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【正文】 年 月 日 I 摘 要 大氣層內(nèi)飛行的飛行器，為了保證其執(zhí)行有效操縱，首要前提是使飛行器 的姿態(tài)穩(wěn)定， 飛行器姿態(tài)控制系統(tǒng)是關(guān)系飛行器飛行成敗的關(guān)鍵系統(tǒng)之一，其控制過程和方法一直是人們重視和關(guān)注的問題，它貫穿 于飛行器的設(shè)計、使用、儲存的整個生命周期 。 本文首先介紹了能夠表征大氣層內(nèi)飛行器飛行特性的坐標(biāo)系 —— 地面坐標(biāo)系、 彈體坐標(biāo)系 、速度坐標(biāo)系和彈道坐標(biāo)系，并且推導(dǎo)了這些坐標(biāo)系之間的變換關(guān)系。然后，根據(jù)大氣層外內(nèi)飛行器 繞質(zhì)心轉(zhuǎn)動的動力學(xué)方程和繞質(zhì)心轉(zhuǎn)動的運動學(xué)方程組 以及空氣動力方程得出飛行器 的姿態(tài)控制系統(tǒng)數(shù)學(xué)模型。由于 此飛行器 的姿態(tài)控制數(shù)學(xué)模型是強耦合、非線性的，因而在對其進行控制器設(shè)計之前，先要對其進行解耦和線性化處理，本文采用小擾動假設(shè)進行線性化。之后即可解除俯仰、偏航、滾轉(zhuǎn)三個通道的耦合，分別建立其各自通道的 傳遞函數(shù)。之后，運用 PD 控制方法分別設(shè)計三個通道的控制律，使攔截器的姿態(tài)角能夠快速準(zhǔn)確的達到要求的指標(biāo)。最后，設(shè)計軟件仿真流程圖，通過軟件仿真驗證設(shè)計結(jié)果，并對結(jié)果進行比較分析。 通過以上設(shè)計及仿真分析表明，通過對模型線性化及 各 通道解耦后，采用 PD控制， 能夠?qū)崿F(xiàn)快速、穩(wěn)定的達到指令要求的姿態(tài)位置。 關(guān)鍵詞 大氣層內(nèi)飛行器 。 坐標(biāo)系 。 模型線性化 。 PD 控制 ；仿真 II Abstract Aircraft flying within the atmosphere in order to ensure the implementation of effective manipulation of the most important prerequisite is that vehicle attitude stability and attitude control system is the relationship between aircraft aircraft flight critical systems success is one, process and its control method has been the attention and concern of people it runs through the vehicle39。s design, use, storage of the entire life cycle This paper introduces the characterization of the atmosphere to the flight characteristics of aircraft coordinate system the ground coordinate system, body coordinates, speed and trajectory coordinate system coordinate system and derive the coordinate transformation between these relationships. Then, according to the atmosphere inside the vehicle around the center of mass outside the kiic equation of rotation around the center of mass and rotation of the kinematic equations and the equation of aircraft aerodynamic attitude control system model. Because of this mathematical model of spacecraft attitude control is strongly coupled, nonlinear, and therefore the controller in its design before the first of its decoupling and linearization, this paper small disturbance linear hypothesis. Can be lifted after the pitch, yaw, roll coupling of the three channels, namely the establishment of their respective channel transfer function. After each use of PD control law designed to control the three channels, so that the interceptor39。s attitude angle can be quickly and accurately meet the requirements of the target. Finally, simulation flowchart design software, design software simulation results, and the results were pared. According to the Design and simulation of the above analysis shows that the linear model and the decoupled channel, using PD control to achieve rapid and stable posture required to place orders. Keywords: The atmosphere within the vehicle。 coordinates。 model linearization。 PD control。 simulation III 目 錄 摘 要 ............................................................................................................................... I Abstract............................................................................................................................. II 目 錄 ............................................................................................................................. III 第 1 章 緒論 .....................................................................................................................1 課題 背景及研究的目的和意義 .......................................................................1 飛行器姿態(tài)控制方法研究現(xiàn)狀 .......................................................................2 本文研究內(nèi)容 ....................................................................................................4 第 2 章 大氣層內(nèi)飛行器的數(shù)學(xué)模型研究 .....................................................................6 引言 ....................................................................................................................6 坐標(biāo)系定義及坐 標(biāo)系變換 ...............................................................................6 常用坐標(biāo)系定義 ......................................................................................6 坐標(biāo)系之間的轉(zhuǎn)換關(guān)系 ..........................................................................7 大氣層內(nèi)飛行器的數(shù)學(xué)模型 ......................................................................... 11 大氣層內(nèi)飛行器繞質(zhì)心轉(zhuǎn)動的動力學(xué)方程 ..................................... 11 大氣層內(nèi)飛行器繞質(zhì)心轉(zhuǎn)動的運動學(xué)方程 .....................................13 空氣動力和空氣 動力矩的表達式 ......................................................14 大氣層內(nèi)空氣動力系數(shù)表 ..................................................................15 姿態(tài)控制發(fā)動機的推力方程 .............................................................16 大氣層內(nèi)飛行器 的數(shù)學(xué)模型的簡化 .............................................................17 小擾動假設(shè)下的線性化方法 ........................................................................17 小擾動假設(shè)下攔截器繞質(zhì)心運動方程的線性化 ................................17 本章小結(jié) .........................................................................................................19 第 3 章 大氣層內(nèi)飛行器姿態(tài)控制方法研究 ...............................................................19 引言 .................................................................................................................19 大氣層內(nèi)飛行器姿態(tài)控制模型研究 .............................................................20 大氣層內(nèi)飛行器的結(jié)構(gòu)、飛行參數(shù)及發(fā)動機控制參數(shù) ..................20 飛行器姿態(tài)控制模型的傳遞函數(shù) .....................................................21 PID控制方法的理論基礎(chǔ) ..............................................................................22 大氣層內(nèi)飛行器的姿態(tài)控制律設(shè)計 .............................................................24 滾轉(zhuǎn)通道控制律設(shè)計 .........................................................................26 偏航 通道控制律設(shè)計 .........................................................................27 俯仰通道控制律設(shè)計 .........................................................................28 本章小結(jié) .........................................................................................................29 第 4 章 大氣層外攔截器姿態(tài)控制仿真及仿真結(jié)果 分析 ...........................................29 引言 .................................................................................................................29 大氣層內(nèi)飛行器的姿態(tài)控制仿真程序設(shè)計 .................................................29 大氣層外攔截器的姿態(tài)控制仿真