車載慣導系統單軸測試轉臺設計與實現

摘 要:針對基層裝甲部隊中裝甲戰車慣性導航系統檢測的需要，結合車載慣性導航系統的特點，設計一種基于交流直驅伺服電機的單軸測試轉臺。介紹了車載慣性導航系統單軸測試轉臺的結構和組成，詳述了符合基層部隊用車載慣性導航系統測試用單軸轉臺的軟硬件設計方法，解決了設計過程中的關鍵問題。該測試轉臺已成功擔負某型車載慣性導航系統的測試任務，應用表明該單軸測試轉臺具有結構簡單、性能可靠、操作方便等優點，具有較高的實用性。

關鍵詞:測試轉臺; 直驅伺服電機; 車載慣性導航系統; PI控制

中圖分類號:TN87; TP274文獻標識碼:A

文章編號:1004-373X(2010)15-0055-03

Design and Realization of One-axis Testing Turn-table for Vehicle-mounted

Inertial Navigation Systems

WANG Jia-xiao， CHANG Tian-qing， ZHU Bin， WANG Yu-hao

(Department of Control Engineering， Academy of Armored Forces Engineering， Beijing 100072， China)

Abstract: Aiming at the demand of testing the inertial navigation systems in the armored vehicles of the grass-root armored forces， a one-axis testing turn-table based on the direct-drive AC servo motor is designed in combination with the characteristics of Inertial navigation systems in vehicles. The configuration of one-axis testing turn-table for the inertial navigation systems in the armored vehicles is introduced. The hardware and software design of the one-axis testing turn-table is expatiated. The pivotal problems in the design are sloved. The testing turn-table has been successfully responsible for the testing task for a certain type of vehicle-mounted inertial navigation system. The application shows that it has a simple structure， reliable performance， convenient operation and high practicality.

Keywords: testing turn-table; direct-drive servo motor; vehicle-mounted inertial navigation system; PI control

0 引 言

隨著武器裝備的信息化發展，慣性導航系統在裝甲戰車上得到廣泛應用。但長時間在野戰條件下運行，慣性測量器件容易受到路面顛簸、震動等因素的影響，直接造成車輛導航定位的失準。因此，對車載慣性導航系統的測試顯得尤為重要。測試轉臺是慣性導航系統檢測的主要測試設備[1-2]。以往的通用測試轉臺為了突出其通用性，往往結構復雜，造價也較高。但對于基層裝甲部隊來說，他們需要一種結構簡單、性能可靠、運輸方便、操作簡單的專門用于車載慣導測試的單軸轉臺。本文針對基層裝甲部隊對車載慣性導航系統測試的需要，結合車載慣性導航系統的測試特點，設計開發了基于伺服電機直接驅動的單軸測試轉臺。

1 單軸測試轉臺的原理

單軸測試轉臺是機電一體化產品，其本質是一個高精度控制系統。……