基于鲁棒H∞控制的DTG动基座锁定回路设计

 针对动力调谐陀螺（DTG）动基座锁定问题，提出一种基于鲁棒H_∞控制的DTG动基座锁定回路设计方法。首先，建立了DTG的状态空间模型，将基座角运动视为外部干扰输入，将陀螺启动（或停止）过程中由于转子转速变化引起的参数变化视为模型摄动；然后，采用能够处理参数摄动下干扰抑制问题的鲁棒H_∞控制器设计了DTG动基座锁定回路，并将其转化?曜吉獺∞控制问题,采用线性矩阵不等式(LMI)求解。仿真结果表明：在不需要转速信息的情况下，该回路可以实现从启动到停止整个过程中将陀螺转子锁定零位附近。

Design of Rebalance Loop for DTG on Moving Base Using Robust H_∞ Control

When a dynamically tuned gyroscope (DTG) starts or stops on a moving base, its rehalance loop should keep the tilt angle small enough to protect the flexure joint. Presented in this article is a design method for a DTG rebalance loop on a moving base using robust H_∞ control. The mathematical model of the DTG described in the state space is first established, taking the applied angular rate as external disturbance input, and the parameter changes along with the rotor spin rate during the start or stop phase as system parameter perturbation. Next, a robust H_∞ control, which is able to cope with disturbance attenuation in the case of parameter perturbation, is adopted to realize the DTG rebalance loop on a moving base. Then, the robust H_∞ problem is transformed to a standard H_∞ problem and the linear matrix inequality (LMI) method is used to design the desired controller. Simulation results show that the designed rebalance loop can keep the tilt angle within arc-minute during start or stop on a moving base without the need for rotor spin rate information.