导弹

With the demand of quick respond and precision for missile flight in terminal guidance, an adaptive nonlinear controller is designed that guarantees tracking performance when the uncertain parameters vary within stability bound. In order to achieve asymptotic tracking, adaptation is introduced to enhance closed-loop robustness, while mach number and mass changes with 35%.

文中根据导弹响应快和精度高的基本要求，在导弹变向跟踪接近目标时，对导弹制导控制过程中的控制方法进行研究和数学推导，提出了一种导弹末制导的自适应控制方法，该方法提高了导弹马赫数和质量在较大范围（35%）内变化时系统的响应精度和稳定性。

The missile is subsonic and probably not terrain following (making it more prone to being shot down, as in the case of an Iraqi one shot down by a Royal Navy Type-42 destroyer's obsolete Sea Dart SAM system) but does have the advantage of being able to carry a much larger warhead than comparable anti-ship missiles.

该导弹为亚音速，很可能不是沿地势飞行（这样导弹更易被击落，如英国皇家海军的42型驱逐舰曾用过时的"海矛"防空导弹击落一枚伊拉克的巡航导弹），但是它的优势在于可以携带比同类型反舰导弹重量更大的弹头。

System of coordinates and the transfer of axes are introduced to analyze the force and the moment of force. Based on this, the dynamic equation and the kinematics equation are built. Combining with the mass changes and the control relationship, the kinematics model of missile is completely set up. According to the subject studied in this thesis, and based on some assumptions, the model of Bank-to-Turn missile is built.

引入了研究导弹制导控制系统常用的坐标系及各坐标系之间的关系；分析了作用在导弹上的力与力矩，在此基础上建立了导弹动力学方程和运动学方程，结合导弹质量变化和对导弹的操纵关系，建立了空空导弹的运动学模型；针对本文的研究对象，在一定假设的基础上建立了倾斜转弯导弹的数学模型。

Case one: ignoring atmosphere resistance, the impact point is estimated using the ellipse theory with the data of angle measurement . Case two: considering atmosphere resistance, the coefficient of missile trajectory is estimated by EKF and the impact point is estimated using missile's dynamic model.

忽略大气阻力，根据椭圆理论，利用自由飞行段所获得的弹道参数信息估计导弹落点；考虑大气阻力，通过滤波手段得到导弹的弹道系数，再利用导弹的动力学模型递推精确估计导弹落点。

Former Soviet Union, a huge anti-ship missile family and the "saturation attack" tactics during the Cold War era formidable enough to make any enemies, as its main competitors, the United States, in order not to make its own Soviet-made aircraft carrier battle groups to become live targets of anti-ship missile in 1963 years, in November raised the "advanced surface missile systems" program, when the main purpose is to be used to deal with 80 years of air threat, ready to replace the "brass Knight","Beagle" and the "Tatar" 3 kinds of traditional ship-to-air missiles.

前苏联庞大的反舰导弹家族和"饱和攻击"战术在冷战时代足以令任何敌人望而生畏，作为其主要竞争对手的美国，为了不使自家的航母编队成为苏制反舰导弹的活靶，在1963年11月提出来的"先进的水面导弹系统"计划，当时的主要目的是用于对付80年代的空中威胁，准备取代"黄铜骑士"、"小猎犬"和"鞑靼"三种传统舰对空导弹。

The digital model of hel icopter main motor downwash flow and missile dynamics was established. The variation of the missile attitude and traject ory under rotor downˉwash flow are analyzed through simulation, the variety curves of them are provided on both cond itions that with or without the control of autopilot.

通过建立直升机下洗流场数学模型和导弹动力学和运动学模型，对导弹在旋翼干扰流场下的姿态和弹道变化进行了仿真研究，给出了在导弹自动驾驶仪启控或不启控状态下旋翼下洗流干扰对导弹姿态和弹道影响变化曲线。

Under the definitions of the probability and the expected values of unhit attacking missile quantity,the expected values of anti-missile quantity and attacking missile quantity hit by a single anti-missile,the weapon operation efficiency was presented at various engagement pattern...

在定义未被命中的来袭导弹概率和数学期望、反导导弹数量的数学期望、单发反导导弹命中来袭导弹数学期望概念的基础上，研究不同作战方式下的武器作战效能。结果表明：提高导弹武器的效能，最为可行的方式是采用2发为单位的齐射。

To overcome the bad effect resulting from the nonlinearity time-variability and uncertainty on autopilot system performance during the motion process of aerodynamics missile, and to further improve the flight quality of missile, the autopilot system and used control method are researched. Firstly the integrant structure of system is discussed; then baaed un introducing the traditional PID method, controllers for missile attitude motion are designed respectively using fuzzy self-turning PID method and neural network self-adaptive PID method; at last a simulation experiment is finished. By comparing the simulation results that the designed controllers have good qualities is showed, and the feasibility and validity of applying fuzzy control and neural network into automatic control of aerodynamics missile is confirmed, and the base that other nonlinear control theory can be combined with the traditional control for missile to further improve the performance of missile control system is established.

