超空泡航行体的增益自适应全程滑模控制器设计

Design of gain adaptive global sliding mode controller for supercavitating vehicle

超空泡航行体在实际巡航时具有其独特的运动特性,同时还存在着流体动力系数的摄动及尾部流体未知干扰等不确定因素,这些都给航行体的稳定控制带来了困难。改进了目前普遍采用的超空泡航行体的数学模型,设计了全程滑动模态面,采用自适应算法对系统不确定性及外界干扰上界进行了估计,设计了基于滑模理论的控制器,并进行了数学仿真。仿真结果表明:该系统响应快速,具有很好的鲁棒稳定性能。

When a supercavitating vehicle runs in cruise phase,it has different characteristics from those of usual underwater vehicles,and is acted by the perturbation of hydrodynamic coefficient and unknown disturbance on its tail.These problems bring great difficulties for designing stability controller.The mathematical model of supercavitating vehicle was improved,and the global sliding mode function was designed.The upper bound of uncertain factors was estimated by using adaptive arithmetic here,the variable-structure controller was designed,and the mathematical simulation was performed for supercavitating vehicles with the controller.The simulation result demonstrates that the system responds rapidly and has good robust stability.