CAJ | 학술논문

陀螺稳定是惯性稳定中的常见装置，由它仅仅构成一个简单的单速度稳定环。控制带宽是影响陀螺稳定的惯性控制系统的一个重要因素。高的控制带宽很难获取，主要是因为系统的非线性影响，比如机械谐振。将一种基于加速度反馈的多环控制结构引入速度控制系统中，提高稳定性能。采用两只线性加速度计测量角速度信号，而不是利用位置和速度信号计算得到。利用 Lyapunov 函数分析了多级稳定回路稳定，以及对摩擦、扰动抑制能力的效果。多级稳定控制环路的误差抑制能力是陀螺反馈系统的能力以及加速度反馈之积。实验验证了理论分析的正确性：相比经典的陀螺稳定系统，扰动抑制能力有较大的改善。
타라은정시관성은정중적상견장치，유타부부구성일개간단적단속도은정배。공제대관시영향타라은정적관성공제계통적일개중요인소。고적공제대관흔난획취，주요시인위계통적비선성영향，비여궤계해진。장일충기우가속도반궤적다배공제결구인입속도공제계통중，제고은정성능。채용량지선성가속도계측량각속도신호，이불시이용위치화속도신호계산득도。이용 Lyapunov 함수분석료다급은정회로은정，이급대마찰、우동억제능력적효과。다급은정공제배로적오차억제능력시타라반궤계통적능력이급가속도반궤지적。실험험증료이론분석적정학성：상비경전적타라은정계통，우동억제능력유교대적개선。
Gyro is popular equipment in the inertial stabilization control system. There is one velocity stabilization control loops with gyro in classic control system, one of the main limitations to inertial stabilization system is control bandwith for gyro-based inertial control system. High control bandwith is too difficult to gain because of nonlinearities, such as mechanical resonances. A new control structure of multi-stablization control loop was introduced where an acceleration feedback loop is added into the velocity control loop. The angular accelearation signal was from two accelerometers, and not was calculated with velocity and position signal. Using Lyapunov theorem, the stability of the multi -stabilization control loops were verified, and the friction of inertial stabilization system could be reduced with acceleration feedback. The torque attenuation with multi-stabilization control loops was equal to accelaration feedback loop′s attenuation multiplied by gyro feedback loop′s attenuation. The experiments show the multi-stablilization control loops improve the performance of inertial control system.