【作者】 白瑜亮；

【导师】 崔乃刚；

【作者基本信息】 哈尔滨工业大学 ， 航空宇航科学与技术， 2013， 博士

【摘要】 潜射导弹以其隐蔽发射、精确打击的优势在现代战争中占有重要地位，成为世界各国正在发展或寻求发展的武器。现代战争对潜射导弹提出了大水深或变水深的发射要求，这就要求潜射导弹具有良好的水下及出水航行弹道，具有稳定的航行姿态和出水后达到空中飞行段要求的初始条件的能力。潜射导弹所处介质的特殊性(海水)以及出水过程中跨介质航行的特点决定了其动力学及控制问题研究的复杂性和必要性，潜射导弹动力学具有严重的非线性，其控制必须要解决这种非线性问题。本文以潜射导弹水下及出水过程为研究对象，重点研究了潜艇速度、海流、海浪和海风对水下及出水弹道的影响，在此基础上研究了潜射导弹弹道以及姿态的非线性控制问题。潜射导弹由于潜艇速度的干扰，使得垂直发射的潜射导弹产生入水攻角，形成俯仰力矩造成导弹姿态发生变化。讨论了不同发射深度下潜艇速度对潜射导弹姿态的影响，随着发射深度的增加，潜艇速度对导弹姿态的影响程度增大。潜射导弹航行过程中受到海流的影响，通过CFD(Computational Fluid Dynamics)技术分析了不同海流梯度、海流速度以及对流对潜射导弹水动力特性的影响。潜射导弹出水航行过程中受到海浪和海风的影响。鉴于海浪影响的复杂性，本文采用CFD技术，基于二阶STOKES波对海浪进行二维和三维数值模拟，利用三维数值海浪研究了潜射导弹垂直发射出水受到的海浪力，通过数据拟合得到了海浪力的解析表达式。基于潜射导弹运动数学模型分析了海浪对潜射导弹的影响，通过蒙特卡洛方法统计出弹道参数极限偏差与海浪等级以及海浪主向之间的关系。在研究海风对潜射导弹影响时，将海风的影响考虑为风载荷，推导出潜射导弹出水过程中风载荷作用力和力矩的解析表达式，通过仿真分析得出导弹姿态与风速和风向之间的关系。潜射导弹浅水深发射一般采用无控模式，导弹弹射出筒，靠燃气-蒸汽推动航行出水。而在大水深或变水深发射时，导弹水下航行时间增长，在潜艇速度和海流的干扰下，导弹姿态发散严重，弹道偏离较大，无控发射难以保证发射成功。首先针对大潜深水下航行弹道跟踪控制问题进行了深入研究，提出了基于Backstepping纵向弹道跟踪自适应控制方法。对纵向弹道控制模型中的非线性项利用最佳逼近理论通过构造合适基函数进行逼近，并给出了修正的逼近模型，引入两个稳定函数，采用Backstepping技术设计了自适应控制器，并利用Lyapunov方法证明了控制系统的稳定性。针对水下航行三维弹道跟踪问题，利用微分几何理论将潜射导弹非线性运动模型进行全状态反馈线性化得到链式结构的控制模型，该方法实现了对非线性系统精确线性化。基于链式结构控制模型，采用动态反馈控制设计指数稳定的控制律，实现了对三维弹道的精确跟踪。潜射导弹完成出水后需要满足空中飞行段对导弹姿态的要求，而潜射导弹在水下及出水过程中受到外部环境的干扰使得姿态不断发散，尤其在大水深发射时姿态发散更加严重。为了解决潜射导弹姿态跟踪控制问题，本文推导了潜射导弹隐式增量动态逆姿态跟踪控制算法，该方法降低了控制器对导弹模型精确性的依赖程度，通过引入状态量变化率反馈提高了对结构模型误差(如参数摄动等)的鲁棒性，该算法在4级以下海况具有一定的应用价值。潜射导弹出水运动是跨介质航行过程，针对这个特点本文提出了基于LPV增益调度多介质区域融合控制方法。该方法将潜射导弹运动模型转化成LPV模型，将整个航行区域采用调度参数空间表示，将调度参数空间划分成有限个子空间，在每个子空间中基于潜射导弹LPV模型设计LPV控制器，利用融合函数将各个子空间控制器融合成全空间LPV控制器，利用参数依赖型Lyapunov函数证明了其闭环系统的稳定性。更多还原

