采用奇异摄动裕度的三回路自动驾驶仪设计

针对传统三回路自动驾驶仪在工程应用中对开环穿越频率约束不足的问题，设计了一种使用 奇异摄动裕度的三回路自动驾驶仪方法。该方法将奇异摄动裕度信息引入三回路自动驾驶仪中，对自动驾驶仪进行开环穿越频率极点设计和预测校正，使三回路自动驾驶仪能够有效地对开环穿越频率进行约束，不再依赖于控制系统的闭环自振频率，同时计算得到的奇异摄动值可有效地反映控制系统性能。试验结果分析证明，采用奇异摄动裕度的三回路自动驾驶仪克服了传统设计方法的缺点，对产生的干扰能够有效快速地进行抑制，并能通过奇异摄动值准确地反映控制系统工作效果。

Design of Three-loop Autopilot with Singular Perturbation Margin

A new three-loop autopilot with singular perturbation margin is designed for the problem that the traditional three-loop autopilot can not insufficiently restrain the open-loop crossover frequency in engineering application. The proposed design method is used to introduce the singular perturbation margin information into three-loop autopilot. The densign and predictor-corrector of pole open-loop crossover frequency is made for three-loop autopilot, enabling the three-loop autopilot system to restrain the open-loop crossover frequency effectively without depending on the close-loop auto-oscillation frequency of control system. The calculated singular perturbation margin value can show the performance of control system. The experimental result shows that the three-loop autopilot system with singular perturbation margin can overcome the disadvantages of the traditional three-loop autopilot. The improved autopilot can restrain the interferential information effectively and quickly, and the work efficiency of control system can be shown from singular perturbation value.