鱼雷热动力推进系统数字化控制的研究
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摘要
本论文介绍了HAP三组元鱼雷热动力推进系统的技术方案，并建立了开式循
环鱼雷热动力系统的数学模型，对该系统典型工况进行了仿真分析。并利用所建
立的数学模型得到各种工况下的稳态值，作为模糊控制的经验值，进行了带参数
自调整的自调整模糊控制理论在动力推进系统上的应用研究。分别设计了稳态调
节、恒深变速和恒速变深控制的闭环控制规律以及微机控制器的软、硬件，并进
行了数字仿真，结果表明：基于模糊控制的闭环控制系统稳定、响应速度快、稳
态误差小、抗干扰能力强，能够满足鱼雷战术、技术指标对动力推进系统性能的
要求，不失为一种性能良好的控制方案。
本论文对于研制新型高性能鱼雷热动力推进系统具有重要的参考价值，亦可
用于对现有鱼雷动力推进系统的重大技术改造。此外，还可推广应用于其他类型
的热动力系统过程控制与仿真。
This paper introduces the technical scheme of the HAP three-
composition torpedo's heat power propulsion system, and
establishes the
mathematical model of open circulation torpedo's heat power
system, and
emulate the typical situations of this system. This paper gets
the stable
values of all kinds of situations by using the mathematical
model, these
values can be regarded as the experienced values of vague
control. It is in
progress that the theory of the self adjustment vague control can
be
applied in the power propulsion system. This paper designs the
software
and hardware of micro-computer control machine which can satisfy
the
closed control rules of stable adjustment , different speeds in
the
permanent depth and different depths in the permanent speed and
finishes
the data emulation. These results show that the closed control
system
based on vague control is stable ,responding speed is fast,
average error
is small and the ability of resisting disturbance is strong.
These results
can satisfy the demands of the power propulsion system character
in the
torpedo's tactical and technical targets and can be regarded as a
kind of
the better control program.
This paper has the important reference values to developing the
new
high performance torpedo's heat power propulsion system. It can be
applied in the great technical renovation of present torpedo's
power
propulsion system. In other hand, this paper's results can be
applied in the
control and emulation of other types of heat power systems.
环鱼雷热动力系统的数学模型，对该系统典型工况进行了仿真分析。并利用所建
立的数学模型得到各种工况下的稳态值，作为模糊控制的经验值，进行了带参数
自调整的自调整模糊控制理论在动力推进系统上的应用研究。分别设计了稳态调
节、恒深变速和恒速变深控制的闭环控制规律以及微机控制器的软、硬件，并进
行了数字仿真，结果表明：基于模糊控制的闭环控制系统稳定、响应速度快、稳
态误差小、抗干扰能力强，能够满足鱼雷战术、技术指标对动力推进系统性能的
要求，不失为一种性能良好的控制方案。
本论文对于研制新型高性能鱼雷热动力推进系统具有重要的参考价值，亦可
用于对现有鱼雷动力推进系统的重大技术改造。此外，还可推广应用于其他类型
的热动力系统过程控制与仿真。
This paper introduces the technical scheme of the HAP three-
composition torpedo's heat power propulsion system, and
establishes the
mathematical model of open circulation torpedo's heat power
system, and
emulate the typical situations of this system. This paper gets
the stable
values of all kinds of situations by using the mathematical
model, these
values can be regarded as the experienced values of vague
control. It is in
progress that the theory of the self adjustment vague control can
be
applied in the power propulsion system. This paper designs the
software
and hardware of micro-computer control machine which can satisfy
the
closed control rules of stable adjustment , different speeds in
the
permanent depth and different depths in the permanent speed and
finishes
the data emulation. These results show that the closed control
system
based on vague control is stable ,responding speed is fast,
average error
is small and the ability of resisting disturbance is strong.
These results
can satisfy the demands of the power propulsion system character
in the
torpedo's tactical and technical targets and can be regarded as a
kind of
the better control program.
