Passing zenith stabilization method of two-dimensional gyro platform based on disturbance sources classification control

Abstract

Aiming at the instability problem caused by the nonlinear constraint between the driving axis and the sensitive axis of the azimuth line-of-sight (LOS) control with the two-dimensional gyro platform, the variation rules of influence of azimuth line-of-sight (LOS) by different types of disturbance sources were analyzed, and a passing zenith stabilization method based on the disturbance sources classification control was proposed. This method used the feedback and feedforward dual channel compound control structure, eliminated the endogenous torque disturbance caused by gyro measurement noise amplification in the zenith position based on the control structure itself, and the torque disturbance caused by the high frequency component of the roll disturbance was suppressed by adding the filtering link of the feedforward channel, then the vibration problem of the azimuth drive axis in zenith position was solved. At the same time, the azimuth and the low frequency component of the roll disturbance were effectively isolated by the feedback channel and the feedforward channel. The simulation results show that this method can effectively suppress the amplitude of azimuth motor torque disturbance caused by the gyro measurement noise and high frequency component of the roll disturbance, and enhance the system stability. Finally, an experiment was carried out on a two-dimensional gyro platform. The stabilization precision of the line-of-sight bearing subjected to vibration in zenith position was reduced from 82.4 μrad to 44.6 μrad, and the isolation ratio was increased from −14.54 dB to −27.85 dB under the swing condition. The experimental results show that this method can effectively improve the disturbance isolation performance of azimuth line-of-sight in zenith position.