Research On Motion Control For The Special Carrier Of Sea-launched UAV

With the development of information-based combat mode,cooperative operations and information collection become more and more important in naval warfare.Submarines and submarines unmanned aircraft is better concealed,but communication and intelligence collection capacity is weak.Machine technology to make up for these shortcomings.Aiming at the technical difficulty in the process of submarine-launched unmanned aerial vehicle.This paper designs a kind of special vehicle,which can be applied to submarine and underwater unmanned aerial vehicle.After being transported to the water surface,the special vehicle carries the unmanned aerial vehicle.Effectively solve the UAV waterproof and underwater ejection and other technical problems and reduce R & D and ejection costs,improving security.The adaptive fuzzy sliding mode controller is designed to meet the attitude requirements of unmanned aerial vehicles during the ejection process.In view of the above question,this article will carry on the research work:First of all,the overall structure of the special launch vehicle design,which is the basis for follow-up research.According to UAV size on the special size and shape of the structure of the carrier design,the ejection attitude and the surface was 72 degrees angle.In the cylinder wall designed a balloon.A variety of schemes are proposed for the liner of the special vehicle,and the resistance is calculated by the Fluent software to obtain the optimal shell linearity.According to the linear position of each device to adjust the device to calculate the center of gravity and the position of the floating center and the stability of the calculation check.At last,the hardware control system of the special vehicle is designed and various sensors and their equipment are selected.Secondly,the modeling method of the surface ship and the unmanned aerial vehicle is combined with the special vehicle to establish the corresponding kinematic model and the kinetic model.The vector thruster is briefly introduced.The force and the force produced by the vector propeller are discussed.Torque and the corresponding mathematical model was established.Because this article mainly studies the heading control problem after the special carrier arrives at the water surface.The six-degree-of-freedom model is simplified to three degrees of freedom according to the actual needs.In particular,the heading is susceptible to first-order wave forces and mathematical models of sea breeze,ocean waves and ocean currents are established according to the marine environment,which is prone to be disturbed by sea breezes,waves and ocean currents.Thirdly,from the knowledge of heading control,the adaptive fuzzy sliding mode method is used to control the heading direction of the special carrier.Firstly,the sliding mode variable structure control,the fuzzy control and the adaptive control method are introduced briefly.Then the adaptive fuzzy sliding mode control is explained in detail.Combined with the designed special carrier,the heading control is designed.Adaptive Fuzzy Sliding Mode Controller.Finally,the simulation experiment is carried out for the designed controller.The analysis of the heading control of the special carrier is divided into heading change and heading maintenance.It is verified that the controller designed in the design of the special carrier the stability,practicality and anti-interference capability of heading control are analyzed in detail through a series of comparative simulation experiments.