This paper has the important reference values to developing the
new
high performance torpedo's heat power propulsion system. It can be
applied in the great technical renovation of present torpedo's
power
propulsion system. In other hand, this paper's results can be
applied in the
control and emulation of other types of heat power systems.
引文
[1]赵连峰 鱼雷活塞发动机原理 西北工业大学出版社 1991
[2]刘训谦 鱼雷推进剂及供应系统 西北工业大学教材 1987
[3]马世杰 鱼雷热动力装置设计原理 兵器工业出版社 1992
[4]聂铁军 数值计算方法 西北工业大学出版社 1990
[5]徐德民 鱼雷自动控制系统 西北工业大学出版社 1991
[6]吴旭光 控制系统计算机仿真 西北工业大学教材 1990
[7]程运鹏 矩阵论 西北工业大学出版社 1990
[8]阙志宏 线性系统理论 清华大学出版社 1990
[9]方崇智 过程辨识 清华大学出版社 1988
[10]周雪琴 计算机控制系统 西北工业大学出版社 1995
[11]解学书 控制理论 清华大学出版社 1994
[12]吕跃飞 关于状态反馈控制通解的表达式及中心解的鲁棒性分析 中国控制与决策学术年会论文集 1993
[13]谢振华 鲁棒控制理论在航空发动机中的应用研究 西北工业大学硕士论文 1996
[14]翁正新 王广雄 姚一新 鲁棒状态反馈控制 控制理论与应用 Vol．11，No，4 p456-459
[15]罗凯 开式循环鱼雷热动力系统数字仿真及非线性控制研究 西北工业大学硕士论文 1996
[16]L.Xie,and C.D. Souza, Robust Control for Linear Time-Invariant Systems with Norm-Bounded Uncertainty in the Input Matrix. System and Control Letters,1990,14,p396-398
[17]B.A.Francis, A course in control theory, Lecture Notes in Control and Information Sciences, Vol 88, New York; Springer-Verlag,1987
[18]D. Fragopoulos, M. J. Grimble, and U.Shaked, Controller Design for the SISO Case Using a Wiener Approach, IEEE Trans. Automat. Contr.,Vol.36,No.10,1991,p1204-1208
[19]J.A.Ball,J.W.Helton, and M.L.Walker, Control for Nonlinear System with Output Feedback, IEEE Trans.Automa T. Contr., Vol.38, No.4,1993 p546-558
[20]Hidenori Kimura, Yufei Lu,and Ryoji Kawatani, On the Structure of Control Systems and Related Extensions IEEE,Trans. Automat. Contr., Vol.36, No.6,1991 p653-667
[21]B.A.Francis and G.Zames, On-Optimal Sensitivity Theory For SISO Feedback System, IEEE Trans.Automat. Contr., Vol.28,1984, p9-16
[22]G.Zames and B.A.Francis, Feedback, Minimax Sensitivity, and Optimal Robustness, IEEE Trans.Auomat. Contr.,Vol.28,1983,p585-601
[23]Lihua Xie,Mingyue Fu,and Carlos E.de Souza, Control and Quadratic Stabilization of Systems with Parameter Uncertainty via Ourput Feedback, IEEE Trans. Automat.Contr., Vol.37,No.8,1992 p1253-1256
[24]S.Hara and R. kondo, Characterization and Computation of H_∞-Optimal Controllers in the State Space. Proc.27th IEEE Conf. Decision Contr., Austin, TX, 1989, p20-25
[25]D.J.N. Limebeer, E.M. Kasenally,M.G.Safonov, and I.Jaimouka, A Characterization of all Solution to the Four Block General Distance Problem. Proc. 27th IEEE Conf. Decision Contr., 1988,p875-880
[26]J.C.Doyle,K.Glover,P. Khargonekar,and B.A.Francis,State-Space Solutions to Standard and Control Problems.IEEE Trans. Automat. Contr., Vol.34 1989, p831-897
[27]G. Tadmor, H_∞ in the time domain:The Standard Four Blocks Problem, submitted for publication
[28]K. Zhou and P.P. Khargonekar, An Argbraic Riccati Equation Approach to H_∞ Optimization, Syst. Contr. Lett., Vol.11, 1988,p85-91
