Flexible Acceleration and Deceleration Planning Method in Rotating Inertial Navigation
The rotating inertial navigation system can not only achieve rotation modulation and heading tracking for errors, but also achieve self-calibration by its own rotating mechanism. To meet the high requirements for the positioning accuracy and stability of the rotating mechanism in the process of rotation modulation, heading tracking and self-calibration of the rotating inertial navigation system, the influence of angle errors caused by overshoot during the rotation process on modulation is analyzed. A planning method based on S-type flexible acceleration and deceleration is proposed, and the ana-lytical process is provided. Simulation and experiment results show that the planning method based on S-type flexible accel-eration and deceleration can achieve a smooth and continuous acceleration and deceleration process, which avoids overshoot during the start-stop process of the rotating mechanism. Compared to the direct feedrate control method, the peak current is decreased to about 1/8 of its original value and the response time is shortened by 0. 02s. This method improves the positio-ning accuracy and stability of the rotating mechanism, providing a reference for the design and improvement of the rotation control algorithm.
rotating inertial navigation systemflexible acceleration and decelerationovershootrotation control
NETL
NSTL
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