摘要
为了解决两轴、三轴光电平台中陀螺仪的解耦问题,提高光电平台的稳定性,分析了造成两轴光电平台陀螺仪输出耦合的原因,给出了两轴平台正割解耦的算法。结合动力调谐挠性陀螺仪的工作原理与三轴光电平台的具体结构,探讨了三轴光电平台陀螺仪耦合的原因,给出了三轴平台正弦解耦的算法以及基于ARM单片机的解耦软硬件处理技术。通过对三轴平台解耦实验,滚转轴22 mV的耦合输入在解耦后输出降低到3 mV,耦合程度降低86.4%,大大提高了平台高速运动时的控制性能和稳定精度。
To resolve the problem of the gyro decoupling on two-axis and three-axis photo-electric platforms, and improve their stabilizations, the gyro coupling reason of two-axis photo-electric platform was analyzed, and a secant decoupling algorithm was given. With combination of the principle of flexible dynamic tuning gyroscope and the specific structure of photo-electric platform, the gyro coupling reason of tree-electric platform was discussed, and a sine decoupling algorithm and the ARM-based MCU decoupling hardware and software processing techniques were given. The experimental results indicate that the coupling amplitude value decreases from 22 mV to 3 mV, which means coupling degree decreases by 86.4%. It comes to the conclution that proposed algorithm improves the control performance and stability accuracy when the platform turns at a high speed.
出处
《光学精密工程》
EI
CAS
CSCD
北大核心
2008年第9期1712-1715,共4页
Optics and Precision Engineering
基金
中国科学院长春光学精密机械与物理研究所创新工程资助项目(No.ZJ99130B)
关键词
光电平台
速率陀螺
解耦
ARM单片机
惯性导航
photo-electric platform
rate gyro
decoupling
ARM-based MCU
inertial navigation
