陀螺穩(wěn)定平臺(tái)

e陀螺穩(wěn)定平臺(tái)（gyroscope-stabilizedplatform）是利用陀螺儀特性保持平臺(tái)臺(tái)體方位穩(wěn)定的裝置。簡(jiǎn)稱陀螺平臺(tái)、慣性平臺(tái)。用來測(cè)量運(yùn)動(dòng)載體姿態(tài)，并為測(cè)量載體線加速度建立參考坐標(biāo)系，或用于穩(wěn)定載體上的某些設(shè)備。它是導(dǎo)彈、航天器、飛機(jī)和艦船等的慣性制導(dǎo)系統(tǒng)和慣性導(dǎo)航系統(tǒng)的主要裝置。分類和組成：按結(jié)構(gòu)形式可分為框架陀螺平臺(tái)和浮球平臺(tái)兩種?？蚣芡勇萜脚_(tái)。按其穩(wěn)定的軸數(shù)，又分為單軸、雙軸和三軸陀螺穩(wěn)定平臺(tái)（圖1）。它主要由平臺(tái)臺(tái)體、框架系統(tǒng)（即內(nèi)框架、外框架和基座）、穩(wěn)定系統(tǒng)（由平臺(tái)臺(tái)體上的陀螺儀、伺服放大器和框架軸上的力矩電機(jī)等構(gòu)成，又稱穩(wěn)定回路、伺服回路）和初始對(duì)準(zhǔn)系統(tǒng)（包括平臺(tái)臺(tái)體上的對(duì)準(zhǔn)敏感元件、變換放大器和穩(wěn)定系統(tǒng)）等組成。陀螺穩(wěn)定平臺(tái)使用何種陀螺儀作為穩(wěn)定敏感元件，就稱為何種陀螺平臺(tái)，如氣浮陀螺平臺(tái)、液浮陀螺平臺(tái)、撓性陀螺平臺(tái)和靜電陀螺平臺(tái)等。浮球平臺(tái)。又稱高級(jí)慣性參考球平臺(tái)。主要由浮球（即內(nèi)球）、球殼（即外球）、信號(hào)傳輸系統(tǒng)、姿態(tài)讀出系統(tǒng)、加矩系統(tǒng)、溫控系統(tǒng)、自動(dòng)校準(zhǔn)與對(duì)準(zhǔn)系統(tǒng)和計(jì)算機(jī)接口裝置等組成（圖2）。工作原理：三軸陀螺穩(wěn)定平臺(tái)有3條穩(wěn)定系統(tǒng)通道，2條初始對(duì)準(zhǔn)系統(tǒng)水平對(duì)準(zhǔn)通道和1條方位對(duì)準(zhǔn)通道。其工作狀態(tài)：一是陀螺平臺(tái)不受載體運(yùn)動(dòng)和干擾力矩的影響，能使平臺(tái)臺(tái)體相對(duì)慣性空間保持方位穩(wěn)定；二是在指令電流控制作用下，使平臺(tái)臺(tái)體按給定規(guī)律轉(zhuǎn)動(dòng)而跟蹤某一參考坐標(biāo)系進(jìn)行穩(wěn)定。利用外部參考基準(zhǔn)或平臺(tái)臺(tái)體上的對(duì)準(zhǔn)敏感元件，可以實(shí)現(xiàn)初始對(duì)準(zhǔn)。三軸陀螺穩(wěn)定平臺(tái)應(yīng)用較廣泛。浮球平臺(tái)的浮球內(nèi)裝3個(gè)陀螺儀、3個(gè)加速度計(jì)和電子組件，浮球與球殼之間充以低粘性的碳?xì)湟后w，通常用電動(dòng)渦輪液壓泵提供連續(xù)流動(dòng)懸浮液，將浮球懸浮在球殼中。在球殼上安裝有倍增器、倍減器、姿態(tài)讀出器（激勵(lì)帶式感應(yīng)傳感器）、加速度計(jì)讀出器、溫控器與計(jì)算機(jī)接口裝置等。浮球中的陀螺儀、加速度計(jì)和姿態(tài)傳感器信號(hào)傳輸系統(tǒng)，采用混頻和多路傳輸，經(jīng)電刷送到直流線路并在外電子組件中處理，然后由載波編碼，通過接口送到計(jì)算機(jī)中。采用液壓反作用式力矩器的加矩系統(tǒng)，使浮球相對(duì)一定的參考坐標(biāo)系實(shí)現(xiàn)控制和穩(wěn)定。利用熱交換器進(jìn)行溫度控制。通過計(jì)算機(jī)程序?qū)Ω∏蜻M(jìn)行自動(dòng)校準(zhǔn)和自動(dòng)對(duì)準(zhǔn)。浮球平臺(tái)具有框架陀螺平臺(tái)的全部功能，而且對(duì)載體振動(dòng)、沖擊等有良好的隔離作用，克服了框架陀螺平臺(tái)因軸承摩擦引起的平臺(tái)靜差角；并能承受導(dǎo)彈機(jī)動(dòng)發(fā)射的惡劣環(huán)境和再入時(shí)的大過載，有效提高了制導(dǎo)精度；能進(jìn)行全姿態(tài)測(cè)量；具有高精度的快速自動(dòng)對(duì)準(zhǔn)，縮短了發(fā)射時(shí)間；解決了彈道導(dǎo)彈發(fā)射時(shí)目標(biāo)更換問題；具有信息數(shù)字化傳輸和自動(dòng)化檢測(cè)功能；隔熱和溫控效能高，有利于保證慣性器件的測(cè)量精度。但結(jié)構(gòu)復(fù)雜，成本昂貴，維護(hù)困難，多用于戰(zhàn)略彈道導(dǎo)彈。發(fā)展概況：陀螺穩(wěn)定平臺(tái)的發(fā)展，隨著陀螺儀的演變而變化。早在1936年，出現(xiàn)了滾珠軸承式的動(dòng)力陀螺穩(wěn)定平臺(tái)，在軍艦上用作測(cè)距儀的穩(wěn)定器。1950年美國(guó)研制成功三軸陀螺穩(wěn)定平臺(tái)XN-1。之后，在導(dǎo)彈和運(yùn)載火箭慣性制導(dǎo)系統(tǒng)中，相繼出現(xiàn)了靜壓氣浮陀螺平臺(tái)、動(dòng)壓氣浮自由轉(zhuǎn)子陀螺平臺(tái)、液浮陀螺平臺(tái)等，由于陀螺平臺(tái)采用了這些浮力支承，摩擦力矩減小的陀螺儀，其精度得到提高。美國(guó)分別應(yīng)用在“潘興”1導(dǎo)彈、“土星”運(yùn)載火箭、“民兵”1、11導(dǎo)彈以及“北極星”導(dǎo)彈上。