CN-121977550-A - Intelligent collaborative adjustment method for dynamic characteristic parameters of triaxial inertial navigation servo loop

CN121977550ACN 121977550 ACN121977550 ACN 121977550ACN-121977550-A

Abstract

The invention discloses an intelligent collaborative adjustment method for dynamic characteristic parameters of a triaxial inertial navigation servo loop. Firstly, the open-loop dynamic characteristics of an inner loop servo loop and an outer loop servo loop of the triaxial inertial navigation at zero quadrature moment are measured successively, and secondly, a table body shaft is rotated by 90 degrees, and the open-loop dynamic characteristics of the inner loop servo loop and the outer loop servo loop of the triaxial inertial navigation in the state are measured successively. According to the invention, the parameter identification index function J model is established, the intelligent differential evolution algorithm is referenced to perform collaborative identification and adjustment compensation on the gain parameters of the servo loop with cross coupling characteristics, and the optimal estimation is performed on the parameter identification index function J, so that the 4 parameters with cross coupling dynamic characteristic parameters when the parameter identification index function J is optimal are finally obtained at one time, the dynamic characteristic stability of the frequency bands in the inner loop servo loop and the outer loop servo loop is better under the condition of any position of the table body axis, and the repeated test time of a tester can be greatly saved.

Inventors

GAO RONGRONG
PENG DI
WANG ERWEI
DENG CHAO
ZHAO JUNHU

Assignees

北京航天控制仪器研究所

Dates

Publication Date: 20260505
Application Date: 20251224

Claims (8)

