Improved Design And Research On Position Stabilization Loop Of The Inertial Platform

The inertia] navigation in platform is one kind of independent guidance system. Two two-degree-of-freedom gyroscopes on the platform command it into alignment with the local present coordinate system. There are also two accelerometers on it. Because the accelerometers' sensitive axes lie in the local horizontal plane, explicit calculation of the gravitational vectors is avoided. One step of time integrate to the vectors make out the speed data, another step of time integrate to the speed data obtain the displacement. Then the displacement plus the initial position will get the present location of the carrier.The servo loop is a position stabilization loop of the platform. Revise loop help it to command the platform into alignment with the local present coordinate system. Generally speaking, a gyro is used to measure the error between the platform and the local present coordinate system, the error signal then go through the AC enlargement, mode sensitive demodulation, DC enlargement and adjustment, PWM and power amplification. The final signal drives the electrical machinery to force the platform to turn to the local present coordinate system. The paper at the first set up the control model of the close-loop through the experiment testing, and then designs and realizes a lead-lag controller. The experiment has proved the design feasible and effective.On the other hand, the single close-loop stabilization circuit cannot overcome the periodic interference effectively, so a three close-loop stabilization circuit, which involves the power-feedback loop, speed-feedback loop and position-feedback loop, is presented. Beside modeling and controller designing, the paper designs a feasible speed measurement method using DSP. The simulation results prove that the three-loop stabilization circuit can remarkably improves the trends responding of the platform when the carrier is waving.