超高速水下航行器航向控制研究

Research on Direction Control of Superspeed Underwater Vehicle

超高速水下航行器在水下航行时,表面大部分被超空泡所包覆,其运动特性发生显著变化,使得其工况变得更为复杂、控制难度加大;通过分析它的运动特点,建立了系统模型方程,并提出把空化器作为控制面,通过操纵其舵角改变量来控制航行器航向;最后运用PI极限舵控制算法进行仿真分析,结果表明此控制方法简单易实现,产生的偏差小,同时还提高了系统的响应速度,较好地满足了系统要求,分析结论可为超高速水下航行器控制系统设计提供参考。

When superspeed underwater vehicle is navigating in the water, it is wrapped with supercavitation, which makes the motion characteristics change greatly. Therefore the control becomes more complicated and difficult. Through analyzing the motion characteristics of superspeed underwater vehicle, this paper proposes a method of using cavitator as control surface and establishes the model equation of the system. Then the direction can be controlled by operating its rudder angle to control the motion of vehicle. Finally the direction control scheme which uses a PI arithmetic and the simulation result demonstrates that this programme is easy to actualize, meanwhile improves the system＇ s response speed and reduces the deviation, which can meet the requirements of the system well. The research may be useful for designing the control system of a superspeed underwater vehicle.