Method for acquiring moving body bank to turn (BTT) turning control attitude information and device for realizing method

A technology of attitude information and turning control, which is applied to the acquisition of attitude information of moving body BTT turning control, and the field of turning control of high-speed moving body, which can solve the problems of air curtain instability and increase control difficulty, and achieve the effect of maintaining stability of the air curtain.

Inactive Publication Date: 2012-11-07
HARBIN ENG UNIV
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Problems solved by technology

The change of the acceleration and direction of the STT aircraft is accomplished through the coordinated change of the angle of attack and the side slip angle. , is undoubtedly a factor leading to t

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  • Method for acquiring moving body bank to turn (BTT) turning control attitude information and device for realizing method
  • Method for acquiring moving body bank to turn (BTT) turning control attitude information and device for realizing method
  • Method for acquiring moving body bank to turn (BTT) turning control attitude information and device for realizing method

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Embodiment Construction

[0014] The present invention will be described in detail below in conjunction with the accompanying drawings.

[0015] When the acquisition method of the BTT turning control attitude information of the moving body provided by the present invention is specifically implemented, the moving body six-degree-of-freedom dynamics model is established according to the moving body coordinate system and the Newtonian kinematics equation established earlier, and from the described dynamics model Extract the motion attitude information of the moving body; then, aiming at the BTT turning implementation strategy, combined with the kinematic equation of the moving body and the solution method of the angle of attack and sideslip angle, the acquisition of the BTT turning control attitude information of the moving body is realized; the obtained BTT The turning control attitude information is classified and decoupled, and the BTT turning control attitude information is divided into rolling channel...

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Abstract

The invention discloses a method for acquiring the moving body bank to turn (BTT) turning control attitude information and a device for realizing the method, which belong to the fields of moving body dynamics, control and navigation. A moving body navigates in the water environment at the navigation speed of over 100m/s; and the method for acquiring the moving body BTT turning control attitude information comprises the steps of: firstly, extracting the movement attitude information of the moving body; then, acquiring the moving body BTT turning control attitude information, through decoupling and classifying the moving body BTT turning control attitude information, decomposing the BTT control information into the rolling channel attitude information and the pitching-yawing channel attitude information; and respectively estimating the hydrodynamic coefficients in the rolling channel attitude information and the pitching-yawing channel attitude information, and obtaining the complete moving body BTT turning control attitude information. The method can be used for enabling the moving body to stably turn at the navigation speed of over 100m/s in the water navigation environment, so an air curtain which wraps the moving body is kept stable.

Description

technical field [0001] The invention relates to a method for acquiring BTT turning control attitude information of a moving body, which is particularly suitable for turning control of a high-speed moving body navigating in an underwater environment, and belongs to the field of moving body dynamics, control and navigation. Background technique [0002] At present, the research on the control of moving bodies navigating in the underwater environment is mainly aimed at the longitudinal motion. Scholars have proposed various controller design methods and achieved some results. For the control of the lateral motion of this type of moving body, referring to the lateral motion control and turning control of the aircraft, there are mainly two strategies, namely the traditional sideslip and turn (STT) control technology and bank turn (BTT) control technology. . [0003] Most aircraft in the world adopt STT turning control technology. This control technology keeps the longitudinal ax...

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Application Information

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IPC IPC(8): G05D1/08
Inventor 赵新华孙尧安伟光赵国良白涛韩云涛
Owner HARBIN ENG UNIV
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