水下超高速航行体纵向运动的控制方法研究

LONGITUDINAL MOTION CONTROL OF UNDERWATER HIGH-SPEED VEHICLE

水下超高速航行体的全部或大部分表面被空泡包裹,使其阻力显著降低而达到高速航行的目的。与常规水下航行体相比,水下超高速航行体的受力方式、力矩平衡以及弹道控制方法都有显著的差别。该文对超高速航行体的空化器受力、尾部滑行力等进行了系统的分析,建立了水下超高速航行体纵向运动的动力学模型及控制模型。然后以空化器偏转角、航行体攻角及推力矢量偏转角为控制变量,采用线性二次型调节器方法设计前馈反馈控制器,完成了水下超高速航行体控制方法的仿真分析。仿真结果表明:该控制系统能够有效地跟踪控制信号,具有良好的控制品质。为进一步研究水下超高速航行体的控制问题提供了一定的理论参考。

The underwater high-speed vehicle surfaces are enveloped by cavity entirely or mostly, which reduces skin friction drag and allows the vehicle to obtain high speed. So, compared to normal underwater vehicles, the balance of hydrodynamic forces and moments and trajectory control are prominent different. In this paper, the dynamic model and control model of the vehicle are presented based on the analysis of the cavitator forces and planning forces. Taking cavitator deflection, pitch and thrust deflection as control variable, using the linear quadric regulator method, the feedforward and feedback controllers are designed, and then simulation analysis is performed for the system. The simulation results indicate that the control system could track control signals effectively and has better control quality. Therefore, it provides theoretical references for farther studying the control problem of underwater high-speed vehicle.