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I信息驱动的海上协同目标估计与跟踪控制研究IIResearchonImformation-drivenCoordinatedSeaTargetEstimationandTrackingControlIII摘要水下滑翔机在深海、远海研究领域发挥着越来越重要的作用。水下滑翔机带有机翼和尾翼，在水中由可变重力驱动，通过滑块和尾翼来改变姿态，按锯齿形路线进行滑翔。目前最新型的水下滑翔机为飞翼布局的水下滑翔机，因其有更高的升阻比从而有更好的水动力特性而受到研究人员的青睐，但飞翼布局的水下滑翔机稳定性较差，可控性不足，因此需要在控制律上加大研究。水下滑翔机的纵向稳定性分析及运动控制是任何一款水下滑翔机控制研究的基础，本文对水下滑翔机的运动控制进行了研究，获得的主要成果如下：第一，飞翼布局滑翔机由于其特殊外形导致其稳定性变差，本文根据纵向运动方程推导出纵向运动参数的传递函数，然后运用经典控制理论去判定系统的稳定性，为控制律的设计奠定基础。第二，水下滑翔机对机动性要求较高，本文利用滑模变结构控制具有响应速度快，对外界噪声干扰和参数摄动具有鲁棒性，且稳态精度高的特点，分别针对水下滑翔机的俯仰、横滚、偏航三种运动设计滑模面，趋近律均采用指数趋近律，最后根据各个运动方程组和滑模算法推算出控制律，同时在仿真之前根据控制律和李雅普洛夫方程证明系统的稳定性。仿真结果表明滑模算法在响应速度和稳定性上有很好的适用性。第三、针对水下滑翔机倾斜转弯时横滚、俯仰、偏航运动存在耦合的问题，采用了一种全鲁棒滑模变结构控制方法，该方法设计了一种全局积分的滑模面，能够消除滑模控制的到达运动阶段，实现了各个运动之间的全程解耦，克服了传统变结构控制中到达模态不具有鲁棒性的特点，同时也使用了PID算法完成了偏航角的控制律设计和仿真实验，并将两种算法的结果在快、准、稳方面做了对比。关键词：飞翼布局，水下滑翔机，运动控制，倾斜转弯，滑模变结构IVABSTRACTUnderwatergliderplaysanincreasinglyimportantroleinresearchofthedeepandopensea.Underwatergliderwithwingsandtailisdrivenbyavariablegravityinthewater,anditchangesposturebyslidingblockandtail,glidingasazigzagroute.Thelatestunderwatergliderusesflyingwingconfiguration,sinceithasahigherlift-dragratioandthushavebetterhydrodynamiccharacteristics,whichisfavoredbymanyresearchers,however,thestabilityofunderwatergliderwithflyingwingispoor.Italsohasaninsufficientcontrollability,sothatweneedtoincreasetheresearchonthecontrollawdesign.Theanalysisoflongitudinalstabilityandmotioncontrolresearchisthebasisofanyunderwaterglider.Thispaperresearchesthemotioncontrolofunderwatergliderandsomeresultsaregotasfollows:Firstly,theflyingwinggliderhasaspecialshapesothatleadstoaninferiorstability,thepaperderivesthetransferfunctionofthelongitudinalmotionparametersaccordingtolongitudinalmotionequation,thenusestheclassicalcontroltheorytodetermineifthesystemhasastability,whichlayafoundationofcontrollawdesign.Secondly,becauseofthehigherrequirementsformobilityoftheunderwaterglider,thispaper,byusingthequickresponsespeed,therobustnesspropertiesoftheoutsidenoisedisturbanceandparameterperturbation,andthehighsteadyprecisionofslidingmodevariablestructurecontrol,designsslidingmodesurfacerespectivelyforunderwaterglider'spitch,rollandyawmotion,adoptingthereachinglawofexponentialrate,anddeterminethecontrollawaccordingtothevariousmotionequationsandtheslidingmodealgorithm.AtthesametimethestabilityisprovedaccordingtothecontrollawandtheLyapunovequationbeforethesimulation.Thesimulationresultsshowthattheslidingmodecontrolhasagoodapplicabilityinresponsespeedandstability.Thirdly,inviewofthecoupledproblemoftheunderwaterglider'srolling,pitchingandyawingmotioninbankedturn,thearticleadoptsarobustslidingmodecontrol,themethoddesignsakindofglobalintegralslidingmodesurface,whichcaneliminatethearrivingstageoftheslidingmodecontrol,inadditionto,itachievesthefulldecouplingamongeachmovementandovercomesthecharacteristicsoflessVrobustnessofthetraditionalslingmodecontrolwheninitsreachingmode.ThispaperalsousesthePIDcontrolalgorithmtocompletethecontrollawdesignandsimulationoftheyawanglecontrol,andmakesacontrastofthetwosimulationexperimentinthreeaspects:quick,stable,accurate.Keywords:Flying-Wing,Underwaterglider,MotionControl,BTT(Bank-To-Turn),SlidingModeVariableStructureVIVII目录摘要.................................................................................................................................................IIIABSTRACT........................................................................................................................................IV目录...............................................................................................................................................VII第一章绪论...........................................................................................................................11.1研究背景及意义................................................................................................................11.2国内外研究现状................................................................................................................41.2.1无人机发展现状.....................................................................................................41.2.2多UAV协同估计与跟踪控制...............................................................................71.3论文主要结构安排............................................................................................................9第二章多UAV海上目标协同跟踪问题建模与分析.......................................................122.1多UAV协同跟踪问题框架............................................................................................122.2多UAV协同估计与跟踪控制建模................................................................................132.2.1传感器量测模型...................................................................................................132.2.2无人机运动模型...................................................................................................142.2.3海上目标模型.......................................................................................................152.3贝叶斯框架下的滤波分析.............................................