60年代末，美國(guó)研制出結(jié)構(gòu)簡(jiǎn)單、精度高、成本低的撓性陀螺儀為敏感元件的撓性陀螺平臺(tái)，它在“三叉戟”I潛地導(dǎo)彈、“戰(zhàn)斧”巡航導(dǎo)彈，以及“潘興”11導(dǎo)彈上得到應(yīng)用。隨著陀螺平臺(tái)技術(shù)的研究和發(fā)展，1973年美國(guó)研制出沒有框架的浮球平臺(tái)，即高級(jí)慣性參考球平臺(tái)。為了進(jìn)一步提高制導(dǎo)精度和可靠性，對(duì)浮球平臺(tái)的支撐系統(tǒng)和溫控系統(tǒng)進(jìn)行了改進(jìn)。陀螺穩(wěn)定平臺(tái)已由框架陀螺平臺(tái)發(fā)展到浮球平臺(tái)，陀螺平臺(tái)的質(zhì)量由幾十千克發(fā)展到僅0.8千克，外廓尺寸由0.5米以上發(fā)展到僅為0.08米的小型陀螺平臺(tái)。陀螺穩(wěn)定平臺(tái)將繼續(xù)向高精度、高可靠性、低成本、小型化，并對(duì)陀螺平臺(tái)誤差進(jìn)行補(bǔ)償?shù)姆较虬l(fā)展。GyroStabilizedPlatform(gyroscope-stabilizedplatform)istheuseofgyroscopestomaintainplatformfeaturesetsthedevicebodyorientationandstability.Referredtoasgyroplatform,InertialPlatform.Usedtomeasurethemovingvehicleattitude,andinertialreferenceframeestablishedlinearacceleration,orforthestabilityofcarriersonsomeoftheequipment.Itisthemissile,spacecraft,aircraftandships,andtheinertialguidancesystemsandinertialnavigationsystemtothemainunit.Classificationandcomposition:Accordingtotheframeworkstructurecanbedividedintotwogyroplatformandfloatplatform.framegyroscope.Axesaccordingtotheirstability,isdividedintouniaxial,biaxialandtriaxialgyrostabilizedplatform(Figure1).Itsmainbodybytheplatformsetstheframeworksystem(thatis,withintheframeworkoftheouterframeandbase),stablesystem(thebodyonthestationplatform,gyro,servoamplifierandtheframeworkoftheaxisofthetorquemotor,etc.,andalsoknownasloopstability,servoloop)andtheinitialalignmentsystem(includingtheplatform,platformbodyalignmentsensor,amplifierandstabletransformationsystems)andothercomponents.Whatgyrostabilizedplatformsforstablegyrosensor,whichiscalledthegyroplatform,suchasgyroflotationplatformfloatedgyroplatform,flexiblegyroplatformandESGplatforms.floatplatform.Advancedinertialreferenceplatform,alsoknownastheball.Mainlybythefloat(thatiswithintheball),shell(thatis,outsidethesphere),signaltransmissionsystem,attitudereadoutsystem,plusmomentsofthesystem,temperaturecontrolsystems,automaticcalibrationandalignmentsystemandcomputerinterfacedeviceetc(Figure2).Howitworks:Three-axisgyrostabilizedplatformstabilizationsystemhasthreechannels,twolevelsofinitialalignmentsystemalignedchannelandapositionalignedchannel.Statusoftheirwork:First,inertialgyroplatformBushouanddisturbancetorqueYingXiang,enablingplatformforTaiwan,therelativepositionWendinginertialspaceremains;2isZaiZhilingdianliucontrolZuoyongXia,soNavigationPlatformAnjirotationrulestrackthesetareferenceframeforstability.Useofexternalreferencestandardorplatformstationbodyalignmentsensitivecomponent,canachieveinitialalignment.Applicationofthree-axisgyrostabilizedplatformwider.Floatfloatplatformbuiltthreegyroscopes,threeaccelerometersandelectroniccomponents,betweenthefloatandshellfillinglowviscosityhydrocarbonfluids,usuallytoprovideacontinuousflowhydraulicturbineelectricsuspension,willfloatsuspendedinasphericalshell.Installedintheshellandthemultiplier,timesthereduction,Stancereader(excitationwithinductionsensors),accelerometersreader,temperaturecontrolandcomputerinterfacedevices.Floatingyroscopes,accelerometersandattitudesensorssignaltransmissionsystem,usingmixingandmulti-waytransmissionlinesbybrushandsenttoDCtodealwithexternalelectroniccomponents,andthenencodedbythecarrier,deliveredtothecomputerthroughtheinterface.Reactiontypehydraulicactuatorsystemincreasesmomenttofloatrelativelycertainframeofreferenceforcontrolandstability.Useofheatexchangersfortemperaturecontrol.Floatthroughthecomputerprogramforautomaticcalibrationandautomatictargeting.Floatplatformframegyroplatformwithallthefeatures,butalsoforvectorvibrations,shockisolationoftheroleofgoodtoovercometheframeworkforthegyroscopeplatformduetobearingfrictioncausedbythestaticerrorJiao;andcanwithstandtheharshenvironmentofMobileMissileLaunchandre-seededlargeoverload,improvetheguidanceaccuracy;tofull-attitudemeasurement;fasthighprecisionautomaticalignment,reducedlaunchtime;solvethereplacementproblemforballisticmissilelaunchofTarget;withadigitalinformationtransmissionandautomateddetection;insulationandhightemperatureperformance,helpensuretheaccuracyofinertialmeasurementdevice.However,complexstructure,expensiveanddifficulttomaintain,andmoreforstrategicballisticmissiles.DevelopmentOverview:Gyrostabilizedplatformdevelopment,withthechangesintheevolutionofgyroscope.Asearlyas1936,therehasbeenthedrivingforceballbearing-typegyrostabilizedplatform,thewarshipasarangefinderofthestabilizer.In1950theUnitedStatesdevelopedthree-axisgyrostabilizedplatformXN-1.Afterthemissileandlaunchvehicleinertialguidancesystems,haveappearedinstaticairflotationgyroscope,gyroscoperotordynamicpressureflotationplatformforfree,liquidfloatinggyroplatform,asgyroplatformsupportingtheuseofthesebuoyancy,reducethefrictionmomentgyroinstrument,itsaccuracyisimproved.WereusedintheUnitedStates"Pershing"Imissile,"Saturn"rocket,"militia"I,IImissilesand"Polaris"missiles.Endofthe60s,theUnitedStatesdevelopedasimplestructure,highaccuracy,lowcostflexiblegyrosensitiveelementofflexibilityforthetopplatforminthe"Trident"Isubmarinemissile,"Tomahawk"crui