基于自适应滑模的超空泡航行体控制

Adaptive sliding mode control of supercavitating vehicles

给出了超空泡航行体的纵向运动模型,利用前馈控制将航行体模型化为线性模型.考虑航行体质量的变化和水动力系数等不确定性因素,以及超空泡形变带来的干扰问题,利用滑模控制理论设计鲁棒控制器.由于系统的不确性上界不易获得,因此采用范数自适应律估计扰动的上界.最后利用李亚普诺夫稳定性理论证明了闭环系统的稳定性.仿真研究验证了所设计的控制器具有良好的深度调节性能及较强的鲁棒性.

The model of supercavitating vehicle in the dive plane was given. A linear model was obtained by the technology of the feedforward control. Considering the change of vehicle＇s mass center and the uncertainty of hydrodynamic coefficients, along with the perturbation by deformation of cavity. the sliding mode control was used to design robust controller. An adaptation law was used to estimate the upper bounds norm of disturbance because of the upper bounds of the disturbance being not easy to obtain. The stability of close-loop system was proved by Lyapvnov stability theorem. The resuhs of simulation show that the controller has good performance of deeply adjust and robustness.