臺灣博碩士論文加值系統

結合氣動力控制及向量推力控制，吾人設計了一套可應用在大離軸角(高達180度)飛彈彈頭反向迴轉階段的飛行自動駕駛系統。在強健控制理論的確保下，縱使飛彈模式存在著由氣動力系數變化所引發的不確定性，飛控系統仍然擁有強健的穩定能力以及強健的性能表現。同時，自動駕駛系統能克服不對稱的渦流擴散所可能引致的最大偏航力矩，使彈頭在迴轉時能保有適當的偏航角度。經過逼真的非線性六自由度模擬所証實，此自動駕駛系統的表現非常優異。由此顯示了強健控制在針對不同飛彈控制問題上的高度可行性。

An autopilot system for the heading reversal maneuvering (HRM) phase in missile engagement with high off-boresight angle up to 180 degrees has been successfully synthesized with the combination of aerodynamic control and thrust vector control (TVC). The application of H∞ control theory has provided the missile robustness (including robust stability and robust performance) properties in the presence of model uncertainty caused by aerodynamic coefficient variation. Simultaneously, autopilot has enabled the missile to resist the maximal possible yawing moment with any switching frequency induced by the vortex shedding during high angle-of-attack flight. Performance of this autopilot system was validated with a high-fidelity nonlinear six degree-of-freedom simulation. Excellent results have been brought out and the results manifest the feasibility of robust control for various missile control problems.

Chinese Abstract …………………………………………………………… i
Abstract ……………………………………………………………………… ii
Chinese Acknowledgment..…………………………………………………… iii
Nomenclature ………………………………………………………………… iv
Contents …………………………………………………………………… vi
List of Figures ……………………………………………………………… viii
1. Introduction ……………………………………………………………… 1
1.1 Motivation ……………………………………………………… 1
1.2 Publication Survey ……………………………………………… 2
1.3 Organization …………………………………………………… 4
2. Missile Aerodynamics …………………………………………………… 5
2.1 Different Nature from Airplane to Missile ……………………… 5
2.2 Definition of Axes and Angles ………………………………… 6
2.3 Nature of Aerodynamic Forces and Moments …………………… 8
2.4 Approximation of Aerodynamic Coefficients …………………… 12
2.5 Stability Derivatives…………………………………………… 20
2.6 Asymmetric Vortex Shedding …………………………………… 23
3. Missile Control System …………………………………………… 27
3.1Components of Missile Control System ………………… 27
3.1.1 Sensor Units ……………………………………… 27
3.1.2 Controller Units …………………………………… 28
3.1.3 Actuator Units …………………………………… 28
3.2Missile Aerodynamic Control …………………………… 29
3.3Missile Thrust Vector Control …………………………… 30
3.4Missile Control Configuration …………………………… 31
3.4.1 Wing Control Configuration …………………………31
3.4.2 Canard Control Configuration ………………………31
3.4.3 Tail Control Configuration …………………………31
3.5Missile Control Strategy …………………………………33
3.5.1 Skid-to-Turn Strategy ………………………………33
3.5.2 Bank-to-Turn Strategy ………………………………33
4. Dynamical Model of Missile …………………………………………35
4.1Rigid Body Equations of Motion for Missile ………………35
4.2Propulsive Force and Moment ……………………………39
4.3Actuator Model ……………………………………………40
4.4Linearized Missile Model …………………………………41
4.4.1 Longitudinal Motion …………………………………41
4.4.2 Lateral Motion ………………………………………44
4.5Trim Analysis ………………………………………………45
4.6Stability Derivative Approximation …………………………45
4.7Stability Analysis …………………………………………48
5. H∞ Control Theory……………………………………………………50
5.1Infinity-Norm and SVD ……………………………………50
5.2Linear Fractional Transformation ……………………………52
5.3Model Uncertainty …………………………………………53
5.4Robust Stability and Robust Performance ……………………54
5.5The General H∞ Control Problem ……………………………56
6. Autopilot Design ….……………………………………………………58
6.1Structure of Autopilot System ………………………………59
6.1.1 Guidance System ……………………………………59
6.1.2 Control Loop …………………………………………60
6.2Controller Design …………………………………………61
6.2.1 Longitudinal Controller ………………………………61
6.2.2 Lateral Controller ……………………………………71
6.3Controller Switching …………………………………………75
7. Six Degree-of-Freedom Simulation and Result ……………………………… 78
7.1Euler Angles and Quaternion ………………………………78
7.2Simulation Program Structure ………………………………80
7.3Simulation Result ……………………………………………83
7.3.1 Scenario I: Standard Case………………………………………83
7.3.2 Scenario II: Disable Lateral Controller ……………………85
7.3.3 Scenario III: High Turn Rate and Vortex Shedding Frequency …85
7.3.4 Scenario IV: A Worst-Case Study ……………………………86
8. Conclusion …………………………………………………………… 107
References …………………………………………………………………109
Appendix ………………………………………………………………… 113

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