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大多采用空化器和尾舵相结合的方式对超空泡导弹进行控制研究,但尾舵会有自身空化等不足,从而使尾舵失去控制作用。为了克服尾舵控制这一弊端,提出了利用空化器和推力矢量实现对超空泡导弹的运动控制方案。对超空泡导弹的非线性数学模型进行了线性化处理,得到了系统定深航行的状态空间模型。基于最优控制理论的LQR方法设计了系统的控制器并进行了仿真,与应用鲁棒极点配置算法仿真结果相比较,LQR控制算法具有更佳的可控品质;在考虑噪声干扰情况下,应用LQG随机最优控制理论设计了系统的控制器,从仿真结果来看系统的动态性能依然良好,LQG控制器具有较强的鲁棒性,且实弹发射实验结果与仿真曲线变化趋势一致,只是在具体量值上有小的偏差。
Most of them use the combination of cavitator and rudder to control the supercavitating missile, but the rudder has its own cavitation and other defects, so that the rudder lose control. In order to overcome the drawbacks of rudder control, a scheme of motion control of the supercavitating missile using the cavitator and thrust vector is proposed. The nonlinear mathematical model of the supercavitating missile is linearized and the state space model of the system is established. The LQR method based on the optimal control theory designs the system controller and simulates it. Compared with the simulation results of the robust pole placement algorithm, the LQR control algorithm has better controllable quality. Under the condition of considering the noise interference, LQG stochastic optimal control theory, the system controller is designed. From the simulation results, the dynamic performance of the system is still good. The LQG controller has strong robustness, and the experimental results of live firing are in agreement with the changing trend of the simulation curve. The specific value of a small deviation.