CAJ | 학술논문

光电稳定平台常采用两轴四框架的结构形式扩大稳定跟踪范围和提高跟踪精度，内外框架之间由于机械结构连接产生耦合，为建立稳定解算方程，分析两轴四框架光电稳定平台的工作原理，通过各框架转轴坐标旋转关系，利用转移矩阵，推导出稳定解算方程和甲板坐标系的角位移解算公式，在典型工程实际条件下，比较公式计算的理论值与直接利用测角量累加值之间的差别，结果表明在外框架不能很好随动于内框架时，稳定解算时平台相对载体的姿态是内外框架测角量的非线性函数，这对伺服系统位置回路的控制非常关键。
광전은정평태상채용량축사광가적결구형식확대은정근종범위화제고근종정도，내외광가지간유우궤계결구련접산생우합，위건립은정해산방정，분석량축사광가광전은정평태적공작원리，통과각광가전축좌표선전관계，이용전이구진，추도출은정해산방정화갑판좌표계적각위이해산공식，재전형공정실제조건하，비교공식계산적이론치여직접이용측각량루가치지간적차별，결과표명재외광가불능흔호수동우내광가시，은정해산시평태상대재체적자태시내외광가측각량적비선성함수，저대사복계통위치회로적공제비상관건。
To extend target tracking rang and enhance the tracking precision in stabilized state, the electro-optical stabilized platform is often designed with four-gimbal two-axis structure. There is coupling between the inner and outer gimbals because of mechanical connection. In order to establish the stabilized equation, the work principle of four-gimbal two-axis electro-optical stabilized platform is analyzed. The stabilized equation is established and the calculating formula for angle displacement is deduced by the spin matrix and the relation of coordinate-rotating among muff-frames. The difference is compared between the value of angle displacement by calculation from formula and the sum of measure based on typical engineering application. The analytical results indicate the attitude of platform in carrier cooridnate is non-linearity function about the inner and outer gimbals＇s angle measure. It is crucial to the servo control system design for the position closed loop.