Mechatronic joint modeling and simulation of stable platform of aviation gravimeter

Aviation gravimeter is a precision instrument for measuring gravity of the earth. In order to make the gravimeter isolate all kinds of disturbances of flight process in working state, and always keep an upright and stable state, inertial stable platform of aviation gravimeter with high accuracy is designed. At the same time, in order to shorten design cycle of stable platform and ensure performance of designed platform to meet technical requirements, mechatronic joint modeling and simulation are carried out on high accuracy inertial stable platform of aviation gravimeter. Mechatronic joint model based on Adams and SimuLink is built and time domain and frequency domain characteristics are simulated and analyzed. Simulation results and experimental results are compared. Results show that simulation results of time domain and frequency domain approximately agree with experimental results under conditions of open loop, elevation axis amplitude-frequency matching degree is greater than 83% and phase-frequency matching degree is greater than 79.2%; roll axis amplitude-frequency matching degree is greater than 92.9% and phase-frequency matching degree is greater than 86.1%. Time domain matching of two axes is similar, and correctness and validity of simulation model are verified. This model can predict servo performance of stable platform and lay foundation for actual test and debugging of platform.