1. The intelligent collaborative adjustment method for dynamic characteristic parameters of the triaxial inertial navigation servo loop is characterized by comprising the following steps of: S1, rotating a table body axis frame angle beta zk , an inner ring axis frame angle beta xk and an outer ring axis frame angle beta yk to 0 degrees, closing a stable loop, and respectively measuring to obtain open-loop dynamic characteristic data of a triaxial inertial navigation inner ring axis and an outer ring axis servo loop, wherein the open-loop dynamic characteristic data comprises open-loop logarithmic frequency characteristic data and open-loop logarithmic phase frequency characteristic data; S2, keeping an inner ring shaft frame angle beta xk and an outer ring shaft frame angle beta yk at zero positions, rotating a table body shaft frame angle beta zk to 90 degrees, closing a stable loop, and respectively measuring to obtain servo loop open-loop dynamic characteristic data of the three-axis inertial navigation inner ring shaft and the outer ring shaft under the condition of 90 degrees of the table body, wherein the servo loop open-loop dynamic characteristic data comprises open-loop logarithmic frequency characteristic data and open-loop logarithmic frequency characteristic data; s3, setting an open-loop dynamic characteristic required value of the inner loop servo loop, wherein the open-loop dynamic characteristic required value comprises a cut-off frequency f1, an amplitude margin h1 and a phase margin gamma 1; S4, calculating an inner loop servo loop gain compensation theoretical value K0_ nei when the angle of the table body shaft frame is 0 DEG, an inner loop servo loop gain compensation theoretical value K90_ nei when the angle of the table body shaft frame is 90 DEG, an outer loop servo loop gain compensation theoretical value K0_ wai when the angle of the table body shaft frame is 0 DEG, and an outer loop servo loop gain compensation theoretical value K90_ wai according to the measured amplitude margin of the inner loop servo loop at the cut-off frequency f1 and the measured amplitude margin of the outer loop servo loop at the cut-off frequency f 2; S5, giving a parameter identification index function J which enables dynamic characteristics of the inner loop servo loop and the outer loop servo loop to tend to be optimal; S6, calculating an inner loop servo loop decoupling front gain adjustment parameter Kg_ nei, an inner loop servo loop decoupling rear gain adjustment parameter Km_ nei, an outer loop servo loop decoupling front gain adjustment parameter Kg_ wai and an outer loop servo loop decoupling rear gain adjustment parameter Km_ wai when the parameter identification index function J is minimum; s7, kg_nei, km_nei, kg_wai and Km_ wai are compensated into the inner ring servo loop and the outer ring servo loop, so that the open-loop dynamic characteristic results of the inner ring servo loop and the outer ring servo loop are consistent under the condition that the frame angle of the table body is at any position.
2. The intelligent collaborative adjustment method for dynamic characteristic parameters of a triaxial inertial navigation servo loop according to claim 1, which is characterized in that: The outer ring shaft frame angle beta yk is obtained by installing an angle sensor on the shaft end of the outer frame and measuring the rotation angle of the base around the outer frame shaft; The angle beta xk of the inner ring shaft frame is obtained by installing an angle sensor on the shaft end of the inner frame shaft and measuring the rotation angle of the outer frame around the inner frame shaft; the angle beta zk of the table body shaft frame is obtained by installing a sensor on the end of the table body shaft and measuring the rotation angle of the inner frame around the table body shaft.
3. The intelligent collaborative adjustment method for dynamic characteristic parameters of a triaxial inertial navigation servo loop according to claim 1, which is characterized in that: the inner ring servo loop is a servo loop formed by an inner ring gyro, an inner ring controller and an inner ring motor when the angle of the table body shaft frame is 0 degrees; The inner ring servo loop is a servo loop formed by the outer ring gyro, the inner ring controller and the inner ring motor when the angle of the table body shaft frame is 90 degrees; The outer ring servo loop is a servo loop formed by the outer ring gyro, the outer ring controller and the outer ring motor when the angle of the table body shaft frame is 0 degrees; When the angle of the table body shaft frame is 90 degrees, the outer ring servo loop is a servo loop formed by the inner ring gyro, the outer ring controller and the outer ring motor when the angle of the table body shaft frame is 90 degrees.
4. The intelligent collaborative adjustment method for dynamic characteristic parameters of a triaxial inertial navigation servo loop according to claim 1, which is characterized in that: Obtaining an amplitude margin h0_ nei of the inner loop servo loop in f1 under the condition of 0 degree of the platform shaft according to the test data, and calculating a gain compensation theoretical value K0_ nei = (10 -h0_nei/20 -0.5) multiplied by 170 of the inner loop servo loop when the frame angle of the platform shaft is 0 degree; Obtaining an amplitude margin h90_ nei of the inner loop servo loop in f1 under the condition of 90 degrees of the platform shaft according to the test data, and calculating a gain compensation theoretical value K90_ nei = (10 -h90_nei/20 -0.5) multiplied by 170 of the inner loop servo loop when the frame angle of the platform shaft is 90 degrees; Obtaining an amplitude margin h0_ wai of the outer ring servo loop at f2 under the condition of 0 degree of the platform shaft according to the test data, and calculating a theoretical gain compensation value K0_ wai = (10 -h0_wai/20 -0.5) multiplied by 170 of the outer ring servo loop when the frame angle of the platform shaft is 0 degree; and obtaining an amplitude margin h90_ wai of the outer ring servo loop at f2 under the condition of 90 degrees of the table body shaft according to the test data, and calculating a theoretical gain compensation value K90_ wai = (10 -h90_wai/20 -0.5) multiplied by 170 of the outer ring servo loop when the frame angle of the table body shaft is 90 degrees.
5. The intelligent collaborative adjustment method for dynamic characteristic parameters of a triaxial inertial navigation servo loop according to claim 1 is characterized in that the parameter identification index function J for optimizing dynamic characteristics of an inner annular shaft servo loop and an outer annular shaft servo loop is as follows: J=（Kg_nei×Km_nei-K0_nei） 2 +（Kg_wai×Km_nei-K90_nei） 2 +（Kg_wai×Km_wai -K0_wai） 2 +（Kg_nei×Km_wai –K90_wai） 2 .
6. The method of claim 1, wherein the step S6 uses an intelligent differential evolutionary algorithm to find the servo loop gain compensation values Kg_nei, km_nei, kg_wai, km_ wai when J is minimum.
7. The intelligent collaborative adjustment method for dynamic characteristic parameters of a triaxial inertial navigation servo loop according to claim 1, characterized in that the compensation positions of gain compensation values of an inner annular shaft servo loop and an outer annular shaft servo loop are as follows: Kg_ nei and Kg_ wai are positioned in front of the decoupler, kg_ nei is the gain of the output data of the inner ring gyro, kg_ wai is the gain of the output data of the outer ring gyro, km_ nei and Km_ wai are positioned behind the decoupler, km_ nei is the gain of the inner ring controller, and Km_ wai is the gain of the outer ring controller.
8. The intelligent collaborative adjustment method for dynamic characteristic parameters of a triaxial inertial navigation servo loop according to claim 1, wherein after compensation, the angular speed omega Ax of an inner ring frame shaft and the angular speed omega Ax of an outer ring frame shaft are as follows: ω Ax = (Kg_nei×ω gx ×cos(β zk )+ Kg_wai×ω gy ×sin(β zk )) ×Km_nei ω Ay =- Kg_wai×ω gx ×sin(β zk )+Kg_nei×ω gy ×cos(β zk ) ×Km_wai Wherein ω gy is the outer ring gyro output and ω gx is the inner ring gyro output.

