一种可自恢复的燃调数字控制器设计及实现

倒立摆系统具有多变量、非线性、强耦合和不确定的特点，常被用来验证控制算法的优劣性。H∞在干扰抑制和鲁棒性上均有较为突出的表现。在对倒立摆控制研究情况和 H∞控制理论发展情况进行简单介绍后，围绕一阶回旋式倒立摆的H∞控制进行研究。首先，基于拉格朗日方程对一阶倒立摆进行动力学分析，并近似地得到平衡点附近的线性方程；对倒立摆系统进行分析，得到倒立摆系统是能观能控系统、但平衡点不稳定的结论。其次，简单介绍基于里卡蒂方程的 H∞控制器求解方法，并证明该控制器能够保证系统的稳定性。最后，仿真确定加权矩阵各元素和 H∞性能指标的大小对系统性能的影响和对电机扭矩的要求，并最终确定一组相对合适的参数进行控制器设计。

Design and Implementation of a Self-Recovery Fuel Regulator Digital Controller

In order to meet the high reliability and safety requirements of fuel regulator in engine control system, the supporting digital fuel regulation controller should have self-recovery ability in addition to the conventional fuel regulation closed-loop control ability.The functions of each component in each redundancy of the controller are introduced in detail, and the importance of the controllers self-recovery function to the reliable operation of the fuel regulator is also described.A self-recovery dual redundant fuel regulation controller is designed, which takes digital signal processor (DSP) as the core, combines with digital power monitoring, external watchdog and master switching logic and other hardware circuits.Compared with the traditional dual redundancy fuel redundancy controller, the designed controller has the advantages of simple structure, low cost and self-recovery.The test results of the controller prototype show that the design scheme is feasible and reliable, and also has a good engineering application prospect.