北京航空航天大学学报 ›› 2009, Vol. 35 ›› Issue (3): 326-329.

• 论文 • 上一篇    下一篇

基于对偶原理的二子样划船补偿算法

余 杨, 张洪钺   

  1. 北京航空航天大学 自动化科学与电气工程学院, 北京 100191
  • 收稿日期:2008-03-18 出版日期:2009-03-31 发布日期:2010-09-16
  • 作者简介:余 杨(1982-),女,江西南昌人,博士生,yuyang@asee.buaa.edu.cn.
  • 基金资助:

    国家安全重大基础研究资助项目(61334)

Two interval sculling compensation algorithm based on duality principle

Yu Yang, Zhang Hongyue   

  1. School of Automation Science and Electrical Engineering, Beijing University of Aeronautics and Astronautics, Beijing 100191, China
  • Received:2008-03-18 Online:2009-03-31 Published:2010-09-16

摘要: 划船补偿算法一般以典型划船运动为基础,利用最优化理论来进行推导.圆锥补偿算法不仅可利用最优化理论,还可利用Goodman-Robinson理论进行推导.利用对偶原理,将Goodman-Robinson理论下得到的二子样修正圆锥补偿算法推广至划船补偿算法设计中,得到一种改进的二子样划船补偿算法.在典型划船运动条件下,对得到的划船补偿算法进行了数字仿真,并与二子样优化划船补偿算法进行了对比研究.仿真结果表明,此改进二子样划船补偿算法能提高速度更新精度.

Abstract: The sculling compensation algorithms are designed generally using minimal error theory, under the typical sculling motion. The coning compensation algorithms can be designed using Goodman-Robinson finite rotations theory besides minimal error theory. An two intervals accurate sculling compensation algorithm was deduced based on duality principle and two intervals correct coning compensation algorithm which was obtained using Goodman-Robinson finite rotations theory. Under the typical sculling motion, some digital simulations about this new algorithm were completed and some comparisons with two intervals optimum sculling compensation algorithm were taken. The simulation results show that the new two intervals sculling compensation algorithm has fine accuracy.

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