CN-121977608-A - Multi-rigid body control simulation method for inertial measurement system

CN121977608ACN 121977608 ACN121977608 ACN 121977608ACN-121977608-A

Abstract

The invention discloses a multi-rigid-body control simulation method of an inertial measurement system, which comprises the steps of simplifying a geometric model of the inertial measurement system through three-dimensional modeling software and outputting the geometric model into a three-dimensional intermediate format, establishing a virtual prototype model of the inertial measurement system in ADAMS software and converting the virtual prototype model into a file format interacting with a Simulink, constructing a loop control method model of the inertial measurement system in the Simulink environment, realizing data interconnection between input and output of the loop control method model and the virtual prototype model through parameterized variables, inputting a carrier gesture and overload acceleration data function in the Simulink environment, defining shaft end friction model parameters and simulating, and outputting gyroscope, frame angle, table gesture, shaft end friction torque, motor feedback torque variable kinematics and dynamics simulation data, curves and three-dimensional model animation in real time in the simulation process.

Inventors

ZHANG QINGSONG
YAN WENMIN
WANG ERWEI
WANG TING
CUI SHUHUI
CEN ZHIXUAN

Assignees

北京航天控制仪器研究所

Dates

Publication Date: 20260505
Application Date: 20251230

Claims (9)

1. A multi-rigid-body control simulation method of an inertial measurement system is characterized by comprising the following steps: simplifying the geometric model of the inertial measurement system through three-dimensional modeling software and outputting the geometric model into a three-dimensional intermediate format; Establishing and obtaining an inertial measurement system virtual prototype model in ADAMS software, and converting the model into a file format interacted with Simulink; Setting up a loop control method model of an inertial measurement system in a Simulink environment, wherein the input and output of the loop control method model are interconnected with the virtual prototype model through parameterized variables; Inputting a carrier gesture and overload acceleration data function in a Simulink environment, defining shaft end friction model parameters and simulating; And outputting simulation data of the gyroscope, the frame angle, the platform posture, the shaft end friction torque, the motor feedback torque variable kinematics and dynamics, curves and the three-dimensional model animation in real time in the simulation process.
2. The method for simulating multi-rigid-body control of an inertial measurement system according to claim 1, wherein the step of simplifying the geometric model of the inertial measurement system by three-dimensional modeling software and outputting the geometric model into a three-dimensional intermediate format comprises the steps of: The method comprises the steps of creating a geometric model of each part of an inertial measurement system in three-dimensional modeling software, smoothing irregular edge characteristics of a part model of a platform body, a ring frame and a base, carrying out materialized filling on threaded holes, simplifying an inertial instrument except an inertial gyro into an equal-mass balancing weight, simplifying a shaft end assembly into an equal-mass shaft-sliding bearing structure, and directly outputting the simplified multi-rigid-body three-dimensional model of the inertial measurement system into a three-dimensional intermediate format.
3. The multi-rigid body control simulation method of the inertial measurement system according to claim 1, wherein the loop control method model of the inertial measurement system is divided into a stable loop module and an arbitrary position indexing module, The input end of the rotating and command angular speed module at any position is a state variable of the output end of the virtual prototype model of the inertial measurement system, wherein the output end is a state variable of the input end of the virtual prototype model of the inertial measurement system, namely, a gyro output shaft moment, the input end of the stabilizing loop module is a state variable of the output end of the virtual prototype model of the inertial measurement system, namely, a gyro output shaft angle, a table body shaft, an inner ring shaft and an outer ring shaft angle, and the output end is a state variable of the input end of the virtual prototype model of the inertial measurement system, namely, a table body shaft, an inner ring shaft and an outer ring shaft motor moment.
4. The method for simulating multi-rigid-body control of an inertial measurement system according to claim 3, wherein the step of creating a virtual prototype model of the inertial measurement system in ADAMS software and converting the virtual prototype model into a file format for interaction with Simulink comprises the steps of: The mass balancing processing is carried out on a platform assembly in the inertia measurement system relative to the axial direction of the platform body, the mass balancing processing is carried out on an inner ring assembly relative to the axial direction of the inner ring, and the mass balancing processing is carried out on an outer ring assembly relative to the axial direction of the outer ring, so that the mass and the rotational inertia of each rotary assembly are consistent with the real objects; The method comprises the steps of restraining and defining parts of an inertial measurement system after finishing mass trimming in Adams, wherein the parts comprise a revolute pair of a gyro motor rotor and a gyro output frame, a revolute pair of the gyro output frame and a shell, a fixed pair of a gyro shell and a table body, a revolute pair of the table body and an inner frame, a revolute pair of the inner frame and an outer frame, and a revolute pair of the outer frame and a base, and the orthogonality of a table body shaft, an inner ring shaft and an outer ring shaft is ensured by taking the direction of a system coordinate system as a reference; Creating a simple model of the three-axis turntable in Adams to simulate the change of the pitching, yawing and rolling postures of the carrier, fixedly connecting a base of the