Design And Reasearch Of Key Technology For Floated Inertial Platform

The Float inertial platform(or the float platform)is a new frameless inertial navigation system with high accuracy,strong anti-disturbance ability and so on excellent performance in the big overload,high dynamic environments,which are the ideal inertial navigation systems of the strategic weapons systems such as a strategic missile,submarines and hypersonic aircraft.Based this background,the float platform is studied creatly,the research findings fill the gaps in the overall design and key technology research of the domestic float platform,that is of great reference value to the development of the engineering float platforom and domestic high-precision m inertial navigation system developmented.The main contents are as follows:(1)A feasible overall technical program is proposed and the prototype is designed whose Disturbance characteristic is analysis deeply.Under the function requirements of the inertial navigation platform,the new design problems and difficulties of the floated platform is in-depth analysis,then the design goals and requirements is given,the overall technical program is proposed,which system components and the basic principle are detailed introduced.Based on above program,the suspension support stabiliziation system is designed,which prototype is proposed.Considering the previous research achievement,the mission requirementsof the platform is determined.Finally,based on the above requirements,the platform key suspension support system,torque system,and attitude measurement system are designed,whose mathematical models are builded and the performance is analysis comprehensively,the results show that: the above designed system meet the requirements of the float platform.(2)Based on the systematic and comprehensive analysis of the platform for the force and moment,the platform full six degrees of freedom motion equations are builded,which disturbance characteristics of the platform is in-depth analysis.Aiming at the the sphere suspension stabilization problem,the force and moment of the platform are systematic and comprehensive analysis,which supporting force,spheres gravity,buoyancy and other forces model and the sphere of control moment,such as power imbalances moment quality model are builded,then the friction problem of platform is analysis;based on the stribeck friction model,the brush sliding friction torque model is established;for the viscous friction problem of the liquid,according to the fluid NS equation,the viscous damping torque model are deduced through the characteristics of couette flow between spherical to simplify the NS equation;then,based on the model,the full six degrees of freedom motion model for the float platform is builded;using the platform translational motion equation,suspended positioning problem of the ball is studied in great overload,vibration environment,the simulation results show that: the design of the suspension support system can effectively resist the influence of the disturbing force,positioning accuracy sphere than 65 10-? m,meeting the requirements of suspension positioning of the platform;for the disturbance problems of the angular motion,the disturbance propagation path is derived through the fluid motion item introduced to the platform motion equations,which problem of disturbance characteristics analysis is theoretically solve;finally,according to the suspension and stability control program platform,the suspension stabilizing control loop of the platform is builded.(3)Focusing on measuring input denoised problem for the float platform,the characteristics of the fiber gyroscope random error is analysis and the suppression technique is studied.Using the measured data of the FOG,the nflo Avar and fol Avar analysis methods are designed based on the basic principles of Allan variance,which is depended on the grouping strategy;to improve the utilization of the measured data,the nflo Tvar,fol Tvar total variance analysis methods are proposed through extending the measured data,then the characteristics of FOG random error is analyzed in detail,the random error factor FOG is identified;a class of laws based on the minimum mean square error adaptive filtering stochastic suppression technology is in-depth studied to denoise measuring input of the float platform.The LMS,VS-LMS and DLMS adaptive filtering technology are analyzed,simulation results show that: the above adaptive filtering technology can effectively inhibit the random error of FOG,and the DLMS’s filtering effect is better,which adjust the contradiction filter convergence speed and stability errors better,and the FOG random error of the float platform is substantially inhibited.(4)Aiming at the unknown disturbance estimation problem for the float platform,the nonlinear robust disturbance observer is designed to meet float platform.Considering the disturbance model bias,parameter uncertainty,noise,and other unknown disturbance of the float platform,the high gain observer,sliding mode observer and extended state observer which are not dependent disturbance models are designed to improve the poor perfoemance of the disturbance estimated in Luenberger observer,which convergence problem are proved;then,the disturbanceof the float platform is estimated respectively using the closed-loop control system float platforms,simulation results show that: the above three observer It can effectivly estimate the state and disturbance informationof the sphere,and the ESO with a fast response,good tracking performance and high precision estimation is better to meet the requirements of the unknown disturbance estimation of the floated platform.(5)The high precision suspension stablization robust ctontrol system of the platform is designed.Aiming at the high suspension stabilization problem of the platform,a class of robust control system based on sliding mode control is in-depth studied;the sliding mode control combing the observer theory,fuzzy sliding mode control,adaptive theory,second order sliding mode control theory are designed with other disincentives of the saturation function,boundary to slove the chattering problem of the sliding mode control;the liding mode control system based on the disturbance observer,adaptive fuzzy sliding mode control systems and robust finite time second order sliding mode control system are proposed respectively,the simulation results show that: the above control systems can effectively control the attitude stabilization of the sphere,which meet the dynamic performance requirements of thefloated platform,however,the sliding mode control system based on observer remains chattering,the adaptive fuzzy sliding mode control system further improves system’s buffeting,the robust finite time second order sliding mode control system with a fast response,high accuracy and stability,anti-interference ability and others to effectively suppress system’s chattering,which meets the the requirements of the suspension stabilizing attitude control for the float platform.