超高速水下航行器定深控制

Depth Control of Superspeed Underwater Vehicle in Vertical Plane

超高速水下航行器巡航阶段的核心问题是定深控制问题,超高速水下航行器运行于巡航阶段时具有独特的运动特性。针对超高速水下航行器巡航阶段的运动特性及其具体运动条件下的特点,提出了使用极限操舵方式对超高速水下航行器实施直接深度控制以及通过姿态控制从而间接控制深度的2种深度控制方法,同时还对深度反馈信号的获取进行了讨论。本文提出的控制方法简单易实现,鲁棒性好,数字仿真证明了其有效性。

When a superspeed underwater vehicle runs in cruise phase, its motion characteristics are different from those of a usual bedewed vehicle because a majority of its surface is encircled by supercavitation. Based on the motion characteristics and the unique restricted condition of vehicle control in vertical plane, two depth control schemes adopting the bang-bang＇rudder operating control method were put forward. One is direct depth feedback control, and the other is indirect depth control via controlling the pitch angle feedback. The method of obtaining depth feedback signal was also discussed. These control methods are robust and easy to implement. The validity of these methods are verified by a mathematical simulation.