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为解决变质心三通道姿态跟踪问题,研究了三维变质心非交互式控制问题的可实现性。首先,基于矢量力学建立了变质心飞行器的仿射非线性模型;其次,通过推导和分析系统的解耦性矩阵,研究了三维变质心非交互控制的可解性问题,其间定义了变质心非交互控制的直接解耦性矩阵、奇异集及奇异特征参数,给出三种变质心非交互控制实现性类别及按照奇异集进行分类的判断方法;最后,通过数值分析和符号运算研究了变质心总体参数对奇异特征参数的影响,并从中得到了一些有用的结论。本文的研究揭示了变质心非交互控制可实现性的主要影响因素,并为变质心总体参数的优化设计提供了参考。
In order to solve the three-path attitude tracking problem of modified centroid, the feasibility of non-interactive control of three-dimensional variable centroid was studied. Firstly, the affine nonlinear model of a modified centroid aircraft is established based on vector mechanics. Secondly, by solving and analyzing the decoupling matrix of the system, the problem of the solvability of the three-dimensional variable centroid non-interactive control is studied. In the meantime, The direct decoupling matrix, the singular set and the singular characteristic parameters of the interaction control, and gives the realization categories of the three kinds of non-interactive control of the modified centroid and the method of classification according to the singular set. Finally, by means of numerical analysis and symbolic operation, The influence of the overall parameters on the singular characteristic parameters and some useful conclusions are obtained. The research in this paper reveals the main influencing factors of the realization of non-interactive control of the modified centroid and provides a reference for the optimization design of the overall parameters of the modified centroid.