一种基于矢量原理的三通道精确控制算法

A Three-Channel Accurate Control Algorithm Based on Vector Principle

为使多平台发射的轻型鱼雷能够在浅水域安全投放,应减小鱼雷入水袋深,同时防止鱼雷"跳水"。本文通过对误差欧拉角进行矢量化,提出并推导了一种基于矢量原理的三通道精确控制算法,该方法能实现鱼雷运动学的最佳解耦,解决鱼雷大姿态入水后的稳定控制,从而有效减小袋深并精确控制鱼雷航向。仿真结果表明,该算法的全姿态控制技术对多平台发射轻型鱼雷的浅水使用研究具有参考价值。

To launch a lightweight torpedo safely on different platform in shallow water, it is necessary to reduce the bag depth of a torpedo water-entry and prevent its ＂free running＂. We deduce a three-channel accurate control algorithm based on vectorprinciple via vectorization of the error Euler angle. This accurate control algorithm can help to achieve the best decoupling of the torpedo kinematics, obtain stable control of a torpedo with large attitude water-entry, hence to reduce the bag depth and accurately control the torpedo course. Simulation indicates that the proposed algorithm is ap- plicable to launching lightweight torpedo on multi-platform in shallow water.