超空泡航行体鲁棒H_∞控制研究

Research on Robust H_∞ Control of Supercavitating Vehicle

超空泡航行体的独特航行环境决定它是一个具有运动学耦合、惯性耦合、控制作用耦合、系统参数不确定性特点的多变量系统。针对超空泡航行体的上述特点,文中开展了对超空泡航行体控制系统的鲁棒控制方法的研究。在超空泡航行体的纵平面内数学模型的基础上,设计了超空泡航行体运动的鲁棒H∞/加权混合灵敏度控制器,并在Matlab/Simulink环境下进行了仿真,仿真结果验证了该鲁棒控制器对超空泡航行体运动控制的有效性和鲁棒性。

The unique navigation conditions of supercavitating vehicle determine that it＇s a multi-variable system with kinematics coupling, inertial coupling, controlling couple and＇uncertainty parameters. Focused on the characters, a robust H∞/mixed sensitivity controller based on lateral plane mathematics model was designed and simulated in Matlab/Simulink, The simulation results prove the validity and robustness of the controller for controlling the supercavitating vehicle with uncertainty parameters.