滚仰式稳定平台质量不平衡分析
Analysis of Mass Imbalance for Roll？？Pitch Inertial Stabilized Platform

为了综合分析质量不平衡对滚仰稳定平台控制系统性能的影响,对某滚仰式稳定平台中的质量静不平衡和动不平衡问题进行了研究。首先解释了稳定平台质量不平衡的分类和产生原因,并采用动量矩定理建立了滚仰式稳定平台质量不平衡的数学模型;然后利用Simulink建立了某滚仰式稳定平台质量不平衡仿真模型,并通过不同的仿真研究了质量不平衡对滚仰式稳定系统的影响;最后通过实验对动不平衡进行了补偿研究。仿真结果表明:系统动不平衡力矩对系统响应超调量的影响可忽略,主要影响系统稳态误差;质量不平衡中,静不平衡是系统振荡和不稳定的主要原因。进行动不平衡补偿实验后,滚转框和俯仰框的稳态响应平均值分别提高1.％和0.64％,均方差分别下降35.03％和55.19％。该研究结果对滚仰式稳定平台的质量不平衡分析和消除具有一定的参考意义。
Static imbalance and dynamic imbalance of mass for a roll？？pitch inertial stabilized platform (RPISP) are analyzed to study the effects of the mass imbalance (MI) on the control system of the RPISP. Reasons and classification of MIs in the RPISP are presented and an MI mathematical model of the RPISP is given by using the theorem of moment of momentum. Then, the MI model is rebuilt in Simulink with actual parameters of the roll？？pitch inertial stabilized platform and the effects of the MI on the RPISP are researched through different simulations. A compensation research to the mass dynamic imbalance is implemented through experiments. The simulation results show that the impact of the dynamic mass imbalance (DMI) on the overshoot is negligible and its main effect is on steady errors. The static mass imbalance (SMI) is the primary cause of the oscillation and instability of the system. After the compensation, the average steady？？state response values of the roll gimbal and the pitch gimbal are improved by 1.34％and 0.64％, respectively and their mean square deviations are reduced by 35.03％and 55.19％, respectively. The results are useful for the analysis and elimination of the MI existed in RPISPs