空投航行体入水弹道建模与控制策略研究

Research on Modeling and Control Strategy of Water-entry Trajectory of Air-dropped Vehicle

摘要:

空投航行体入水弹道控制问题一直是空投航行体研究的重点，针对空投航行体入水弹道控制问题，建立了航行体的六自由度非线性动力学和运动学模型；根据入水弹道对姿态控制的要求，通过设计基于PID控制三通道姿态控制策略解决其入水控制问题，并且通过MATLAB进行仿真验证。结果表明：在不同的初始入水条件下，本文研究的控制策略都能够较好地对航行体入水深度及姿态进行控制，具有一定的实际应用价值。

Abstract:

Water-entry trajectory control of air-dropped vehicle has always been the focus of airdropped vehicle research. Aiming at the problem of water-entry trajectory control of air-dropped vehicles，this paper establishes the six degree of freedom nonlinear dynamic model and motion model of vehicles. According to the attitude control requirements of water-entry trajectory，this paper designs the three channel attitude control strategy which is based on PID control to solve its water-entry control problem，and simulates and verifies this design by MATLAB. At last，the results show that this control strategy can control the depth and attitude of vehicle well under different initial water-entry condition，and it has a certain practical application value.