Digital stabilization of motion of precision controlled base platforms with inertial sensitive elements. II. Application of float angular velocity sensor and pendulum accelerometers

Abstract

Problem of synthesis of digital control system for a new-generation broad-band calibration testbed, operating in two regimes, is considered. The first low-velocity regime uses gyroscopic (float) angular velocity sensor together with the system of pendulum accelerometers, measuring tangential accelerations of the points of their attachment to the platform. The second high-velocity regime uses pendulum accelerometers only, part of these accelerometers recording tangential accelerations, and the other part, centrifugal accelerations. Similar to [1], the problem is connected with finding digital control algorithms realized in one processor which determine controllers of auxiliary loops (for angular velocity sensors and accelerometers) and the controller of the main loop (stabilization circuit) providing stabilization of the given motion of the controlled base platform. Solution to this problem is given; this solution represents the method for synthesis of such systems; analysis of obtained solution in the temporal and frequency domain is performed.