[29]I.R. Petersen and C.V. Hollot, A Riccati Equatin Approach to the Stabilization of Uncertain Linear Systems,Automatica, Vol.22, No.4,1986, p397-441
[30]Keqin Gu, control of systems under norm bounded uncertainties in all system matrixes, IEEE Trans. Automat.Contr., Vol.39,No.6,1994, p1320-1322
[31]L. Xie and C.E. de Souza, Robust control for linear systems with norm-bounded time-varying uncertainty.IEEE Trans. Automat. Contr., Vol.37, No.6,1992
[32]SHI Guojun,YANG Chengwu and ZOU Yurt,The Design of Robust Controller for Linear Systems With Uncertain Parameters, Control Theory and Applications, Vol.10,No.4 1993,p441-446
[33]SHEN Tielong, Robust Sub-Optimal Control with Robust Regulation Performance,Control Theory and Applications,Vol.11,No.6,1994 p703-712
[34]M. Sampei, T.Mita, and N. Nakamich. An Algebraic Approach to H_∞ Output Feedback Control Problem. System and Control Letters, No.14. 1990,p13-24
[35]Petersen,I.R. Disturbance Attenuation and Optimization:A Design Method Based on the Algebraic Riccati Equation. IEEE Trans. Automat Contr.,Vol.32,No.5.1987 p427-429
[36]S.D.Wang, T.Kou,Y. lin,and Y.Juang,Robust Control Design for Linear Systems with Uncertain Parameters,Int .J. Contr.,Vol,46,No.5,1987, p1557-1567
[37]B.A. Francis,J.W.Helton,G.Zames, H_∞-Optimal Feedback Controlers for Linear Multivariable Systems. IEEE Trans. Automat. Control, Vol.29, 1984,p888-900
[38]S.B.Chen, The Robust Optimal Control of Uncertain System-State Space Method. IEEE Trans. Automat. Contr.,Vol.38, 1993,p951-957
[39]L. Xie,de C.E. Souza, Robust control of a class of uncertain nonlinear systems. Syst and Contr Lett, 1992, 39,p139-149
[2]刘训谦 鱼雷推进剂及供应系统 西北工业大学教材 1987
[3]马世杰 鱼雷热动力装置设计原理 兵器工业出版社 1992
[4]聂铁军 数值计算方法 西北工业大学出版社 1990
[5]徐德民 鱼雷自动控制系统 西北工业大学出版社 1991
[6]吴旭光 控制系统计算机仿真 西北工业大学教材 1990
[7]程运鹏 矩阵论 西北工业大学出版社 1990
[8]阙志宏 线性系统理论 清华大学出版社 1990
[9]方崇智 过程辨识 清华大学出版社 1988
[10]周雪琴 计算机控制系统 西北工业大学出版社 1995
[11]解学书 控制理论 清华大学出版社 1994
[12]吕跃飞 关于状态反馈控制通解的表达式及中心解的鲁棒性分析 中国控制与决策学术年会论文集 1993
[13]谢振华 鲁棒控制理论在航空发动机中的应用研究 西北工业大学硕士论文 1996
[14]翁正新 王广雄 姚一新 鲁棒状态反馈控制 控制理论与应用 Vol．11，No，4 p456-459
[15]罗凯 开式循环鱼雷热动力系统数字仿真及非线性控制研究 西北工业大学硕士论文 1996
[16]L.Xie,and C.D. Souza, Robust Control for Linear Time-Invariant Systems with Norm-Bounded Uncertainty in the Input Matrix. System and Control Letters,1990,14,p396-398
[17]B.A.Francis, A course in control theory, Lecture Notes in Control and Information Sciences, Vol 88, New York; Springer-Verlag,1987
[18]D. Fragopoulos, M. J. Grimble, and U.Shaked, Controller Design for the SISO Case Using a Wiener Approach, IEEE Trans. Automat. Contr.,Vol.36,No.10,1991,p1204-1208
[19]J.A.Ball,J.W.Helton, and M.L.Walker, Control for Nonlinear System with Output Feedback, IEEE Trans.Automa T. Contr., Vol.38, No.4,1993 p546-558
[20]Hidenori Kimura, Yufei Lu,and Ryoji Kawatani, On the Structure of Control Systems and Related Extensions IEEE,Trans. Automat. Contr., Vol.36, No.6,1991 p653-667