为了克服飞航导弹运动过程中的非线性、时变性和不确定性对自动驾驶仪系统性能的不良影响，进一步提高导弹的飞行质量，对自动驾驶仪系统及其采用的控制方案进行了研究；首先对系统的整体结构进行了分析，然后在介绍经典PID方案的基础上，分别采用模糊自调整PID方案和神经网络自适应PID方案设计了导弹姿态运动控制器，最后进行了仿真实验；仿真结果的对比展示了所设计控制器良好的品质，验证了将模糊控制和神经网络应用于飞航导弹自动控制中的可行性和有效性，为其它非线性控制理论与导弹传统控制相结合以进一步提高导弹控制系统的性能奠定了基础。

The dynamics model of missile sealifts system for navy ships connected parallely is established. The dynamics simulation analysis of system is studied. The dynamics characteristic of missile box on the condition of different sea states and place parameters of crane are analyzed. The theory and technology bases for the design of system of missile sealifts or navy ships connected parallely are presented. The controlled multibody system dynamics of the system of missile sealifts with wave compensation for navy ships connected parallely is presented. On the condition of stochastic momevement of depot ship and incept ship and under the action of sealifts and wave compensation, the dynamics of sealifts system is studied by using discrete time transfer matrix method of multibody system. The calculate method of electric machine impule is developed in the process of supplying missile and action of wave compensate. Based on the PLC control system, the control method, which control supply process by testing torque of guide strings is presented.

本文建立了舰艇并靠导弹补给动力学模，进行了舰艇并靠导弹补给及波浪补偿系统动力学仿真分析，获得了导弹箱在不同海况下和舰用起重机不同位置参数的运动规律，为舰艇并靠导弹补给系统设计提供了理论依据和技术基础；建立了舰艇并靠导弹补给及波浪补偿受控系统多体动力学，在补给舰和被补给舰随机运动下，在补给和波浪补偿系统作用下，应用多体系统离散时间传递矩阵法进行了补给系统动力学分析，得到了导弹补给过程中，波浪补偿时，导引电机和卷扬电机输入电机脉冲计算方法；建立了以PLC 控制系统为核心，用扭矩传感器测量导引带产生的扭矩来控制补给过程的控制方法；对系统振动问题进行了研究，提出了通过调整伺服电机参数减少系统振动的方法。

The main difficulty in maintaining the low-flying, right before the target stopped before there are some mountains, trees also more than the flying height, waiting for the alarm, flying low over the tree would die a hurry, here is a pattern even distracted skills tree from the woods and trees around the gap between the wearing, wearing a back end, failed several times, the requirements of high technology is,豁出去later, and is not even a few fighter planes like you play, the beginning fly, warning a short while, and soon the hills, two aircraft from put a red 4 missiles, missile thought more terrible, the result was even easy to flash, I saw a missile fly in front of the explosion really fun, in fact, the missile is a good hide, and more attention after the perspective to observe the missile position, when the missile away from you, almost 100 distance of 100 -200 m,(their estimate of the distance from there anyway) who has risen sharply and optional, you can play to stimulate the rapid decline in almost a sudden sharp rise in the ground, of course, elections are the rapid turn right turn left, air giant slalom, flip aircraft line, multi-练练, the computer is the point of missile小意思, nothing after playing air combat, interesting ah ~~~~ even the highest record was 28 to avoid a meeting, including surface-to-air missiles, the computer told me to fly by the tail I am thrown to the ground the trees the mountains 11 miles or a word and the computer novice and more air play than the simple low wear and more trees to the

难度主要在保持低空飞行，快到目标前有一些高山挡住，树还特别多，飞的比树高，等着报警把，飞的比树低想死着急，这里偶愣是用花样技巧，从树林里树与树的缝隙之间穿了过来，最后又穿了回去，失败几次，要求技术实在是高，后来豁出去了，不就是几架战斗机偶就跟你们玩玩，一开始就高飞，不一会报警了，快到山头， 2架飞机冲过来放了4导弹，原以为导弹多可怕，结果，被偶轻松闪过，看见导弹飞到我前面爆炸真好玩，其实导弹是很好躲的，注意多用后视角，观察导弹位置，当导弹离你差不多100-200米百距离，(自己估计的反正有段距离)可选者急速上升，还可以玩刺激急速下降快到地面时突然急速上升，当然选者急速右转左转，空中大回转，翻转飞机都行，多练练，电脑那点导弹完全是小意思，以后没事耍空战，有意思啊~~~~偶最高纪录是1次避了28枚导弹包括地对空，电脑跟我机尾飞被我甩在地上山上树上海里11次总之新手还是和电脑多玩玩空战比起超低空穿树简单的多的去了

As she looked at Warrington's manly face, and dark, melancholy eyes, she had settled in her mind that he must have been the victim of an unhappy attachment.

每逢看到沃林顿那刚毅的脸，那乌黑、忧郁的眼睛，她便会相信，他一定作过不幸的爱情的受害者。

Maybe they'll disappear into a pothole.

也许他们将在壶穴里消失