最优控制在车载惯性平台稳定回路中的应用

在分析车载惯性平台数学模型的基础上,针对平台的扰动特性，提出了稳定伺服回路的一种改进型线性二次高斯 (LQG) 控制方法。该方法在反馈中加入了积分项，可以消除稳态偏差，并且依据滤波器收敛性的判据，分别利用Sage Husa自适应滤波算法和强跟踪Kalman滤波器进行状态估计,既保证了估计精度，又具有跟踪突变状态的能力。仿真和实验表明：该方法在一定程度上降低了对系统模型误差和噪声统计特性误差的要求。

Application of optimal control for stabilization loop of vehicle inertial platform

Based on the analyses of the mathematical model of the inertial platform stabilization loop,an improved linear quadratic Gaussian(LQG)control method for stabilization servo circuits is put forward to overcome the disturbance from the platform.An integral element is introduced into the feedback to eliminate the stabilization error.According to the criterion of the filter convergence,the state is estimated by using Sage-Husa adaptive filtering algorithm and strong tracking Kalman filter respectively to ensure the state estimation accuracy and the tracking capability of unexpected state.The simulation and experiment indicate that improved LQG control method is accurate and capable of anti-jamming,and it relieves the accuracy requirement for the system model and noise statistical characteristics.