角加速度计在飞行器/水下航行器制导控制系统中的应用

The Application of Angular Accelerometer in the Guidance and Control System of Air Vehicle/Underwater Vehicle

关键词:  角加速度计  制导控制一体化  稳定控制  动力学系数辨识

Key words:  Angular accelerometer  Guidance and control integration  Stability control  Dynamic coefficient identification

摘要:

介绍了角加速度计在飞行器/水下航行器制导控制的三个领域:制导控制一体化设计、抗未知瞬发干扰稳定控制、动力学系数辨识中的应用机理。角加速度计作为一种测量用传感器,能够在飞行器/水下航行器运动过程中直接采集俯仰、航向和滚动三个通道的飞行器/航行器本体的角加速度信息。通过对角加速度信息的获取及处理,分析飞行器/水下航行器质心运动与姿态运动的内在联系,同时将角加速度信息与惯性导航转置所采集的信息相互结合,便可以使得系统的动力学系数辨识和制导控制一体化设计成为可能;同时,由于角加速度信息在相位上超前于角速度反馈,因此引入角加速度信息的反馈可以提升飞行器/水下航行器抗未知瞬发干扰的能力。

Abstract:

This article introduces the application of the angular accelerometer in the guidance and control system of air/underwater vehicle in three aspects: guidance and control integration, resistance to unknown and instant interference and dynamic coefficient identificationAs a measuring sensor, angular accelerometer can directly collect the angular acceleration of pitch, yaw and roll channels of the air/underwater vehicle during the motionIt is possible to identify the dynamic coefficient and design the guidance and control integration system by gathering and disposing the information of the angular accelerometer and analyzing internal relationship between centroid motion and attitude motion of the air/underwater vehicleMeanwhile, because the angular acceleration is leading the angular velocity on phase, it is possible to enhance the ability of the system to resist to the unknown instant interference by introducing the information of the angular accelerometer.