| 1. | The dynamic models of the sonar array are predigested logically , the concise and banausic models are given
对猎雷声纳基阵的动力学模型进行简化研究，给出了简化后简洁、实用的数学模型。 |
| 2. | The author puts forward that using the measurable disturbance decoupling control to compensate the influence of the boat posture on sonar array posture
首次提出了以干扰解耦控制来补偿艇体姿态对声纳基阵姿态的影响。 |
| 3. | By studying and simulating the sonar array robust disturbance decoupling , the author points out that using the robust disturbance decoupling control to compensate disturbances of the boat posture is correct and feasible
对猎雷声纳基阵进行可测干扰哈尔滨工程大学博士学位论文解耦研究，仿真结果表明，本文提出的补偿方案是正确的、可行的。 |
| 4. | The mine - hunting sonar system is produced in such a condition , and it defines the torpedo ' s position by use of sound wave emit by the sonar array which is installed on the bottom of the ship
猎雷声纳就是在这样的情况下诞生的。它是利用安装在船底部声纳基阵腔内的声纳发射的声波，经目标反射后成像在显示屏上，从而确定水雷的存在及位置。 |
| 5. | This paper discusses the pid and sliding mode variable structure ( smvs ) control of the sonar array attitude stabilization system respectively and designs the digital controllers . the simulation results have been compared
本文分别研究了声纳基阵姿态稳定系统的pid控制及滑模变结构控制方法，设计了相应的控制器，针对仿真结果，比较了两者之间的优劣。 |
| 6. | At last , this paper realizes the sonar array attitude stabilization system based on the simulation circuitry and introduces the method of how to make control system with pc / 104 . the attitude stabilization system is debugged successfully .
最后，对上述声纳基阵姿态稳定系统进行了基于模拟电路的硬件实现，应用pc 104实现控制规律，并对整个系统进行调试。 |
| 7. | Mbss system is a complex system with different kinds of sensors . the author analyzed the main sources of error of the system , studied the synthetic error compensation method for sonar array . besides , methods for pre - processing of on - ship data and combined processing of time and space for depths were also studied , which could remove extremes and enhance the quality of digitized final come out efficiently
多波束测深系统是一个多传感器组合的复杂系统，本文分析了系统主要误差的来源，论证了声纳基阵误差综合修正方法，并提出了测量数据的预处理方法和测深数据的时间与空间联合处理方法，可以有效剔除野值，提高数字成果图的成图质量。 |
| 8. | First , according to the orthonormal quality and the rational choice of working point of the sonar array three shafts frame , the structure of the models is predigested preliminarily ; secondly , according to the quality indexes and the coupling quality between frames , relatively small quantum is neglected . so the complex non - linear coupling models of the sonar array are predigested farther ; lastly , considering the characteristic of the model coefficient matrix , the methods of the low rank polynomial approach and the error simulation are introduced . so the models are predigested again
首先从声纳基阵框架结构的正交性和工作点的合理选择出发，使模型的结构得以简化；其次根据系统性能指标及框架间耦合性强弱，忽略相对小量，对声纳基阵复杂的非线性耦合模型进一步简化；最后考虑模型系数矩阵的特点，运用低阶多项式逼近和误差仿真的方法，实现了对模型的再次降阶简化处理。 |
| 9. | Due to the moving base existence of the minehunting and the frame structure characteristic of the sonar array , a new modeling thought in which the boat body coordinates is regarded as moving coordinates and the whirligig equation of sonar array compared with the self coordinates is founded on the basis of the euler ' s theorem and the coordinate transform is introduced . the dynamic equations of minehunting sonar array with the state matrix form are founded by settling the dynamic models with the vector form . so it offers theory foundation for analyzing the dynamic characteristic and designing robust control
由于猎雷艇作为动基座的存在和声纳基阵的框架结构特点，提出了以艇体坐标系为运动坐标系，运用变形的欧拉定理和坐标变换建立声纳基阵相对自身坐标系的旋转运动方程的建模思想；将所建立的矢量形式的动力学模型展开整理，获得了状态矩阵形式的猎雷声纳基阵动力学方程，为系统动力学模型的实用化奠定了基础。 |
| 10. | By analyzing and studying the dynamic characteristic of the minehunting sonar array , the author points out that the minehunting sonar array posture control system is a non - linear and intense coupling dynamic system . according to characteristics of the common inertia matrix , the author testifies that the inertia matrix of the minehunting sonar array has many dynamic characteristics such as the limited boundary quality , the symmetry quality and the positive definite quality
对猎雷声纳基阵的动力学特性进行分析研究，指出了猎雷声纳基阵控制系统为非线性、强耦合的动力学系统；从一般的惯量矩阵特性入手，证明了猎雷声纳基阵的惯量矩阵具有有界性、对称性及正定性等动力学特性。 |
