by those of ordinary skill in the art that: the technical scheme described in the foregoing embodiments can be modified or some technical features thereof can be replaced by equivalents; such modifications and substitutions do not depart from the spirit and scope of the technical solutions of the embodiments of the present invention.
Claims (10)
1. The construction method of the hemispherical resonator gyro stabilized platform based on variable structure control is characterized by comprising the following steps of:
s10, when the platform frame is deflected by external disturbance moment, measuring an angular velocity signal through a hemispherical resonator gyroscope, and converting and outputting an angle error signal;
s20, receiving and processing an angle error signal based on a variable structure control method through a control loop, and outputting a variable structure control signal; wherein, the control rule is determined according to the angle error of the platform frame through the control loop, and then a variable structure control signal is output according to the control rule;
s30, receiving a variable structure control signal through the torque motor, and outputting a control torque for counteracting the external disturbance torque.
2. The method for constructing a hemispherical resonator gyro stabilizing platform based on variable structure control according to claim 1, wherein in the step S10, the method further comprises:
a filter circuit and a correction circuit are arranged on the hemispherical resonator gyroscope, and the control precision of the hemispherical resonator gyroscope is adjusted.
3. The method for constructing a hemispherical resonator gyro stabilizing platform based on variable structure control according to claim 2, wherein in the step S20, the transfer function of the control loop is:
in the formula ,
is the offset angle of the platform frame;
Jthe moment of inertia of the rotor and the rotor load of the moment motor is adopted;
scomplex variables that are the control loop;
4. The method for constructing a hemispherical resonator gyro stabilizing platform based on variable structure control according to claim 3, wherein the step S20 further comprises:
and counting the angle error value of the platform frame and the rotational inertia value of the platform frame, determining a lead-lag servo algorithm of the control loop based on a variable structure control method, and further adjusting the voltage value of the control signal output by the control loop.
5. The construction method of the hemispherical resonator gyro stabilizing platform based on variable structure control according to claim 4, wherein the statistical method of the angle error value of the platform frame is as follows:
in the formula ：
is the angular error of the platform frame;
6. The construction method of a hemispherical resonator gyro stabilized platform based on variable structure control according to claim 3, characterized in that the open-loop transfer function of the hemispherical resonator gyro is
The method comprises the following steps:
in the formula ,k 1 gain for hemispherical resonator gyroscopes;
scomplex variables that are the control loop;
Ｔ 1 the time constant is 1 for the filtering link;
Ｔ ２ the time constant of the filtering link is 2;
Ｔ ３ a correction link time constant 1;
Ｔ ｄ the link time constant is 2.
7. The method for constructing a hemispherical resonator gyro stabilized platform based on variable structure control according to claim 3, wherein in the step S20, the transfer function of the correction network of the control loop
The method comprises the following steps:
in the formula ,scomplex variables that are the control loop;
k 2 to correct the gain of the network;
8. The construction method of the hemispherical resonator gyro stabilizing platform based on the variable structure control according to claim 1, wherein in the step S30, the working principle of the torque motor is as follows:
in the formula ,
a rotating angle for the platform frame to rotate around the rotating shaft;
scomplex variables that are the control loop;
9. The hemispherical resonator gyro stabilized platform based on variable structure control is obtained based on the construction method of the hemispherical resonator gyro stabilized platform based on variable structure control as claimed in any one of claims 1 to 8, and is characterized by comprising a hemispherical resonator gyro, a torque motor, a control circuit and a platform frame, wherein the hemispherical resonator gyro is arranged on the platform frame and is used for detecting an angular velocity signal of the platform frame, a driving end of the torque motor is connected with a rotating shaft of the platform frame, and the control circuit is respectively and electrically connected with the hemispherical resonator gyro and the torque motor.
10. The variable structure control-based hemispherical resonator gyro stabilization platform of claim 9, further comprising a frame angle sensor disposed on the platform frame and electrically connected to an external monitoring system for detecting and transmitting a deflection angle of the platform frame.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202310332710.3A CN116086449B (en) | 2023-03-31 | 2023-03-31 | Hemispherical resonator gyro stabilized platform based on variable structure control and construction method thereof |
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| CN115773741A (en) * | 2023-02-14 | 2023-03-10 | 中国船舶集团有限公司第七〇七研究所 | Self-compensation control system and method for hemispherical resonator gyroscope |
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| CN115773741A (en) * | 2023-02-14 | 2023-03-10 | 中国船舶集团有限公司第七〇七研究所 | Self-compensation control system and method for hemispherical resonator gyroscope |
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