多变量耦合系统--大姿态复合运动三轴平台的建模及仿真

在惯性制导系统中，三轴平台为载体提供了精确的姿态信息，当载体作大姿态复合运动时，三轴平台是一个非线性、时变的多变量耦合系统，其模型十分复杂，建模也非常困难．通过详尽的动力学分析为平台台体推导出完整的运动方程，并对此进行线性化处理，进而根据实际结构建立了系统模型框图，最后，采用面向对象建模技术（ＯＭＴ）对系统进行了计算机仿真．仿真结果表明，大姿态复合运动的平台仍具有较高的姿态控制精度，并验证了将二阶小量忽略的线性处理方法既可以简化模型，又不会影响模型的各项精度．

Modeling and Simulating for Multivariable Coupling System--3-Axes Platform System with Big Attitude Angles

Motivation was given for deriving and linearizing mathematical equations of table through detailed dynamic analysis. The model of couping platform system and simulation based on OMT were also given. As shown in the simulating results, the platform when flying with big attitude angles still has high accuracy of attitude control and the measure for linearization not only makes the model simple but also maintains the valid high accuracy.