基于动基座自动调平控制策略研究

自动调平控制技术是为了解决动基座上的搜跟系统360°全域周扫过程中，俯仰与大地水平角度实时保持的问题。该系统是在速率闭环稳定的基础上，采用倾角传感器构成空间位置环，形成位置与速率双闭环，实现系统瞄准线的自动调平。针对平台控制的关键?自动调平技术，着重分析了倾角传感器与平台万向架角度构成的空间位置环，理论推导出搜跟系统的瞄准线与水平面夹角的关系，并进行系统控制分析和仿真。最终仿真分析结果与实际测试结果基本吻合，满足系统的指标要求。

Strategy of automatic leveling control based on moving base

In order to solve the problem of maintaining the pitch angle and ground horizontal angle in real time during the 360° panoramic scanning of search and track system on the moving base, an automatic leveling control technology was designed. On the basis of rate closed-loop stabilization, the tilt sensor was adopted to constitute the spatial position loop, which formed the double closed loop of position and rate, and the automatic leveling of the system line of sight was realized. Aiming at the automatic leveling technology, the key of platform control, the spatial position loop constituted by the tilt sensor and platform gimbal angle was emphatically analyzed. The relation between line of sight and horizontal plane angle of search and track system was theoretically deduced, and the system control was analyzed and simulated. The final simulation analysis results are basically consistent with the actual test results and meet the index requirements of the system.