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惯性平台系统可以隔离角运动的技术特点为惯性仪表提供了良好的工作环境,但是轴端摩擦力矩的存在,将导致基座的摇摆运动对平台台体的稳定性产生影响,引起台体各轴的附加常值漂移即平台摇摆漂移。对于摇摆漂移的产生机理,国内外主要集中分析了运动学耦合原因。本文根据平台系统的稳定工作原理,首次通过建立平台系统的动力学方程,详细分析了摇摆条件下平台的动态特性,从平台动力学的角度详细分析了产生摇摆漂移的机理。结果表明,被稳定的台体各轴的运动特性是绕各轴摩擦力矩以及其余两轴角运动等导致的综合运动,既有单纯的跟踪运动,也有复杂的耦合运动,只有沿陀螺仪自转轴存在角运动,同时存在陀螺仪浮子转角的情况下,才有可能产生台体的摇摆漂移。
Inertial platform system can isolate the angular movement of the technical characteristics of the inertial instrument provides a good working environment, but the axial friction torque, will result in the base of the swinging motion of platform platform stability impact, causing each axis The additional constant drift is the platform swing drift. For the generation mechanism of rocking drift, the coupling reasons of kinematics are analyzed mainly at home and abroad. According to the stable working principle of the platform system, the dynamic characteristics of the platform under the condition of rocking are analyzed in detail for the first time by establishing the dynamic equations of the platform system. The mechanism of rocking drift is analyzed in detail from the platform dynamics. The results show that the kinematic characteristics of each axis of the stabilized platform body are the comprehensive movements caused by the friction torque around each axis and the other two-axis angular movement. Both the simple tracking motion and the complex coupling motion are only possible along the gyroscope axis of rotation There is angular movement, while the existence of the gyroscope float corner case, it is possible to produce Taiwan rocking drift.