基于空泡记忆效应的水下超空泡航行体建模与控制

Modeling and control of underwater supercavitating vehicle based on memory effect of cavity

利用超空泡可以大幅地提高水下航行体的速度,为了研究超空泡航行体的动力学建模和控制问题,根据空泡膨胀独立性原理,研究了空泡的记忆效应及其对空泡形态的影响,详细计算了超空泡航行体各部分所受的流体动力,计算过程中还考虑了空化器定向效应和空泡上飘变形,研究了航行过程中尾翼效率变化规律,建立了一种更精细的超空泡航行体非线性动力学模型。设计了基于输入输出精确线性化的鲁棒极点配置控制器,仿真结果表明实现了系统在一定初始扰动下的稳定控制。

In order to explore dynamics modeling and control of supercavitating vehicles,the memory effect of the cavity and its influence on shape of cavity were discussed based on the principle of cavity expansion independence.The cavitator orientation effect and cavity floatation were taken into account in computing the hydrodynamic forces of all parts of the supercavitating vehicle.Efficiency of the fin as the fin immersion depth changes while the vehicle is traveling underwater was investigated.A more precise nonlinear dynamics model of supercavitating vehicle was established.Robust pole placement controller was designed after exact input-output linearization.Simulation results indicate that stabilization control of the close-loop system with special initial disturbance is achieved.