一种基于幅值-相角裕度测试因子的自动驾驶仪设计方法

An Approach Based on a Tester of Gain-Phase Margins for Autopilot′s Design

给出一种称为幅值 -相角裕度测试法 ( Gain- Phase Margins Tester Method)的自动驾驶仪控制参数设计方法。通过在闭环系统中加入一个幅相裕度测试因子 ,并给定良好的幅值和相角裕度 ,从而得到频率域内的控制参数平面图形 ,据此求取 PID控制参数。此方法可使系统获得较好的相对稳定性和鲁棒特性 ,并可部分地克服工程上自动驾驶仪 PID控制参数设计中采用试凑、盲目性比较大的不足。

An Approach called gain phase margins tester method (GPMT) is presented for the design of the autopilot′s parameters. In this method, a tester of gain phase margins should be added and better gain phase margins should be given. Therefore, a plane figure of the control parameters can be provided in the frequency zone. Thus, the PID control parameters can be gained from the figure. This approach is able to provide a better relative stability and robustness. Moreover, it can partly avoid the blindness of the PID parameters′ acquirement which is usually gained by chance in the design of engineering autopilots. Meanwhile, the GPMT method can also be applied to the general engineering control problems.