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摘要:
在全自动着舰过程中，考虑甲板运动对全自动着舰成功率的影响。针对舰载机响应滞后带来的甲板和舰载机纵向高度不同步的问题，采用甲板运动预报技术对舰船未来有效时间内的运动参数进行预报。建立基于正弦波组合的六自由度甲板运动模型，基于反向传播（BP）人工神经网络建立甲板运动预报模型，提出采用反向传播优化算法减小预报模型训练更新时间，提高预报模型速率和精度。基于超前网络建立甲板运动补偿模型，结合着舰导引系统确保舰载机与甲板运动同相位。建立飞机运动模型，并通过仿真实验，验证甲板运动预报和补偿技术的可行性。
Abstract:The impact of deck motion on the complete automatic landing success rate is taken into account during the landing procedure. Aiming at the asynchrony of the deck and the longitudinal height of the carrier-based aircraft caused by the delay in the response of the carrier-based aircraft, the deck motion prediction technology is used to forecast the motion parameters of the ship in the effective time in the future. A six-degree-of-freedom deck motion model based on sine wave combination is established, and a deck motion prediction model is established based on a back-propagation (BP) artificial neural network. A deck motion compensation model is developed in accordance with the advance network, and the landing guidance system is integrated to guarantee that the vector of the deck and the carrier aircraft are in synchronization. The aircraft motion model is established, and the feasibility of the deck motion prediction and compensation technology is verified through the simulation experiments.
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图 7 本文预报模型在不同海况下的仿真结果
Figure 7. Simulation results of the proposed predicting model under different sea conditions
图 12 基于经典BP预报技术的舰载机纵向着舰航迹
Figure 12. Longitudinal landing track of carrier aircraft based on classical BP prediction technology
图 13 本文预报模型的舰载机纵向着舰航迹
Figure 13. Longitudinal landing track of carrier aircraft based on the proposed predicting model
表 1 甲板运动预报性能
Table 1. Deck motion prediction performances
时间/s 升沉MSE/m 纵摇MSE/(°) 横摇MSE/(°) 4 0.024875 0.025589 0.029882 7 0.023695 0.036056 0.027329 10 0.029782 0.039349 0.043956 13 0.06856 0.076037 0.077719 16 0.089719 0.09724 0.095743 19 0.12533 0.14659 0.131588 
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表 2 舰载机瞬时状态
Table 2. Transient state parameters of carrier aircraft
参数 数值 参数 数值 高度$h$/m 120 偏航角速度$r$/((°)·s−1) 0 速度$V$/(m·s−1) 65.0 滚转角速度$p$/((°)·s−1) 0 迎角$\alpha $/(°) 8 俯仰角速度$q$/((°)·s−1) 0 侧滑角$\beta $/(°) 0 升降舵偏角${\delta _{\mathrm{e}}}$/(°) −3.17 俯仰角${\theta _{\mathrm{f}}}$/(°) 5 副翼偏角${\delta _{\mathrm{a}}}$/(°) 0 偏航角$\psi $/(°) 0 油门开合度${\delta _{\mathrm{T}}}$/% 0.43 滚转角$\phi $/(°) 0 方向舵偏角${\delta _{\mathrm{r}}}$/(°) 0
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表 3 不同海况下纵向甲板运动扰动实验结果
Table 3. Experimental results of longitudinal deck motion disturbance under different sea conditions
海况 高度平均误差/m 高度误差标准差/m 5级 0.460 34 3.613 54 4级 0.376 16 4.510 79 3级 0.393 52 4.014 54
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