Research On Dynamic Modeling And Robust Controlling Of Carrier Based Strap-Down Mode Minehunting Sonar Array

The mine is a deterrabal water weapon with high execution used in defending the coast depot,cutting off the enemy waterway and blocking the seaport in modern war. Although there are many kinds of means of anti-mine,the minehunting,which has many merits such as celerity,go-aheadism and security is regarded as the most important means of anti-mine by many national navies. In the background of national defense beforehand research project "H/SJL-863 minehunting sonar control stabilizing system",the array dynamic modeling and robust control problems of carrier based strap-down mode minehunting sonar are mainly studied. The main works are:The dynamic models of minehunting sonar array are established for the first time. In order to design the directly control parts and simulate,the standard dynamic equations of minehunting sonar array are founded. Due to the moving base existence of the minehunting and the frame structure characteristic of the sonar array,a new modeling thought in which the boat body coordinates is regarded as moving coordinates and the whirligig equation of sonar array compared with the self coordinates is founded on the basis of the Euler's theorem and the coordinate transform is introduced. The dynamic equations of minehunting sonar array with the state matrix form are founded by settling the dynamic models with the vector form. So it offers theory foundation for analyzing the dynamic characteristic and designing robust control.By analyzing and studying the dynamic characteristic of the minehunting sonar array,the author points out that the minehunting sonar array posture control system is a non-linear and intense coupling dynamic system. According to characteristics of the common inertia matrix,the author testifies that the inertia matrix of the minehunting sonar array has many dynamic characteristics such as the limited boundary quality,the symmetry quality and the positive definite quality. These results reflect essential characters of the system. So it offers theoryfoundation for selecting,studying and designing the system control scheme.The dynamic models of the sonar array are predigested logically,the concise and banausic models are given. First,according to the orthonormal quality and the rational choice of working point of the sonar array three shafts frame,the structure of the models is predigested preliminarily;Secondly,according to the quality indexes and the coupling quality between frames,relatively small quantum is neglected. So the complex non-linear coupling models of the sonar array are predigested farther;Lastly,considering the characteristic of the model coefficient matrix,the methods of the low rank polynomial approach and the error simulation are introduced. So the models are predigested again. The simulation results show the rationality and validity of predigestion.The author puts forward that using the measurable disturbance decoupling control to compensate the influence of the boat posture on sonar array posture. The paper studies the conditions of disturbance decoupling for the uncertain non-linear system with measurable disturbance,presents the conditions of disturbance decoupling and constructs the decoupling controller. By studying and simulating the sonar array robust disturbance decoupling,the author points out that using the robust disturbance decoupling control to compensate disturbances of the boat posture is correct and feasible.In this paper,the robust output track control with the regulable parameter of non-linear control system is put foreword. On the basis of methods of feedback linearization and compound Lyapunov,the author puts forward a sort of robust output track control rule with a regulable parameter. This rule not only guarantees the system exponent output track but also makes the closed loop system have limited states. By introducing the regulable parameter e,the transient quality of the system is improved. By regulating the parameter e,the control precision and the energy consume are compromised logically. The simulation result pro...