Design and Implementation of a Gyro Stabilized Platform with Zero Steady-state Angle Error
Han Yong-gen · Guangdian gongcheng · 2008
Referring to the possible damage to the traditional flexure gyroscope under the fire impact in a tank based high precision gyro-stabilized electric-optical tracking platform, a fiber rate gyro feedback scheme is adopted. In order to eliminate the steady-state angle error which occurs in rate gyro feedback and traditional PID control scheme, a pole placement scheme is presented to form a PII2 (proportion + integrator + double integrator) controller with pre-filter. Dynamic angle error is 30″ when the platform is under 3 000 gcm torque disturbance and adjustment time is 0.2 s. The steady-state angle error is zero. The results show that the PII2 controller form can improve system stabilization stiffness and reduce steady-state error.