Research On Control Technology Of Sngle-axis MDRLG-stabilized Platform

The mechanical dithered ring laser gyro (MDRLG) is the first one used in practice as well as the most widely used one in all kinds of RLG. It has been used in many fields such as inertial navigation and angle measurement, but there has been little research on controlling and tracking using MDRLG. The application of MDRLG in stabilization platform control is researched in this paper. Its main content is as follows:1. The application of LMS adaptive algorithm in MDRLG dither-stripping is researched, and the filtering character of the LMS adaptive dither-stripper is analyzed at the view of band-width and maladjustment. The impaction of the error item's response property on dither-stripping effect is discussed. To promise the dither-stripping effect, the band-pass filter is applied in the adaptive dither-striping algorithm.2. The hardware and software of the adaptive dither-stripper is designed based on FPGA, and a system with double processor is designed to carry out the contrast experiments and dynamic response exams.3. The model of the RLG stabilization platform is analyzed, and the hardware and software of the control system is designed based on FPGA and TMS320F2812. To simplify the system design and improve its reliability, a control system based on single FPAG is designed. The application of active disturbance rejection control (ADRC) in stabilization control is simulated based on Labview platform. The simulation results show that ADRC presents excellent adaptability and robustness.4. The adaptive dither-stripping exams are performed. The gyro null stability tests and dynamic exams are performed using the original LMS dither-stripper, the promised LMS dither-stripper and self phase-lock dither-stripper respectively, and their dynamic response curves are presented. Tests show that all the three dither-stripper has no phase latency. Then, the impaction of the low-pass FIR filter's position and the convergence factor on the dither-stripping effect is researched.5. The stabilization control experiments are executed using the FPGA+DSP system and the FPGA system respectively. The results show that MDRLG can be applied in stabilization control as well. Resulting of the impaction of the parameters of the PWM-product module and the PID controller, the steady-state accuracy of the FPGA system is better than the FPGA+DSP system while its dynamic precision is worse.