Research On Robust Control For Initiative Attack Mine And Simulation

Initiative attack mine is a type of stratagem weapon which is cried for by naval equipment, for it can be used in deep water and control large area of sea. Being propelled by rocket engine, the moving body's mass, weight center, moment of inertia, thrust and speed are all variation during the attacking process, so its motion dynamic model is time-variant. What's more, the moving body is working under the sea environmental disturbing such as sea flow. So the motion of moving body is a type of system with the property of model uncertainty and input uncertainty. In the thesis, the Robust Control theories and methods are investigated first, and then applied to design the initiative attack mine's control system, which is validated by moving body's trajectory numerical simulation. Detailed researches include.(1) Investigation of the H_∞ control under the disturbing of sea flow by LMI and Riccati equation method. By improving the two methods, the controller design methods under wider condition were acquired. A Robust Stabilization Controller was designed using these methods and validated by numerical experiments. By comparing from design idea, characters, inner relation and numerical experiments, the author concluded that the two methods have equivalence under the same hypothesis.(2) Improvement and compare of controller design methods of a type of parameter uncertainty system. Two type of uncertainty description and three H_∞ robust controller design methods were given. By improving three type of Riccati Inequality arithmetic, a new method under wider condition was acquired and applied to investigate the moving body motion control under disturbing of sea flow and model dithering. A controller of some robust stability and dynamic performance was designed and validated by numerical simulation. The result indicated that the tree arithmetic were equivalent. The dynamic interval system models of moving body under disturbing of sea flow were also investigated and a controller was designed and validated by numerical simulation. The author indicated that the description is limited and can be improve.(3) Controller design of initiative attacking mine's attacking trajectory based on LMI method and validation of tracking controller's effectiveness.