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针对静不稳定电传飞机作动器速率限制环节引起的Ⅱ型驾驶员诱发振荡(PIO)严重威胁飞机飞行安全的问题,研究了考虑作动器速率限制因素的人机闭环系统稳定域。引入增广状态变量分离速率限制环节,建立了人机闭环系统饱和非线性模型。为得到尽可能大的人机闭环系统稳定域估计,首先将稳定域求解问题转化为凸优化问题,再通过Schur补引理将其转化为线性矩阵不等式的求解问题,最终得到了人机闭环系统椭球体稳定域估计的一般算法。时域仿真研究表明:所估计的稳定域略微保守但不冒进,静不稳定电传飞机的Ⅱ型PIO是一种发散很快的振荡而非极限环振荡,驾驶员操纵增益以及作动器速率限制值是影响稳定域的重要因素。稳定域法物理意义清晰、结果直观,可用于非线性人机闭环系统稳定性的评估。
Aiming at the problem that the type Ⅱ driver induced oscillation (PIO) caused by the speed limit of the unstable EFM aircraft seriously threatens the flight safety of the aircraft, the stability of the closed-loop system of human-machine closed-loop system considering the limitation of the actuator speed is studied. The introduction of extended state variable separation rate constraints, the establishment of a closed-loop system saturated nonlinear model. In order to get the estimation of the stable region of the human-machine closed-loop system as large as possible, the problem of solving the stable region is first transformed into a convex optimization problem, and then it is transformed into the solution of the linear matrix inequality by the Schur complement method. Finally, General Algorithm for Estimating Ellipsoid Stability Region. The time-domain simulation results show that the estimated stability region is slightly conservative but not aggressive. The Type II PIO of a stationary unstable teletype aircraft is a kind of divergent oscillation rather than limit cycle oscillation, driver’s manipulated gain and actuator speed The limit value is an important factor affecting the stability domain. Stable domain method has clear physical meaning and intuitive result, which can be used to evaluate the stability of nonlinear human-machine closed-loop system.