Influence analysis of flexure support characteristics on performance of inertial reference unit
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摘要:
复合轴跟瞄与惯性参考单元(IRU)相结合的方式是当前抑制运动平台振动干扰、提升跟瞄精度的主要技术手段。IRU通常采用柔性支承结构，以规避框架式结构转动惯量大的缺陷，柔性支承特性是决定IRU扰动抑制带宽的关键因素。基于此，针对柔性支承特性对IRU性能的影响进行量化分析，基于质量-刚度-阻尼模型建立IRU系统的传递函数模型，并验证其准确性；利用参数分析方法研究柔性支承扰动传递特性和物理参数对IRU系统扰动抑制能力的影响；搭建IRU“速度内环-位置外环”双闭环控制系统的Simulink仿真模型，通过仿真分析给定振动环境下柔性支承转动刚度特性对IRU扰动抑制能力和稳定精度的影响。结果表明：柔性支承的扰动传递特性决定了系统对高频扰动的抑制能力，降低柔性支承的转动刚度能够有效提升IRU系统的扰动抑制能力，但会加剧传感器静态测量噪声、驱动器纹波对IRU系统稳定精度的负面影响。
Abstract:The combination of compound axis tracking and aiming with an inertial reference unit (IRU) is the main technical means to reject vibration interference of moving platform and improve tracking and aiming accuracy. IRU usually adopts flexure support structure to avoid the defect of large moment of inertia of frame structure. The characteristics of the flexure support structure are the key factors to determine the bandwidth of IRU disturbance rejection. The influence of flexure support characteristics on IRU performance was quantitatively analyzed. Firstly, based on the mass-stiffness-damping model, the transfer function model of IRU system was established, and its accuracy was verified. Then, the parametric analysis method was used to study the influence of disturbance transmission characteristics and physical parameters of flexure support on the disturbance rejection ability of IRU system. Finally, a Simulink simulation model of IRU double-loop (velocity inner loop-position outer loop) control system was built. The influences of flexure support stiffness characteristics on IRU disturbance rejection ability and stabilization precision under a given vibration environment were simulated and analyzed. The results show that the disturbance transmission characteristics of the flexure support determine the ability of the system to reject high-frequency disturbance. Reducing the rotational stiffness of the flexure support can effectively improve the disturbance rejection ability of the IRU system but aggravate the negative impact of sensor noise and driver ripple on the stabilization precision of the IRU system.
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图 6 理论建模与实验辨识结果对比
Figure 6. Comparison of theoretical modeling and experimental identification results
图 12 不同转动刚度下IRU系统的扰动抑制能力
Figure 12. Disturbance rejection ability of IRU system under different rotational stiffness
图 15 不同转动刚度下传感器静态测量噪声对输出转角的影响
Figure 15. Influence of sensor static measurement noise on output angle under different rotational stiffness
图 17 不同转动刚度下驱动器纹波对输出转角的影响
Figure 17. Influence of driver ripple on output angle under different rotational stiffness
表 1 不同转动刚度时IRU系统扰动抑制能力的影响
Table 1. Influence of different rotational stiffness on disturbance rejection ability of IRU system
转动刚度/
(N·m·rad−1)谐振频率/Hz 扰动频率/Hz 扰动抑制比/dB 69.03 17.47 1 −46.25 17.47 −10.18 100 −22.45 269.03 34.52 1 −34.5 34.52 −4.49 100 −11.34 469.03 45.78 1 −29.76 45.78 14.314 100 −5.93 
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表 2 不同转动刚度下传感器静态测量噪声对稳定精度的影响
Table 2. Influence of sensor static measurement noise on stabilization precision under different rotational stiffness
转动刚度/( N·m·rad−1) 输出转角均方根/μrad 等效角位移/μrad 69.03 15.975 15.975 269.03 7.442 7.4371 469.03 5.5367 5.5306
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表 3 不同转动刚度下驱动器纹波对稳定精度的影响
Table 3. Influence of driver ripple on stabilization precision under different rotational stiffness
转动刚度/( N·m·rad−1) 输出转角均方根/μrad 等效角位移/μrad 69.03 3.2992 3.2993 269.03 1.4495 1.4495 469.03 0.8466 0.8467
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