一种惯性平台三轴同时转位控制方法

以惯性平台系统为导航系统的弹道式导弹在发射之前需要根据目标位置信 息进行发射准备，惯性平台系统的准备时间直接影响导弹的发射准备时间。通过对四轴 平台系统台体、框架及基座间的坐标变换进行分析，推导出了在不同状态下各坐标系间 的角速度转换矩阵，并通过该矩阵提出了一种全新的惯性平台三轴同时转位控制方法。 仿真和实验表明，通过该转位方法可以实现惯性平台三轴同时转位，因此可以大幅缩短 惯性平台在发射前的准备时间，从而提高导弹的快速响应能力。

A Control Method for Rotating Three Axises of Inertial Platform at the Same Time

Ballistic missile using inertial platform as the navigation system should make preparations based on target information before launching.The preparation time of inertial platform system influences the launch preparation time of missile directly. This paper describes the angular speed transformation matrixes between different coordinate system in two estates though analyzing the coordinate transformation between platform, frame and base-plate of the four-axis platform, and proposes a new method to rotate three axises of inertial platform at the same time. The simulation and test indicate that this method can rotate three axises of inertial platform at the same time, so this method can shorten the preparation time of inertial platform and improve the fast response ability of missiles.