多变量耦合系统——三轴平台的稳定性

Stability Analysis for Multivariable Coupling System ——3 Axes Platform

提出了用于多变量耦合系统稳定性分析的非解耦方法，该方法不需要增加解耦措施，只需通过方程之间的变换，就可以判别出耦合系统的稳定性．将此法应用到大姿态复合运动三轴耦合平台系统的稳定性分析中，比较分析结果与仿真结果后，证明方法是有效的．通过分析和仿真得到的平台系统稳定临界姿态角为平台尝试大姿态角运动提供了理论依据．

The non decoupling method of stability analysis for multivariable coupling system by converting equation instead of changing structure was presented. It was applied to analyze stability of 3 axes coupling platform system when flying with big attitude angles. The correctness and effectiveness were proved by comparision between the analyzing and simulating results. The critical attitude angles for stable platform system were given to provide theoretical basis for further practice.