Study on rate ripple and its adaptive suppression method in inertia guidance test equipment

This paper discusses causes of the rate ripple in inertia guidance test equipment IGET,systematically analyses their effects on the rate ripple in IGTE.The analysis result shows:The rate ripple caused by the periodic errors of inductosyn and angular encoder is higher at high speed than that caused by magnetic ripple torque and friction torque,and it cannot be eliminated by adjusting control parameters of the system.And based on the nonlinear adaptive control system theory,the paper puts forward a new control system scheme to eliminate the rate ripple caused by the periodic errors of inductosyn and angular encoder,develops the adaptive control rules and makes simulation and test.Experimental result shows a significant improvement on those tables for the period disturbs under the system scheme designed.By this plan,with the input of rate 200°/s,the rate ripple falls from 5°/s to 0.4°/s within about 6s adaptive adjustment time,being a twelfth of before adaptation,which can not be reached by common classical controls.The experimental results conform with the simulation,which proves the validity and practicability of the plan.