一种三回路过载自动驾驶仪设计方法

A Design Method of Three-Loop Overload Autopilot

从三回路过载驾驶仪的模型出发,给出形式统一的系统开环传函、闭环传函及闭环特征方程,然后依据闭环传函确定系统控制增益与闭环极点、开环截止频率的关系。通过引入舵偏角速度约束、开环截止频率约束、稳定裕度指标约束及高频部件约束,进而给出最小化闭环系统等效时间常数的目标函数。形成典型的约束条件下参数寻优范式,通过求解系统最优解,实现系统开环截止频率、相位裕度的精确设计,形成一种可工程化的极点配置设计方法,算例检验了方法的有效性。

By starting from the model of a three-loop overload pilot,a unified open-loop transmission function,closed-loop transmission function and closed-loop characteristic equation of the system are derived,and then the relationship between the system control gain and the closed-loop pole,open-loop cut-off frequency is determined according to the closed-loop transmission function.The objective function of minimizing the equivalent time constant of the closed-loop system is given by introducing the rudder yaw rate constraint,the open-loop cut-off frequency constraint,the stability margin index constraint and the high-frequency component constraint.The typical parameter optimization paradigm under constraint conditions is formed.Through using the optimal solution of the system,the precise design of the open-loop cut-off frequency and phase margin of the system is realized,and an engineering design method of pole placement is formed.The effectiveness of the method is verified by an example.