傅立成臺灣大學：電機工程學研究所鄭家豪Cheng, Chia-HaoChia-HaoCheng2007-11-262018-07-062007-11-262018-07-062004http://ntur.lib.ntu.edu.tw//handle/246246/53432自從人類的活動範圍開始由地表拓展到整個宇宙，飛行控制器的研究一直都是個重要的課題。我們將討論飛行器中的決策部分──導引法則和自動駕駛儀，而其中攔截飛彈和運載火箭則是我們想研究的對象。在這篇論文裡，我們提倡使用無翼面的飛行器使得受到空氣動力學的非線性效應的影響可以減到最少。我們提出一個具有推力向量控制(TVC)及側噴流控制(DCS)的強健自動駕駛儀系統，如此我們可以將飛行器的活動的範圍從大器層內延伸到沒有空氣的太空當中。此外，我們還提出兩種新的飛彈的導引法則和一種嶄新的火箭導引法則。其中飛彈導引法則使用了最佳控制理論、feedback linearization、以及Lyapunov分析，而火箭導引法則則利用了微分幾何學和滑動模式控制。當然，導引法則與自動駕駛儀整合系統的參數設計方法也被提出，並且用證明加以佐證。最後，我們做了各式各樣的模擬，且包含了空氣動力學的模型；而這些模擬則在在證實了飛彈與火箭的導引法則與自動駕駛儀整合系統的可行性。The control of flight vehicles has been an important topic ever since the range of activities of human beings was extended from the earth to the universe. The decision part in an airframe: guidance law (GL) and autopilot are being discussed, and the intercepting missiles and launch rockets are the two plants we are interested in. In this thesis, we advocate a wingless airframe in order to reduce the nonlinear effect from the aerodynamics as much as possible. We propose a robust autopilot system based on thrust vector control (TVC) and divert control system (DCS) in order to extend the maneuvering range of an airframe from the place with aerodynamic influence to the place without. Besides, two new missile GLs and one original rocket GL are presented. The missile GLs utilize the optimal control theory, feedback linearization technique, and Lyapunov analysis, whereas the rocket GL employs the differential geometry and sliding mode control. In addition, the design methodology of parameters of the integrated guidance/autopilot (G/A) systems is suggested with technical proofs. Various simulations including aerodynamic model were finally demonstrated to verify the feasibility of the integrated G/A systems of missiles and rockets.1 Introduction 1 1.1 Motivation of Research 1 1.2 Survey of Relative Works 2 1.3 Contribution of This Thesis 3 1.4 Organization of This Thesis 4 2 Preliminary 5 2.1 Problem Description and Definition 5 2.2 Airframe and Actuators 6 2.3 Aerodynamics 8 2.4 Mathematical Background 12 2.4.1 Dynamics in Changing Coordinates 12 2.4.2 Rotations and Quaternion 14 3 Autopilot Design with Thrust Vector Control and Divert Control System 21 3.1 Introduction 21 3.2 Missile and Rocket Airframe Design 22 3.2.1 Airframe Modelling 22 3.2.2 TVC and DCS Cooperation Strategy 25 3.3 Autopilot System Design 29 4 Three New Guidance Laws for Intercepting And Trajectory-Following Airframe 39 4.1 Introduction 39 4.1.1 Proportional Navigation 40 4.1.2 Zero-Effort-Miss 42 4.2 Two New Modi ed Optimal 3-D Guidance Laws for Intercepting Missile 43 4.2.1 Guidance Law Based on 3-D Velocity Geometry Model 43 4.2.2 Guidance Law Based on 3-D Angular Velocity Geometry Model 47 4.2.3 Optimal Control Analysis 53 4.3 New Sliding Guidance Law for Trajectory-Following Rocket 58 5 Integrated Guidance/Autopilot System Stability Analysis 65 5.1 Integrated G/A Analysis of Missile Airframe 65 5.1.1 Stability Analysis for 3-D Velocity Model 68 5.1.2 Stability Analysis for 3-D Angular Velocity Model 72 5.2 Integrated G/A Analysis of Rocket Airframe 75 6 Simulation and Analysis 79 6.1 Missile Integrated G/A System 79 6.1.1 High Attitude Intercepting 79 6.1.2 Low Attitude Intercepting 86 6.2 Rocket Integrated G/A System 92 7 Conclusion 992237405 bytesapplication/pdfen-US導引法則運載火箭自動駕駛儀側噴流控制滑動模式最佳化理論推力向量控制微分幾何學李亞普諾夫攔截飛彈DCSIntercepting MissilesAutopilotGuidance LawLaunch RocketsTVCOptimal TheorySliding ModeDifferential GeometryLyapunovthesishttp://ntur.lib.ntu.edu.tw/bitstream/246246/53432/1/ntu-93-R91921009-1.pdf