【作者】 罗霞；

【导师】 黄卫权；

【作者基本信息】 哈尔滨工程大学 ， 导航、制导与控制， 2007， 硕士

【摘要】 航海、航空和航天等事业的迅猛发展离不开惯性导航系统，而稳定回路是平台惯导系统的重要组成部分之一，主要用于消除外干扰力矩，使平台跟踪当地地理坐标系。平台的稳定性直接影响导航系统的精度，惯导系统对稳定回路的性能指标的要求越来越高。概括起来，平台稳定系统要求响应速度快，抗干扰能力强，稳态精度高等优良特性。近年来，非线性自抗扰控制技术得到迅速的发展与应用，它将未建模动特性和未知外扰都归结为对象的未知扰动，用输入输出数据估计并给予补偿，从而实现了动态系统的动态反馈线性化，具有很强的适应性和鲁棒性。因此，本文提出、设计了惯性平台稳定回路的自抗扰控制。其主要内容如下：1．分析了平台稳定回路的原理及各个组成部分，阐述了它们在稳定回路中的作用，通过对平台稳定系统工作原理和物理结构的剖析，建立了系统未校正时的数学模型，并在此模型的基础上简化了系统，得到了一个标准的控制对象，为以后的自抗扰控制器的设计提供了基础。2．设计了适合于稳定回路的自抗扰控制器，提出了自抗扰控制器参数的整定方法，并对平台稳定回路的自抗扰控制器进行了仿真。仿真结果表明，通过选择合适的ADRC参数，平台稳定回路可设计成为一个响应速度快，静差小的控制系统，与经典PID控制、引入转速负反馈的双闭环控制和同样在平台稳定回路中使用的自抗扰控制器比较，本文设计的自抗扰控制有较好的控制性能。3．从软硬件两方面完成数字控制器的设计。在说明了DSP控制系统硬件框架设计方案的基础上，提出和实现了系统的软件设计方案，主要包括以下几大模块：量化、相敏解调、数字滤波、自抗扰控制算法和PWM波形生成。通过仿真发现这些方案现实可行，达到了理想的控制效果。在实际的软件设计中，还考虑了软件抗干扰设计，同时还考虑了代码优化，以便节省系统资源。通过软件实现，本文基本上完成了基于DSP实现的平台稳定回路自抗扰控制。更多还原

【Abstract】 The inertial navigation system (INS) has a closed relationship with the development of navigation, aviation and spaceflight. And the stabilizing circuits are one of the most important parts in INS, which eliminate the disturbance and make the platform to follow the local level coordinate. The stabilization of the platform has a straight influence to the precision of the inertial navigation system, which leads to increasingly request for higher performance of stabilizing circuits. In a word, the stabilizing circuits for inertial platform require characteristics ofhigh response speed, strong anti-jamming and high accuracy.These years, as the quickly development and application of the active disturbance rejection controller (ADRC), which are based on the nonlinear control mechanism. The control scheme of the nonlinear ADRC is to treat unmodelled dynamic characteristics and unknown external disturbances of the plant as unknown disturbances, to use input and output data to estimate and compensate, and then to realize the dynamic feedback linearizaion of those dynamic systems with excellent adaptability and robustness. So the paper provided and designed the ADRC using DSP for the inertial platform stabilizing circuits. Its main content is as follows:1. Introduced the theory and components of stabilizing circuit, expatiated the functions in the inertial platform stabilizing circuits. Through the analysis of operation principle and physical structure, designed a mathematical model of un-mended system, and simplified the system based on it, obtained a standard control object, thus provided a foundation for designing ADRC subsequently.2. Studied the ADRC theory and design method. Silulation results show that the inertial platform stabilizing circuits can be designed with high response speed, strong anti-jamming and high accuracy. Compared with the classical PID control, double-loop control method using speed reverse feedback and other ADRC, the ADRC desighed here performances much better.3. Realized the design of digital controller. The DSP realization problems of the ADRC for the inertial platform stabilizing circuits are discussed, and the design scheme for the hardware frame of the DSP control system is introduced simply, and the software design proposal for the system realization which includes qualification, phase sensitive demodulation, digital filter, the algorithm for the ADRC and the creation for the PWM wave are realized. Those schemes are found to be feasible by simulation, and get to the perfect control effectiveness. The disturbances rejection and the code optimization are considered in the design of the software, and the ADRC for the inertial platform stabilizing circuits based on DSP is completed by the software realization.更多还原