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当速率限制器饱和时,其输出相对输入会产生相位滞后和幅值降低.基于模型预测控制(MPC)方法设计了控制器,将速率限制条件转化为系统输入的约束条件,从而最大限度地克服由速率限制器饱和引发的Ⅱ型飞行员诱发振荡(PIOs).分析了在正弦输入信号作用下控制器对系统相位的影响,并将控制器应用于人—机闭环系统进行仿真.结果表明,MPC控制器可使输出相位超前,PIOs未发生时可辅助飞行员消除系统误差,振荡条件下可完全克服速率限制器的影响,有效抑制PIOs发生.
When the rate limiter is saturated, its output relative phase input will produce phase lag and amplitude decrease.The controller is designed based on the model predictive control (MPC) method, and the rate limiting conditions are transformed into the system input constraints to maximize the The Type II pilot-induced oscillations (PIOs) caused by the saturation of the rate limiter are analyzed.The influence of the controller on the phase of the system under the sinusoidal input signal is analyzed and the controller is applied to simulate the closed-loop system of man-machine.The results show that MPC The controller can lead the output phase ahead, assist the pilots to eliminate the system error when PIOs do not occur, and can completely overcome the influence of the rate limiter under the oscillation condition to effectively suppress the occurrence of PIOs.