三回路自动驾驶仪结构分析与设计

Structure Analysis and Design of Three-Loop Autopilot

针对三回路自动驾驶仪的设计,提出一种将其分成三个回路,然后对每个回路独立分析与设计的方法。该方法将三回路自动驾驶仪分成阻尼回路、增稳回路和制导回路,首先对每个回路的结构特点进行分析,然后基于每个回路的特点设计控制器,使驾驶仪从内环到外环逐环稳定。设计过程中,给出了舵机处开环穿越频率与阻尼系数之间的约束公式,分析了增稳回路和制导回路的开环频域特性,并且得出系统指标与增稳环系数和制导环系数的关系,最后验证了当舵机带宽变化时,系统的稳定性问题。该设计方法简单可靠,仿真结果证明,控制器具有良好的稳态、瞬态性能和较强的鲁棒性。

This method divides the three-loop autopilot into damping loop,stabilization loop and guidance loop.It analyses the structure characteristics of each loop firstly and then designs the controller based on the characteristics of each loop.In the process of design,the restrain formula is given between open-loop crossover frequency of servo and damping-loop coefficient.After the open-loop frequency characteristics is analyzed,the relationship between system performance and stabilization loop or guidance loop coefficient is obtained in this paper.