火炮随动系统的解耦控制研究

摘要：采用捷联惯导系统做为火炮的姿态测量元件，能够有效提高调炮精度。针对火炮随动系统存在的方位和高低控制通道之间的耦合问题，采用了四元数解耦控制算法，使方位和高低通道独立不相干扰，在解决方位轴实时计算时分别采用俯仰轴叉乘法和高低量解算法，达到解耦控制效果。仿真和实验证明该方法的有效性。

The Study of Decoupling Control in Artillery Servo System

Abstract: strapdown inertial navigation system (SINS) has been introduced as the attitude measurement component of artillery. Facts indicate that the way has improved the accuracy of aiming. Contrary to the coupling phenomena that exists in both azimuth and pitch control channels of artillery servo system, the quaternion algorithm has been adopted to eliminate the coupling interference between azimuth and pitch control channels. The Pitch Axis Vector Multiplication algorithm and the Pitch Rotational Quantity Difference algorithm are introduced to solve the real-time computing problem of the azimuth axis, Good control effect has been achieved. The result of Simulation and experiment improved the Validity of the algorithm.