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针对舵机带宽影响Ⅱ型PIO预测结果的问题,提出对有限舵机带宽人机系统运用高度饱和描述函数模型进行Ⅱ型PIO预测。基于描述函数法分别建立了速率限制舵机的正弦输入/三角输出描述函数模型和高度饱和描述函数模型,研究了两种模型在Ⅱ型PIO预测中的使用域。对有限舵机带宽人机系统,分别运用高度饱和描述函数模型及正弦输入/三角输出描述函数模型进行了Ⅱ型PIO预测。仿真结果表明,在进行Ⅱ型PIO预测时需考虑舵机带宽的影响,应用高度饱和描述函数模型可提高预测结果精度。
Aiming at the problem that servo bandwidth affects the prediction results of Type II PIO, a type Ⅱ PIO prediction is proposed by using a highly saturated descriptor function model for the finite servo system. Based on the descriptive function method, the sinusoidal / trigonometric output description function model and the height-saturation descriptive function model of the rate-limited servo are established respectively. The use domains of the two models in predicting Ⅱ-type PIO are studied. Based on the finite servo system with bandwidth, the type Ⅱ PIO prediction is made by using the highly saturated description function model and the sinusoidal input / triangular output description function model respectively. The simulation results show that the servo bandwidth needs to be considered in the prediction of type Ⅱ PIO, and the accuracy of prediction results can be improved by using the highly saturated description function model.