Attempting to stabilize a MIMO TECS controller in Matlab/Simulink
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Hello,
I am working on the implementation of a MIMO TECS controller to a 3DoF model for a buisness jet aircraft, following the work of Lambregts et alii.
In my project, the inner loop controllers were designed thanks to the systune tool; you can find out more here. Starting from this, I have implemented the TECS core algorithm ![](https://www.mathworks.com/matlabcentral/answers/uploaded_files/1648601/image.png)
![](https://www.mathworks.com/matlabcentral/answers/uploaded_files/1648601/image.png)
in this way
![](https://www.mathworks.com/matlabcentral/answers/uploaded_files/1648606/image.png)
The tuning of the gains was accomplished manually. At first, I have tuned the proportional controllers and then the integral ones. Then, I have proceeded to tune the proportional gains Kh and Kv in the Altitude and Airspeed normalized command generator
![](https://www.mathworks.com/matlabcentral/answers/uploaded_files/1648611/image.png)
The value of these two latter gains was selected in order to obtain a decupled acceleration and flight path angle response.
The issue that now I am facing is that the TECS is unstable. I have some unstable poles/zeros, as you can see from here
![](https://www.mathworks.com/matlabcentral/answers/uploaded_files/1648616/image.png)
![](https://www.mathworks.com/matlabcentral/answers/uploaded_files/1648621/image.png)
![](https://www.mathworks.com/matlabcentral/answers/uploaded_files/1648626/image.png)
Do you have any advice/example/lecture that could help me in improving the stability of the closed-loop system without violating the requirements imposed by the TECS algorithm? Probably the tuning was wrong?
Thank you.
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