水下航行体垂直上浮转水平攻击弹道研究  

Research on the Ballistic Trajectory of Underwater Vehicle that Floats Vertically and Turns Horizontally

作　　者：杨光 黄楠 张腾 YANG Guang;HUANG Nan;ZHANG Teng(No.710 R&D Institute,China State Shipbuilding Corporation Limited,Yichang 443003)

机构地区：[1]中国船舶集团有限公司第七一〇研究所,宜昌443003

出　　处：《舰船电子工程》2023年第6期49-53,共5页Ship Electronic Engineering

基　　金：国家重点研发计划项目(编号:2021YFC3101320)资助。

摘　　要：常规的水下弹道控制系统主要有水平弹道控制和垂直弹道控制两种形式,某水下航行体的工作方式为垂直发射,水平攻击,在水下航行器从垂直发射转入水平攻击过程中,传统的控制系统因欧拉姿态角奇异等问题难以正常工作。建立垂直、水平两套参考坐标系描述系统,利用各自的奇异特点,设计了在弹道初始阶段利用垂直参考坐标系控制爬升弹道、当倾斜角大于45°时,切换为水平参考坐标系控制水平弹道的双参考坐标系控制法,并进行了半实物仿真试验。仿真结果表明,利用双参考坐标系控制法可以有效解决水下航行器垂直弹道转水平弹道的控制问题。The conventional underwater trajectory control system mainly has two forms,which are horizontal trajectory control and vertical trajectory control.The working mode of an underwater vehicle is vertical launch and horizontal navigation.When the un⁃derwater vehicle changes from vertical launch to horizontal navigation,the traditional control system is difficult to work normally due to the singularity of Euler attitude angle.Two sets of vertical and horizontal reference coordinate system description systems are established.Using their singular characteristics,a dual reference coordinate system control method is designed to control the climb⁃ing trajectory in the initial phase of trajectory by using the vertical reference coordinate system,and to switch to the horizontal refer⁃ence coordinate system to control the horizontal trajectory in the final phase when the predicted attitude angle may produce singulari⁃ty,and a hardware in the loop simulation test is carried out.The simulation results show that the control method of double reference coordinate system can effectively solve the control problem of underwater vehicle from vertical trajectory to horizontal trajectory.

关 键 词：水下航行体 双参考坐标系 弹道控制系统 

分 类 号：TJ768.2[兵器科学与技术—武器系统与运用工程]