分叉分析在水下高速运动体稳定控制中的应用

Application of bifurcation analysis to the stability control of underwater high-speed vehicles

为保证水下高速运动体在水中能稳定地高速运动,使用分叉法分析运动体的运动稳定性和稳定运动的区域.对运动体受力和超空泡特性进行分析,利用Matlab/R2007a simulink仿真平台,建立了水下高速运动体纵向运动动力学模型的模块化仿真模型.采用分叉分析法确定系统分叉点、模型稳定运动的区域和运动稳定性,并使用数值仿真验证.仿真结果证明,建立的水下高速运动体的纵向运动仿真模型符合运动体的实际运动规律,在分叉点处模型的运动特性产生突变,在指定区域内模型能够稳定运动.

To ensure the steady motion of high-speed underwater vehicles, the authors analyzed the stability of their motions and the range of stable motions by using the bifurcation method. Forces acting on an underwater high-speed vehicles and the morphology of supercavities were analyzed. Running on the Matlab R2007a/Simulink platform, a modularized simulation model for the dynamics of the longitudinal motion of an underwater high-speed vehicle was created. It used bifurcation analysis method to determine the bifurcation points of the system, to evaluate the stability range of the model and its stability of motion. Simulation results validated the effectiveness of the theoretical analysis. Results of the simulation also agreed with the real motion law, showing that this model correctly reflects characteristics of the motion of underwater high-speed vehicles. At the bifurcation points, unstable motion occurred; while in specified region, the model experienced smooth motion.