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在超低转速下,有限的转速测量分辨率是影响控制力矩陀螺框架伺服系统控制性能的一个重要因素。在分析转速分辨率对超低速控制性能影响的基础上,提出了一种基于多周期后向差分的转速计算方法,可提高测速分辨率并保证测速带宽。针对后向差分带来的相位延迟会限制测速分辨率进一步提高的问题,在选取合适的差分周期基础上,采用Kalman预估器对框架转速进行预估,进一步提高了框架转速的测速分辨率及测速带宽。通过仿真表明,所提出的测速方法将转速分辨率提高了两个数量级,解决了框架伺服系统在超低转速下由于有限的转速测量分辨率造成的爬行现象。
At very low speeds, the limited resolution of speed measurement is an important factor that affects the control performance of the control gyro frame servo system. Based on the analysis of the effect of rotational speed resolution on ultra low speed control performance, a rotational speed calculation method based on multi-period backward differentiation is proposed, which can improve the resolution of speed measurement and ensure the speed measurement bandwidth. The phase delay caused by the backward difference will limit the speed resolution further improved. Based on the selection of the appropriate differential period, the Kalman estimator is used to estimate the frame speed to further improve the speed resolution of the frame speed and Speed measurement bandwidth. The simulation results show that the proposed speed measurement method improves the speed resolution by two orders of magnitude, which solves the creeping phenomenon caused by the limited speed measurement resolution of frame servo system at very low speed.