【Abstract】 Submarine-launched missile takes an important role in the modern warbecause of its advantages in secret launch and high precision. Therefore, most ofcountries in the world are developing or planning to develop submarine-launchedmissile. The modern war requires that submarine-launched missile can be launchedfrom large water depth or variable depth. So, submarine-launched missile needs tohave good underwater and water-exit ballistics, the stable sailing postures and thestarting conditions required by the air flight segment after water exiting. Theresearch on dynamic and control for submarine-launched missile is particularlycomplex and necessary, because of the medium (sea water) which thesubmarine-launched missile sails in and different medium that thesubmarine-launched missile sails across. The dynamic equation ofsubmarine-launched missile is strong nonlinear, which needs to be solved by thecontrol algorithm. This paper researches on the underwater and water-exit processof submarine-launched missile, particular on the factors which have effect on theunderwater and water-exit ballistic, such as the speed, current, wave and wind. Onthis basis, the nonlinear control problem of trajectory tracking control and attitudetracking control are studied.The submarine-launched missile is influenced by the velocity of submarine.As a result, the attack angle is generated and the attitude of missile which islaunched vertically is changed by the pitching torque. The effect on the attitude ofmissile launched from different depth by the velocity of submarine is discussed.During increasing the launch depth, the influence degree on the attitude by thevelocity becomes more and more great. The sailing process is influenced by thecurrent. The effect on the water dynamic is analyzed by the different currentgradient, velocity and convection using the CFD(Computational Fluid Dynamics)technique.The water-exit process of submarine-launched missile is influenced by oceanwaves and sea breeze. The2-d and3-d sea wave are simulated by the second orderSTOKES wave based on the CFD technique. The3-d simulated sea wave isutilized to investigate the wave forces during the process of water-exit for themissile. The analytical expression of wave forces is obtained by the data fitting.The effect by the sea wave is analyzed based on the kinematic model of missile.The relation between the limit deviation of ballistic parameters and the classes anddirection of sea wave can be calculated by the Monte Carlo method. During theresearch on the effect of sea wind on the missile, the sea wind will be considered as the wind load. The analytical expression of load force and moment is derivedduring the water-exit process. The relation between attitude and velocity anddirection of wind will be found by simulation.The submarine-missile is generally launched without control for the shallowdepth circumstance. The missile is ejected, and powered out of water by gas-steam.However, when the missile is launched from large water depth or variable depth,the time of under-water sailing will increase. The attitude of missile divergesseriously, because of the effect by the velocity of marine and the sea current. In themean time, the derivation of ballistic becomes large. Therefore, the success oflaunch without control can not be guaranteed. The underwater ballistic trackingcontrol problem is investigated in this paper, and the adaptive longitudinaltrajectory tracking control method based on Backstepping is presented. The theoryof optimal approximation is used to approximate nonlinear term in longitudinaltrajectory control model by constructing a suitable basis function, and themodified approximation model can be obtained. Then two stable functions areintroduced to designed adaptive controller using the Backstepping technique, andthe stability of control system is proved with Lyapunov method. For thethree-dimensional trajectory tracking problem, the theory of differential geometryis used to carry out the full state feedback linearization to the nonlinear motionmodel of submarine-launched missiles and get the control model of the chain-formstructure. This method leads to the accurate linearization in nonlinear system.Based on chain structure model, the stable control law of dynamic feedbackcontrol index is designed to track the three-dimensional ballistic accurately.The attitude of missile has to satisfy the requirement by the air flight segmentafter the water-exiting process. However, the attitude diverges seriously as thedisturbance by environment during the under water and water-exit process,especially when the missile is launched from deep water. In order to solve theattitude tracking control problem of submarine-launched missiles, the implicitincremental dynamic inversion control attitude tracking control algorithm isderived, which reduces the rate of dependency the controller to the accuracy of themissile model. Making use of introducing the state variable rate feedback, therobustness of the structure error (such as parameter perturbation) of model isimproved. The algorithm can be applied directly in the condition of4class seawave and below. As the water-exit process is a cross medium movement, the LPVgain scheduling multiple medium regional integration control method is proposedin this paper which changes the motion model into LPV model, and takes thescheduling parameter space divided into limited height space as the whole sailingarea. In each subspace, LPV controller is designed based on submarine-launchedmissile LPV model, using fusion function to fuse each subspace controller into the whole space LPV controller. The stability of the closed-loop system is proved bythe parameter dependent Lyapunov function.更多还原