两轴稳定装置稳定机理分析与框架运动补偿计算

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以动载体为载体且要求视轴指向稳定的设备系统，如果不采取稳定措施，载体姿态的变化将通过各种耦合途径传递到设备系统中，使设备系统的视轴指向不稳定。以两轴稳定装置为研究对象，建立了各坐标系之间的坐标变换关系，分析了两轴稳定装置稳定的机理，推导出在多种速率陀螺仪配置方式下，两轴稳定装置对载体姿态角速率变化干扰的全补偿公式。研究结果将为两轴稳定装置伺服系统的设计打下基础。 For to require the line-of-sight stabilizing devices and systems on the moving carriers, if you do not take the stabilizing step for them, the carrier posture changing will pass them through all kinds of coupled modes, so that the line-of-sight of the devices and systems is variable. The two-axis stabilizing devices are studied in the paper, establish the coordinate transformation relation among each coordinate, to analyze the stabilizing principle in the two-axis stabilizing devices. Under the angular rate changing of the carrier posture, obtain the full compensation formulas for each frame angular rate moving in the two-axis stabilizing devices according to all kinds of the rate gyroscope fixing methods. The research results are valuable for the servo system design in the two-axis stabilizing devices.