【摘要】：本文以某大孔徑紅外/可見光穩(wěn)定平臺研制為背景,完成了穩(wěn)定平臺機械結構設計,仿真分析了陀螺安裝誤差對穩(wěn)定平臺指向精度的影響,重點論述了穩(wěn)定平臺陀螺安裝誤差測量與補償方案。本文的主要研究內容如下:(1)介紹了光電穩(wěn)定平臺的基本工作原理和系統組成,采用運動學理論分析了穩(wěn)定平臺視軸穩(wěn)定機理,推導了穩(wěn)定平臺各環(huán)架角速度與外界擾動角速度關系,為后續(xù)結構設計與指向誤差分析奠定了理論基礎。(2)基于項目需求,對光電穩(wěn)定平臺機械結構進行了設計;分析了軸系正交誤差對于穩(wěn)定平臺測角精度的影響,提出了各軸系正交誤差分配方案。(3)建立了陀螺安裝誤差對穩(wěn)定平臺指向精度影響的仿真模型并采用Matlab/Simulink進行了數字仿真,結果表明陀螺安裝誤差對于穩(wěn)定平臺指向精度的提高具有重要影響作用。(4)對于陀螺隨機漂移誤差序列建立了ARMA模型,并基于此模型對陀螺輸出數據進行了卡爾曼濾波,減小了陀螺隨機漂移誤差,提高了采用陀螺輸出數據對其安裝誤差測量的分辨能力。(5)完全依托光電穩(wěn)定平臺硬件,搭建了陀螺安裝誤差測量系統;對陀螺安裝誤差進行了測量與數字補償;最終通過實驗驗證了陀螺安裝誤差測量結果和補償方案的有效性。
[Abstract]:In this paper, based on the development of a large aperture infrared / visible light stabilized platform, the mechanical structure design of the stabilized platform is completed, and the influence of the gyro installation error on the pointing accuracy of the stabilized platform is simulated and analyzed. The measurement and compensation scheme of gyroscope installation error of stabilized platform are discussed emphatically. The main contents of this paper are as follows: (1) the basic working principle and system composition of the photoelectric stabilization platform are introduced, and the stabilization mechanism of the optical axis of the stabilized platform is analyzed by using the kinematics theory. The relationship between the angular velocity of each ring frame and the disturbance angular velocity of the stabilized platform is deduced, which lays a theoretical foundation for the subsequent structural design and the analysis of the pointing error. (2) based on the requirements of the project, the mechanical structure of the photoelectric stabilized platform is designed; This paper analyzes the influence of the orthogonal error of the shafting system on the angle measuring accuracy of the stabilized platform, and puts forward the scheme of the orthogonal error distribution of the shafting system. (3) the simulation model of the influence of the gyroscope installation error on the pointing accuracy of the stabilized platform is established and the digital simulation is carried out by using Matlab/Simulink. The results show that the gyroscope installation error plays an important role in improving the pointing accuracy of the stabilized platform. (4) the ARMA model is established for the gyro random drift error sequence, and the output data of the gyroscope is filtered by Kalman filter based on this model. It reduces the random drift error of gyroscope and improves the resolution of measuring installation error by using gyroscope output data. (5) based on the hardware of photoelectric stabilization platform, a gyroscope installation error measurement system is built. The measurement and digital compensation of the gyroscope installation error are carried out, and the validity of the gyroscope installation error measurement and compensation scheme is finally verified by experiments.
【學位授予單位】：西安電子科技大學
【學位級別】：碩士
【學位授予年份】：2015
【分類號】：TN15

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