中文摘要：

针对旋转调制式捷联惯导系统的电机连续正反转的控制问题,为了满足平稳旋转和反转瞬间对电机转角位置的高精度要求,提出PID控制与开环控制相结合的电机连续正反转的控制方法,并验证了该方法在保证精度的前提下相比于其它的控制算法更为简单易行。分析了旋转控制的角度误差对导航的影响,介绍了系统结构、算法流程和系统调试方法。仿真和实际结果表明：该方法不仅使电机反转瞬间的角度误差降至30角秒以下,还保证了控制方式转换时的平稳过渡,实现了电机的平稳反转。

英文摘要：

Aiming at solving the problem of clockwise and counter-clockwise（CW/CCW） continuous rotation motor control in strap-down inertial navigation system（SINS） with rotation-modulation（RM）,a CW/CCW motor control technology combined PID control with open-loop control was designed to meet the demand of high angular accuracy not only during steady rotation but in the time of reversal.It is more simple than other modern control algorithms.The influence of rotation angular error on navigation was discussed.The system structure,algorithm scheme and adjusting-test method were introduced.The simulation and actual results indicate that the angular error during the time of reversal is reduced below 30 arc second.At the same time smooth transition between two control methods is guaranteed,and smooth reversal is realized.