The structure characteristic of the three-loop autopilot is analyzed and the pole placement analytic algorithm is given. In order to ensure that the system will meet the stability requirement when taking the dynamic c...The structure characteristic of the three-loop autopilot is analyzed and the pole placement analytic algorithm is given. In order to ensure that the system will meet the stability requirement when taking the dynamic characteristics of all the hardware devices into account, the frequency of the open-loop crossover should be constrained. Based on the pole placement algorithm, a non-linear equation with the non-dominant pole as a variable and the open-loop crossover frequency as a con- straint is constructed. Solving the equation and getting the corresponding value of the non-dominant pole, the design of autopilot can be completed. Finally, through an example, it is shown that the method is convenient and practicable for the design of a three-loop autopilot.展开更多
The paper analyzes and compares the phase margins of four active disturbance rejection control(ADRC)designs,which are based on different common-used extended state observers(ESOs)of various orders,for second-order sys...The paper analyzes and compares the phase margins of four active disturbance rejection control(ADRC)designs,which are based on different common-used extended state observers(ESOs)of various orders,for second-order systems.The quantitative results indicate that,besides good dynamic response,ADRC can guarantee enough phase margin.It is also proved that by decreasing the order of ESO,the phase margin can be increased.Furthermore,it is demonstrated that the phase margins of the ADRC-based systems can be almost uninfluenced by the uncertainties of the system parameters.Finally,the theoretical results are verified by both simulations and experiments on a motion control platform.展开更多
文摘The structure characteristic of the three-loop autopilot is analyzed and the pole placement analytic algorithm is given. In order to ensure that the system will meet the stability requirement when taking the dynamic characteristics of all the hardware devices into account, the frequency of the open-loop crossover should be constrained. Based on the pole placement algorithm, a non-linear equation with the non-dominant pole as a variable and the open-loop crossover frequency as a con- straint is constructed. Solving the equation and getting the corresponding value of the non-dominant pole, the design of autopilot can be completed. Finally, through an example, it is shown that the method is convenient and practicable for the design of a three-loop autopilot.
基金This work was supported by the National Key R&D Program of China(No.2018YFA0703800)the National Natural Science Foundation of China(No.U20B2054).
文摘The paper analyzes and compares the phase margins of four active disturbance rejection control(ADRC)designs,which are based on different common-used extended state observers(ESOs)of various orders,for second-order systems.The quantitative results indicate that,besides good dynamic response,ADRC can guarantee enough phase margin.It is also proved that by decreasing the order of ESO,the phase margin can be increased.Furthermore,it is demonstrated that the phase margins of the ADRC-based systems can be almost uninfluenced by the uncertainties of the system parameters.Finally,the theoretical results are verified by both simulations and experiments on a motion control platform.
