摘要
稳定平台系统可以提供导弹与目标之间的相对位置关系,为导弹姿态和弹道的修正提供依据,在导弹系统中具有十分重要作用。本文通过坐标变换将弹体运动分别在外框坐标系和内框坐标系中描述,得到两轴框架的运动学关系,基于刚体定点运动欧拉动力学原理,建立极坐标速率陀螺式两轴稳定平台的动力学模型,针对两轴框架的驱动电机,进一步建立包含电机电流环和力矩环的机电模型。最后结合实际数据,利用所建的机电模型对弹体运动耦合产生的扰动进行了仿真分析,仿真表明:弹体运动对视线角速度具有扰动作用,需要进行速度回路控制进行解耦补偿。所得模型和分析结果为极坐标稳定平台的进一步研究提供了理论基础。
Stabilized platform can provide the missile-target relative position as well as the information used for missile attitude control and trajectory correction. The kinematic model of polar coordinate frame stabilized platform mounted with rate gyros was described in outer coordinate frame and inner coordinate frame utilizing coordinate transformation method, then the dynamic model of this type of stabilized platform was presented based on Euler dynamic theories of rigid body. Furthermore,the electromechanical model which consists of driving motor current loop and moment loop was provided. Finally, the models were simulated by MATLAB using a set of actual data. The results show that the sight-of-light （SOL） angular rate is affected by missile motion and the rate loop compensation is necessary. The models and simulation results propose a theoretical basis for further study of polar coordinate frame stabilized platform.
出处
《探测与控制学报》
CSCD
北大核心
2008年第B10期26-30,共5页
Journal of Detection & Control
基金
武器装备基金项目资助(9140A25040106HK0118)
关键词
稳定平台
建模
仿真
坐标变换
stabilized platform
modeling
simulation
coordinate transformation