inertial measurement system with an inner frame of the three-axis turntable and placing the base in the center of the inner frame, and applying the rotation of an outer frame shaft, a middle frame shaft and an inner frame shaft of the three-axis turntable as external excitation to the inertial measurement system; The method comprises the steps of applying force load and defining parameterized interaction variables in Adams, wherein the force load and the drive comprise rotation driving of a gyro motor rotor, rotation torque and damping torque of a gyro output frame, rotation interference torque of an inertial measurement system platform body shaft, an inner ring shaft, an outer ring shaft, motor torque, friction torque and rotation driving of an outer frame shaft, an intermediate frame shaft and an inner frame shaft of a three-shaft rotary table, respectively creating different parameterized variables for representing the values of the force load and the force load through Varval () functions, and respectively creating parameterized state variables for angle and angular speed of the gyro output shaft, the platform body shaft, the inner ring shaft and the outer ring shaft through an angle AZ (), and an angular speed WZ () measurement function by taking Marker points of parts as reference coordinate systems, and finally completing a digitalized multi-rigid-body virtual prototype simulation model of the inertial measurement system; The multi-rigid-body Adams model of the inertial measurement system is exported to be a Simulink model, input signals select gyro motor rotor rotation driving, gyro output frame rotation moment, three-shaft turntable outer frame shaft, middle frame shaft, inner frame shaft rotation driving, inertial measurement system platform body shaft, inner ring shaft, outer ring shaft rotation interference moment and motor moment parameterization state variables, output signals select gyro output shaft, platform body shaft, inner ring shaft, outer ring shaft angles and angular speeds, friction moment parameterization state variables, target software selects MATLAB, and a program file interacted with Simulink is generated.
5. The method for simulating multi-rigid-body control of an inertial measurement system according to claim 1, wherein the constructing a loop control method model of the inertial measurement system in a Simulink environment comprises the following steps: The control method of the measured inertial measurement system is characterized in that a control algorithm mathematical model is built in a Simulink in a block diagram form, input signals of the mathematical model are output signal state variables of the multi-rigid-body virtual prototype model, namely angles of a gyro output shaft, a platform body shaft, an inner ring shaft and an outer ring shaft, and output signals of the mathematical model are input signal state variables of the multi-rigid-body virtual prototype model, namely gyro output frame rotation moment, inertial measurement system platform body shaft, inner ring shaft and outer ring shaft motor moment, so that a closed-loop control model is formed.
6. The multi-rigid-body control simulation method of the inertial measurement system according to claim 1, wherein the attitude of the carrier, the overload acceleration data function and the shaft end friction parameters are all input in a Simulink, wherein the rotation of an inner frame, a middle frame and an outer frame of a three-axis turntable is controlled through the input attitude curve function to provide external excitation for the inertial measurement system, the overload acceleration function controls the acceleration overload environment condition of the inertial measurement system, and the change curve of the friction moment of a platform shaft, an inner ring shaft and an outer ring shaft of the inertial measurement system along with time and working conditions is simulated through the input friction parameters to obtain the change curve of an output signal along with time.
7. The method for simulating multi-rigid-body control of an inertial measurement system according to claim 1, wherein the simulation process outputs real-time simulation data of gyroscopes, frame angles, body postures, shaft end friction moments, motor feedback moment variable kinematics and dynamics, curves and three-dimensional model animations, and the method comprises the following steps: In the Simulink environment, executing three orthogonal angular motion functions [ w x (t),w y (t),w z (t) ] on a three-axis table simple model built in an inertial measurement unit virtual prototype model; and switching the inertial measurement system to a flight navigation working mode, and displaying simulation motion animation of a virtual prototype model by Adams in real time in a simulation process to obtain the rotation of the inertial measurement system frame along with the turntable, isolating angular motion, and displaying a parameter dynamic simulation result including a gyro output angle, a frame angle and a platform attitude angle by an oscilloscope module in the Simulink.
8. The method of claim 1, further comprising performing a data rationality analysis and a loop control method correctness verification on the obtained data.
9. The method for simulating multi-rigid body control of an inertial measurement system according to claim 8, wherein said performing data rationality analysis and correctness verification of a loop control method on the obtained data comprises: saving and analyzing simulation data, changing excitation conditions for multiple simulation, comparing and analyzing simulation results, theoretical results and actual measurement results, verifying the control precision and stability of the stable loop control method, and optimizing an iterative control algorithm by changing parameters in a stable loop block diagram; And switching the multi-rigid-body control simulation model of the inertia measurement system into a static debugging working mode, controlling a frame target angle and a target angular speed in any position transposition and command angular speed module through a program function, rotating a table body and a frame to a certain angle to obtain simulation data, and verifying the quick response capability and stability of a frame shaft transposition control method of the inertia measurement device.

