为了对双旋弹丸进行准确的弹道修正,实现了基于永磁交流发电舵机的测控系统,兼顾执行舵机和弹载电源的功能;建立了鸭舵在惯性系下滚转角的解算模型;针对执行舵机对地磁传感器的强磁干扰,提出了软硬件滤波及补偿相结合的新方法;控制系统采用双闭环控制系统架构和增量式PID控制策略。舵机转速在80~500Hz时,发电电压为10~90.6V,转速测量精度优于0.1Hz,位置测量精度优于1°。靶场试验证明,系统速度控制响应时间优于0.1s,位置控制稳定性优于5°。试验证明该系统在地面和靶场条件下具有良好的稳定性和可靠性。

The measurement and control system based on permanent magnet ac generator, which performs functions of executive steering gear and load power, was designed to make accurate trajectory correction for the double-spinning projectile. A calculation model of the rudder's rolling Angle in inertial system was also established. A new method combining software and hardware filtering and compensation was put forward in order to reduce the strong magnetic interference of the steering gear on the geomagnetic sensor. A dual closed-loop control system architecture which combines the incremental PID control strategy was adopted. The generation voltage is in the range of 10 ~ 90.6 V when the steering gear is in the range of 80~500 Hz; The rotational speed measuring precision of the projectile and rudder is better than 0.1 Hz, and the rudder position measuring precision is better than 1°. Shooting range experiment results prove that the system response time of speed control is better than 0.1 s, and the stability of position control is better than 5°. Conclusions show that the steering gear system has good feasibility and reliability underground and missile-borne conditions.