CAJ | 학술논문

潜射导弹运载器采用水平发射、垂直出水攻击方式时，常规的水弹道控制系统因欧拉姿态角奇异等问题难以正常工作。采用正反欧拉角2套姿态描述系统，利用各自的奇异特点，设计了在弹道初始阶段利用正欧拉角控制规避和爬升弹道、末期利用反欧拉角精确控制出水俯仰角至90°的双欧拉控制法，并进行了仿真试验。仿真结果表明，利用双欧拉控制法既可以保证弹道数据的直观性，又可大幅提高运载器出水俯仰角的控制精度。该方法不但可以用于运载器水弹道控制方案设计，亦可用于同类别的涉及大姿态机动的控制系统设计。
잠사도탄운재기채용수평발사、수직출수공격방식시，상규적수탄도공제계통인구랍자태각기이등문제난이정상공작。채용정반구랍각2투자태묘술계통，이용각자적기이특점，설계료재탄도초시계단이용정구랍각공제규피화파승탄도、말기이용반구랍각정학공제출수부앙각지90°적쌍구랍공제법，병진행료방진시험。방진결과표명，이용쌍구랍공제법기가이보증탄도수거적직관성，우가대폭제고운재기출수부앙각적공제정도。해방법불단가이용우운재기수탄도공제방안설계，역가용우동유별적섭급대자태궤동적공제계통설계。
When a sub-launching missile carrier takes horizontal launch and vertical water-exit, the traditional water trajectory control system fails to work normally due to the singularity of Euler angles. In this paper, two Euler angle systems with their own singularity features are adopted to design a new control method. In initial stage of trajectory, positive Euler angles are used to accomplish the evadable and ascending motions, while the reverse Euler angles are employed to control pitching angle to 90° precisely at the water-exit stage. Simulation results show that the proposed dual-Euler control method can make the trajectory data intuitive and clearly improve the precision of water-exit pitch angle. This method can be applied to control scheme design of missile carrier water trajectory, and can also be extended to related control system design concerning large attitude maneuver.