Theory And Application Study On Underwater Trajectory Dynamic System Modeling Of Submarine Launched Missile Carrier

This dissertation originates from an important national engineering project. It is mainly concerned with parameter identification and uncertainty modeling of submarine launched missile carrier抯 underwater trajectory dynamic system and with the effect of hydrodynamic environment caused by launch on the carrier抯 trajectory. Overall mathematical modeling method for carrier抯 underwater trajectory dynamic system is studied and applied to a certain submarine launched missile carrier抯 trajectory designing and prediction for the first time in China. The carrier抯 voyage test shows that the trajectory design based on the methods in this dissertation is successful and the trajectory prediction is accurate. The main contributions in the dissertation are summarized as follows: 1. For location force, one major part of fluid motive force of carrier, it抯 no longer granted that there is no interconnection between vertical and horizontal sections. While through wind tunnel experiment of combinational spatial states and regression analysis of experimental data, the nonlinear expressions of location force are acquired. 2. By dividing carrier抯 voyage test at lake into two parts of single-factor test and multiple-factor test, adequate data which is necessary for dynamic system identification can be gained. And such a test outline makes accurate identification of some parameters which are sensitive to trajectory but hard to be measured through wind tunnel experiment, such as horizontal or vertical rudder derivatives, become practicable. 3. Adopting an improved simplex-based random search strategy, a simulated annealing identification method is derived. The random change generator is proved efficient by adding a plus random variable, which has logarithmic distribution and scales with temperature, to each vertex of simplex and then removing a similar random variable from the new vertex which is a substitution for the worst vertex. Such a generator can make the simplex not only move downhill but also be capable of free from the local minimum. With the simulated annealing identification method, the maximum likelihood estimator of carrier抯 spacious hydrodynamic parameters can be acquired. 4. Newton-Raphson抯 and simplex optimization methods are applied to carrier抯 vertical hydrodynamic parameters identification respectively. And the three methods are compared III LI~k)~眫1~ with each other on convergence speed, accuracy. The results shows that comparing with general methods, the simulated annealing method has better convergence for various initial values of parameters. 5. Additional fluid motive force resulting from horizontal rear wings striking water in the unfolding process is modeled by using the simulated annealing method. The problem that measured pitching angle data at lake-test is evidently greater than the predicted data during transitional trajectory is solved effectively. The agreement between measured data with calculated data after modeling proves that the modeling is necessary and the modeling method is workable. 6. Based on the theory of potential flow, additional disturbance force and its effect on the trajectory due to the motion of launching submarine is computed; the method to handle the unsteady feature of the flow field and the agreement between the method with the time step for solving trajectory is studied; on the b...