Description

Multi-rigid body control simulation method for inertial measurement system Technical Field The invention relates to a multi-rigid-body control simulation method of an inertial measurement system, which is particularly suitable for the technical field of multi-rigid-body control simulation methods of inertial measurement systems. Background The inertial measurement system is used as an important component of the inertial navigation system, and the position and the posture of the carrier are calculated by combining the initial conditions through the angular movement and linear movement information of the high-precision inertial instrument sensitive carrier on the platform body. The inertial measurement system mainly comprises a platform body, a gyroscope, an accelerometer, a frame assembly, a matched electrical system and the like, and the working principle of the inertial measurement system is that the gyroscope sensitive carrier on the platform body moves angularly, and then the gyroscope sensitive carrier feeds back to a motor at the shaft end of the frame through a stable loop control algorithm to provide opposite-direction angular movement, so that the platform body keeps stable in inertial space under the influence of carrier posture change, and a stable working environment is provided for the inertial instrument. The inertial measurement system is key equipment for influencing the guidance precision of the carrier, and is mainly based on real object development control strategy design verification and navigation algorithm research after the model machine is developed due to the complexity and precision of the structure, and the serial development mode has the defects of long period, low efficiency, inflexible verification method and the like, and does not meet the urgent requirement of digital transformation. Disclosure of Invention The invention solves the technical problems of overcoming the defects of the prior art and providing a multi-rigid-body control simulation method of an inertial measurement system, which considers the carrier multi-degree-of-freedom overload condition and the posture change, researches the dynamic response of an inertial measurement device in the overload environment to provide simulation data support, and can effectively shorten the development cost and period. The invention adopts the following technical scheme that the multi-rigid body control simulation method of the inertial measurement system comprises the following steps: simplifying the geometric model of the inertial measurement system through three-dimensional modeling software and outputting the geometric model into a three-dimensional intermediate format; Establishing and obtaining an inertial measurement system virtual prototype model in ADAMS software, and converting the model into a file format interacted with Simulink; Setting up a loop control method model of an inertial measurement system in a Simulink environment, wherein the input and output of the loop control method model are interconnected with the virtual prototype model through parameterized variables; Inputting a carrier gesture and overload acceleration data function in a Simulink environment, defining shaft end friction model parameters and simulating; And outputting simulation data of the gyroscope, the frame angle, the platform posture, the shaft end friction torque, the motor feedback torque variable kinematics and dynamics, curves and the three-dimensional model animation in real time in the simulation process. The simplified processing of the geometric model of the inertial measurement system by the three-dimensional modeling software and outputting the geometric model into a three-dimensional intermediate format comprises the following steps: The method comprises the steps of creating a geometric model of each part of an inertial measurement system in three-dimensional modeling software, smoothing irregular edge characteristics of a part model of a platform body, a ring frame and a base, carrying out materialized filling on threaded holes, simplifying an inertial instrument except an inertial gyro into an equal-mass balancing weight, simplifying a shaft end assembly into an equal-mass shaft-sliding bearing structure, and directly outputting the simplified multi-rigid-body three-dimensional model of the inertial measurement system into a three-dimensional intermediate format. The loop control method model of the inertial measurement system is divided into a stable loop module and an arbitrary position transposition module, The input end of the rotating and command angular speed module at any position is a state variable of the output end of the virtual prototype model of the inertial measurement system, wherein the output end is a state variable of the input end of the virtual prototype model of the inertial measurement system, namely, a gyro output shaft moment, the input end of the stabilizing loop module is a state variable of the output