Research On The Technology Of Attitude Measurement And Control Based On Electric Steering Engine

In the simple trajectory correction system, attitude measurement and control is the keytechnology. According to the movement feature of low rotating projectile combined withcharacteristics that the error of geomagnetism detection would not accumulate as time goes byas well as the dynamic range is large and there is a high short term precision of the inertialnavigation and its dynamic range is small, the scheme of geomagnetic/gyroscope integratedattitude measurement device, the controller with the core of floating point DSP and theexecute mechanism based on the electric steering gear are designed in this thesis. The mainachievements are as follows:According to the feature of geomagnetic field, the mathematical model to calculating theroll attitude by geomagnetism is established and the reason for resolution error is analyzed,then the dynamic ellipse correction method is adopted for error compensation. The result ofsemi-physical simulation and shooting range test shows that the calculation accuracy of thismethod is high.In the part of SINS of this paper, several common attitude solution were introduced.According to the feature of high dynamic projectile, combined with the performance ofhardware, three-sample attitude solution is optimized. The result of the semi-physicalsimulation shows that the real time of this algorithm is high and the calculating accuracy ishigh by geomagnetic/gyroscope integrated attitude measurement device.According to the requirement of the system, choosing TMS320F28335as the mainchip,this thesis completed the design of the basic system and the communication interfacesuch as A/D、SCI、SPI、eCAN、MCBSP. Functions such as data collection, attitude solution,data storage and communication by using DSP in the attitude detection system are translatedto programming, meanwhile, the time complexity of the program is analyzed.The scheme of the electric steering gear control system is designed in this paper. The basiccomponents and the work principle are analyzed. The system selection and modeling arecompleted. The influence of non-liner towards the system and commonly used controlstrategies are described. By using PID control on the position loop, the Simulink model of the steering gear system is modeled. The simulation result shows that the steering gear controlsystem can fulfill the need of the control of the low rotating projectile.Through the semi-physical simulation and shooting range test, the result shows that schemeof the system of projectile attitude measurement and control is feasible and reliable. It can beused in low rotating projectile trajectory correction system.