建模分析是研究和设计陀螺稳定平台的关键步骤。合理的平台模型有助于分析误差来源并设计相应的控制策略，为研究制造高精度陀螺稳定平台提供基础。本文在阐述陀螺稳定平台的硬件组成和单轴控制结构的基础上，分析了误差源以及轴间耦合问题。针对非线性摩擦力、陀螺漂移和机械谐振3个平台误差重要来源，进行平台模型建立与分析方法的研究，并讨论平台其他环节的模型。基于以上分析，面向解耦后的单轴控制系统，建立一种综合性的模型。该模型为包括电流环、速度环、稳定环和位置环在内的四环控制系统，其中非线性摩擦力部分使用了LuGre摩擦模型，并分析整体模型的特点。为研究陀螺稳定平台模型及误差补偿策略提供了一种模块化建模分析的方法。
Modeling analysis is a key step to study and design the gyro stabilized platform. A reasonable platform model is a big help for analyzing the error sources and designing appropriate control strategies. It provides the foundation for researching high-precision gyro stabilized platform. Based on the description of the platform's hardware and single-axis control structure, the error sources and coupling between axes are analyzed. Then, modeling and analysis methods are studied for non-linear friction, gyro drift, and mechanical resonance, the three main factors have influence on the precision, and the models for other parts of the platform are also discussed. Based on the above modeling analysis, an overall model which is comprehensive for decoupled single-axis control system is given. This model is consisting of four loops, namely, current loop, velocity loop, stability loop, and position loop. In this system, the LuGre friction model is chosen to characterize the non-linear friction. In addition, the characteristics of the control system are also illustrated. A reference for modeling analysis and designing error compensation strategy of gyro stabilized platform based on the modular modeling is provided.
