摘要
针对载体运动的耦合机制及其角速度耦合模型不能准确描述角速度传递问题,采用理论建模的方法,分析了摩擦力矩与电磁转矩随载体运动的变化情况、控制系统的闭环作用下载体运动角速度的耦合机制。研究表明,捷联稳定方式下载体运动角速度存在1∶1传递,而直接稳定方式下载体运动角速度无1∶1传递。旋转矩阵相应元素在捷联稳定方式下为1,而在直接稳定方式下为0。于是,按载体运动耦合情况建立了角速度耦合模型。该结果为制定有效的运载体角运动隔离方案提供了理论依据。
Aimed at addressing the insufficient knowledge of carrier moving coupling description and the failure of the mathematical model of carrier angular velocity coupling to reflect the principle of angular velocity transference, this paper presents an analysis of the change of friction torque and electromagnetism torque with carrier rotation through theoretical modeling, and the principle of angular velocity transference under closed loop control action. The paper stresses that there occurs 1 ： 1 transference from carrier angular velocity to the platform under strapdown stabilized platform while there is no 1 ： 1 transference under direct stabilized platform. The paper features the carrier movement angular velocity coupling mathematical model with rotation matrix element of 1 on strapdown stabilized platform and of 0 on direct stabilized platform. The results provide theoretical basis for effective isolation scheme of carrier angular motion.
出处
《黑龙江科技学院学报》
CAS
2011年第2期116-120,共5页
Journal of Heilongjiang Institute of Science and Technology
关键词
耦合机制
角速度传递
摩擦力矩耦合
直接带动耦合
coupling principles
rotation velocity transmission
friction moment coupling
direct drive coupling