[21]B.A.Francis and G.Zames, On-Optimal Sensitivity Theory For SISO Feedback System, IEEE Trans.Automat. Contr., Vol.28,1984, p9-16
[22]G.Zames and B.A.Francis, Feedback, Minimax Sensitivity, and Optimal Robustness, IEEE Trans.Auomat. Contr.,Vol.28,1983,p585-601
[23]Lihua Xie,Mingyue Fu,and Carlos E.de Souza, Control and Quadratic Stabilization of Systems with Parameter Uncertainty via Ourput Feedback, IEEE Trans. Automat.Contr., Vol.37,No.8,1992 p1253-1256
[24]S.Hara and R. kondo, Characterization and Computation of H_∞-Optimal Controllers in the State Space. Proc.27th IEEE Conf. Decision Contr., Austin, TX, 1989, p20-25
[25]D.J.N. Limebeer, E.M. Kasenally,M.G.Safonov, and I.Jaimouka, A Characterization of all Solution to the Four Block General Distance Problem. Proc. 27th IEEE Conf. Decision Contr., 1988,p875-880
[26]J.C.Doyle,K.Glover,P. Khargonekar,and B.A.Francis,State-Space Solutions to Standard and Control Problems.IEEE Trans. Automat. Contr., Vol.34 1989, p831-897
[27]G. Tadmor, H_∞ in the time domain:The Standard Four Blocks Problem, submitted for publication
[28]K. Zhou and P.P. Khargonekar, An Argbraic Riccati Equation Approach to H_∞ Optimization, Syst. Contr. Lett., Vol.11, 1988,p85-91
[29]I.R. Petersen and C.V. Hollot, A Riccati Equatin Approach to the Stabilization of Uncertain Linear Systems,Automatica, Vol.22, No.4,1986, p397-441
[30]Keqin Gu, control of systems under norm bounded uncertainties in all system matrixes, IEEE Trans. Automat.Contr., Vol.39,No.6,1994, p1320-1322
[31]L. Xie and C.E. de Souza, Robust control for linear systems with norm-bounded time-varying uncertainty.IEEE Trans. Automat. Contr., Vol.37, No.6,1992
[32]SHI Guojun,YANG Chengwu and ZOU Yurt,The Design of Robust Controller for Linear Systems With Uncertain Parameters, Control Theory and Applications, Vol.10,No.4 1993,p441-446
[33]SHEN Tielong, Robust Sub-Optimal Control with Robust Regulation Performance,Control Theory and Applications,Vol.11,No.6,1994 p703-712
[34]M. Sampei, T.Mita, and N. Nakamich. An Algebraic Approach to H_∞ Output Feedback Control Problem. System and Control Letters, No.14. 1990,p13-24
[35]Petersen,I.R. Disturbance Attenuation and Optimization:A Design Method Based on the Algebraic Riccati Equation. IEEE Trans. Automat Contr.,Vol.32,No.5.1987 p427-429
[36]S.D.Wang, T.Kou,Y. lin,and Y.Juang,Robust Control Design for Linear Systems with Uncertain Parameters,Int .J. Contr.,Vol,46,No.5,1987, p1557-1567
[37]B.A. Francis,J.W.Helton,G.Zames, H_∞-Optimal Feedback Controlers for Linear Multivariable Systems. IEEE Trans. Automat. Control, Vol.29, 1984,p888-900
[38]S.B.Chen, The Robust Optimal Control of Uncertain System-State Space Method. IEEE Trans. Automat. Contr.,Vol.38, 1993,p951-957
[39]L. Xie,de C.E. Souza, Robust control of a class of uncertain nonlinear systems. Syst and Contr Lett, 1992, 39,p139-149