引入PI校正的两回路自动驾驶仪设计方法

PI compensation strategy applied to two-loop autopilot

针对引入PI校正后自驾仪设计人工调节的繁琐性问题，利用极点配置算法，提出了PI校正、纯比例校正、零极点对消三种情况下的设计参数的解析算法，并在仿真结果中分析了上述三种系统的特性及产生原因。实验表明，利用本方法设计出的系统能满足稳定裕度和响应速度要求，快捷有效。

The normal PI compensation will lead to complexity increasing problem in the period of two-loop aatopilot de-sign. Therefore, we present novel analytical expressions of parameters design method using the theory of pole placement in some situations, such as PI controller, pure P controller or pole-zero cancellation. We apply this new method to two-loop autopilot. On the basis, we discuss the system characters as well as its results of this method in those mentioned situations. The results of experiment show that the new systems can reach the requirements of the stability margin and the response speed, this approach is convenient.