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惯导测试设备(转台)的转速性能对惯性元器件和导航系统的性能测试有着重要影响,转台控制系统中存在的各种周期性扰动会造成转速的周期性波动,严重影响转台速率性能的提高。本文分析了该类设备转速周期性波动产生的机理,并针对周期性扰动幅度难以确定的特征,提出了一种基于非线性自适应控制理论的抑制方法和系统实现方案,该方法能有效抑制因周期性扰动而产生的周期性速率波动,提高转台的速率性能。转台实验表明,该方法对设备中存在的周期性转速波动具有明显的抑制效果。
The rotational speed performance of inertial navigation test equipment (turntable) has an important influence on the performance test of inertial components and navigation systems. Various periodic disturbances in turntable control system will cause periodic fluctuation of rotational speed, which will seriously affect the performance of turntable speed . In this paper, the mechanism of the cyclical fluctuation of the rotating speed of this kind of equipment is analyzed. Aiming at the characteristics that the periodic disturbance amplitude is difficult to be determined, a suppression method and a system realization scheme based on the nonlinear adaptive control theory are proposed. Cyclical turbulence caused by periodic rate fluctuations, improve turret speed performance. Turntable experiments show that this method has a significant inhibitory effect on the periodic speed fluctuation existing in the equipment.