基于推力矢量／水舵复合的超空泡导弹变结构控制研究

摘要

To study the cruise phase stability control of Underwater Supercavitating Vehicle( USV) ,the control was adopted for pitch, yaw and roll channels of USV. Starting from the particularity of the dynamic of USV, we propose a compound control strategy with thrust vector and water rudder with instruction for each channel. On this basis, the mathematical model for control system design is derived. We apply the variable structure control theory to designing the controller, and then do a simulation. The simulation results and their analysis preliminarily demonstrate that the parameters of sail track and attitude can both meet the design demands for speed, stability and robustness.%为研究水下超空泡导弹在巡航段的稳定控制，提出了对导弹的俯仰、偏航和滚动通道均进行控制。从超空泡导弹受力的特殊性出发，提出一种按通道分配指令的推力矢量/水舵复合的控制策略，在此基础上推导其面向控制系统设计的数学模型，应用变结构控制理论设计控制器并进行数学仿真。仿真结果表明，航迹和姿态参数均可满足快速性、稳定性和鲁棒性的设计要求。