Description

Intelligent collaborative adjustment method for dynamic characteristic parameters of triaxial inertial navigation servo loop Technical Field The invention relates to an intelligent collaborative adjustment method for dynamic characteristic parameters of a triaxial inertial navigation servo loop, which is mainly used for realizing identification and adjustment of gain parameters when dynamic characteristics of the triaxial inertial navigation servo loop are inconsistent. Background The dynamic characteristic difference of the triaxial inertial navigation inner loop servo loop and the outer loop servo loop is larger when the triaxial inertial navigation inner loop servo loop rotates along with the table body shaft due to the fact that the rotational inertia of the frame structure in different directions is inconsistent. During engineering debugging, the dynamic characteristics of the inner loop servo loop and the outer loop servo loop when the axis of the table body is 0 degrees and the dynamic characteristics of the inner loop servo loop and the outer loop servo loop when the axis of the table body is 90 degrees are generally tested, and the consistency and the balance of the dynamic characteristics of each loop when the axis of the table body rotates are realized by adjusting the gain value before decoupling of the servo loop and the gain value after decoupling of the servo loop. The traditional triaxial inertial navigation dynamic parameter adjustment method is simpler, generally only the dynamic characteristic test results of the inner annular servo loop and the outer annular servo loop at the zero moment of the table body shaft are adjusted, the gyro gains of the inner annular shaft and the outer annular shaft servo loop or the controller gains of the inner annular shaft and the outer annular shaft servo loop are calculated, 2 parameters are added, and if the rotational inertia of each annular frame structure at different angles is inconsistent, the problem that the dynamic characteristic of the servo loop changes along with the frame structure can occur. If the inner annular shaft servo loop and the outer annular shaft servo loop can have balanced dynamic characteristics at any moment of rotation of the table body shaft, 3 parameters, namely the first 2 parameters are decoupled and the later 1 parameter is decoupled, are selected and adjusted. The method has the defects that the dynamic characteristic consistency of the inner ring servo loop and the outer ring servo loop when the table body shaft is at 0 degree and the dynamic characteristic consistency of the inner ring servo loop or the outer ring servo loop when the table body shaft is at 90 degrees during rotation along with the table body shaft can be ensured, and the balance of all parameters can not be considered. Furthermore, to adjust 4 parameters, namely the first 2 parameters of decoupling and the second 2 parameters of decoupling, once the angle of the platform shaft is changed, the tester needs to repeatedly and repeatedly test and determine the final adjustment parameters due to the cross coupling problem of the parameters of the inner ring shaft and the outer ring shaft, so that the time cost is high, the professional technical requirements of the process staff are high, the product flow is inconvenient, and the adjustment parameters obtained by the tester according to engineering experience are not optimal and have subjective factors. The triaxial inertial navigation inner loop servo loop and the outer loop servo loop have the cross coupling problem, so that the dynamic characteristic parameters are required to be tested successively, adjusted successively and adjusted repeatedly in the prior art, the time cost is extremely high, and the quality control of products and the mass production of the products are not facilitated. Disclosure of Invention The intelligent collaborative adjustment method for the dynamic characteristic parameters of the triaxial inertial navigation servo loop solves the problems in the prior art, and the intelligent collaborative adjustment method for the dynamic characteristic parameters of the triaxial inertial navigation servo loop is provided, and the intelligent differential evolution algorithm and the optimal estimation algorithm are adopted to calculate the gain adjustment parameters of the 4 servo loops at one time, so that the consistency of the dynamic characteristics of the inner loop servo loop and the outer loop servo loop is better under the condition of any position of a platform body shaft. The technical scheme of the invention is that the intelligent collaborative adjustment method for the dynamic characteristic parameters of the triaxial inertial navigation servo loop comprises the following steps: S1, rotating a table body axis frame angle beta zk, an inner ring axis frame angle beta xk and an outer ring axis frame angle beta yk to 0 degrees, closing a stable loop, and respectively measuring to