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作为一个多输入多输出(MIMO)系统,气动伺服弹性系统的各控制回路是相互耦合的,但对于各控制回路的稳定裕度目前尚无统一的计算方法。针对MIMO控制系统的稳定裕度计算问题,首先分析了现有的回差阵奇异值方法和μ分析方法,并指出了2种方法各自保守性的来源。在此基础上,提出了一种变结构μ分析方法,通过迭代调整扰动模型结构来求解稳定裕度,并从理论上证明了算法的单调收敛特性。以某弹性飞机的阵风减缓控制系统为例进行了稳定裕度分析。3种方法结果的对比表明,本文方法能够有效降低分析结果的保守性。
As a multiple input multiple output (MIMO) system, the control loops of the pneumatic servo elastic system are coupled to each other, but there is no uniform calculation method for the stability margin of each control loop. In order to solve the problem of stability margin calculation of MIMO control system, the existing singular value method and μ analysis method of hysteresis band are analyzed firstly, and the sources of their respective conservativeness are pointed out. On this basis, a variable structure μ analysis method is proposed, which can solve the stability margin by iteratively adjusting the perturbation model structure, and theoretically proves the monotone convergence property of the algorithm. Take a flexible aircraft gust mitigation control system as an example, the stability margin analysis. Comparison of the results of the three methods shows that the proposed method can effectively reduce the conservativeness of the analytical results.