考虑作动器速率饱和的人机闭环系统稳定域

针对作动器速率饱和引起的Ⅱ型驾驶员诱发振荡(PIO,Pilot Induced Oscillations)严重威胁先进战机飞行安全的问题,研究了计及作动器速率饱和的人机闭环系统稳定域.建立了考虑作动器速率饱和的人机闭环系统非线性模型,引入增广状态变量以及饱和度函数处理速率饱和环节,应用椭球体不变集估计人机闭环系统的稳定域,得到了稳定域估计的一般算法.通过时域仿真研究了所估计的稳定域的保守性,研究了驾驶员操纵增益以及作动器速率饱和值对稳定域的影响.结果表明:稳定域法物理意义清晰、结果直观,可用于人机闭环系统稳定性的评估.研究结果可为先进战机飞行控制系统的设计提供理论依据.

Stability region for closed-loop pilot-vehicle system with actuator rate saturation

To solve advanced warplanes flight safety problem caused by category Ⅱ pilot induced oscillations(PIOs), the stability region of closed-loop pilot-vehicle system with actuator rate saturation was studied. The nonlinear model of closed-loop pilot-vehicle system was built. The augmented state variables and saturation degree function were introduced to address the rate saturation element. The ellipsoidal invariant sets were applied to estimate the stability region of closed-loop pilot-vehicle system. The stability region estimating algorithm was obtained. The stability region conservatism was investigated by time domain simulation and the effects of pilot control gain and rate saturation value on the stability region were researched. The results show that the stability region method has specific physical concept and illustrative results, and can be applied to evaluate the stability of closed-loop pilot-vehicle system. The results can provide a theoretical guidance for designing flight control systems of advanced warplanes.