【作者】 刘向；

【导师】 葛文奇；

【作者基本信息】 中国科学院研究生院（长春光学精密机械与物理研究所） ， 机械电子工程， 2004， 硕士

【摘要】 动机座光电稳定平台已被广泛应用。为有效克服载体运动以及其它环境因素对光电稳定平台带来的影响，一般使用陀螺仪实现光电稳定平台相对于惯性空间的角速度测量，从而构成陀螺平台稳定系统。本文以线加速度合成角速度、角加速度的理论为基础，探讨了加速度计在平台稳定系统中的应用，为加速度计替代陀螺构成无陀螺平台稳定系统奠定了基础。 本文首先对线加速度合成角速度、角加速度的一般理论进行了研究，从理论上证明这一方法的正确性，为进一步深入研究奠定了理论基础；在此基础上，本文分析了角运动合成一般方法在平台稳定系统中应用存在的困难，在此基础上提出了一种改进方法；这种方法的特点是变空间结构的安装方式为平面结构，使角运动合成理论在工程实践中应用成为可能。 介绍了线加速度计发展状况，着重讨论了几种适于平台稳定系统中应用的加速度计；根据角速度、角加速度合成公式，分析了平台稳定系统对线加速度测量精度的要求，并据此分别找出了适于实验室理论验证与工程应用的加速度计。 在对双轴硅电容加速度计ADXL202介绍的基础上，详细讲述了利用ADXL202构成角运动测量装置的设计过程；并在测试转台上对角运动测量装置进行实验，验证了该装置对角运动测量的能力，从实验上证明角运动合成理论以及其改进方法的正确性。 最后，本文在理论上分析角加速度环对隔离度的贡献；通过对含有非线性摩擦力矩的平台稳定系统仿真模型的研究，从理论上验证角加速度环具有克服摩擦力矩的能力；在实验转台上加入由线加速度计构成的角加速度测量装置，并与测速机构成角加速度环、角速度环双环结构，验证了角加速度环对电机换向误差的消除作用。更多还原

【Abstract】 Mobile Opto-Electronic stabilized Platform (abbreviated to MOEP below) has been used widely. To conquer the influences including the carrier locomotion and the other factors impacted to MOEP, the system of stabilized platform is made up by using gyroscope to measure the angular velocity relative to inertia space. Based on the theory about synthesis of angular velocity and acceleration with liner accelerometers, this paper discusses the application of accelerometers and the non-gyroscope platform stabilized system uses accelerometer instead of gyroscope in MOEP.At first, the general theory of synthesis angular acceleration and velocity with linear accelerometers is researched and proved in this paper. On the foundation of analyzing the applied barrier in platform stabilized system of angular locomotion, a new method that changes the installation structure from alterable space into plane, is put forward to solve the problems, so that the application of this theory in MOEP becomes possible.The development of accelerometers in the world is summarized in this paper, and some kinds of them are discussed in detail. According to the formula of synthesis angular velocity and acceleration, this paper analyzes the desired measure precision of the acceleration and finds out the appropriate accelerometers for lab or engineering.By introducing the double-axis silicon accelerometers ADXL202 and its application in angular locomotion measure device, the design process of this device is emphasized. Through experiments on the testing rotation platform, performances indicate the validity about the synthesis of this theory and improving method.At last, this paper analyzes the function of angular acceleration loop. Through the study with non-linearity friction on simulation model of the stabilized system, in theory the analysis of the angular acceleration loop’s contribution is given. In testing platform, the measure devices of angular acceleration and velocity constitute the double loops, they are angular acceleration loop and angular velocity loop. And this experiment gives the proof that the angular acceleration loop could eliminate the errors which are taken by the motor’s reversing.更多还原