水下超高速航行器首舵控制系统的设计

Design of Cavitator Control System of Underwater Supercavitating Vehicles

水下超高速航行器处于巡航阶段时,由于其大部分表面被超空泡包裹,运动模式不同于常规的全沾湿航行器;为了对超高速水下航行器的定深弹道实施控制,在研究水下超高速航行器运动模型的基础上,对首舵机控制系统的控制率进行了综合,研制了一种新型的深度间接控制的电动首舵机闭环控制系统;详细介绍了功率控制单元的工作原理、硬件设计的关键技术及控制软件设计;地面考核试验证明该控制系统完全满足超高速航行器的姿态控制要求;研究结果可为水下超高速航行器控制系统的设计提供参考。

Supercavitating vehicles are characterized by substantially reduced hybrodynamic drag from the fully wetted underwater vehicles. Drag is localized at the nose of the vehicle, where a cavitator generates a cavity that completely envelops the body （supercavity）. While a supercavitating vehicle moving in cruise phase, its motion modes is different from that of a usual wetted vehicles. Based on the motion characteristics, an indirect fixed--depth control via controlling the pitch angle feedback schemes adopting the margin steering control method is put forward. A new kind of closed--loop cavitator control unit has been designed. In ground inspect test, it proved that the cavitator control system is robust and easy to implement. The research may be useful for designing the control system of supercavitating vehicles.