水下超空泡航行体纵向机动运动控制研究

Studies on a longitudinal maneuvering motion control of underwater supercavitating vehicles

针对超空泡水下航行体机动很难控制的问题,通过对滑水力、尾翼受力的分析,完善了超空泡航行体模型,使用反馈精确线性化方法对非线性系统模型进行线性化处理,使用多输入多输出极点配置法为航行体设计控制器,采用空化器和尾翼分段延时控制的方法,对超空泡航行体在纵平面内的航行深度进行控制.仿真证明,改进的水下超空泡航行体的模型符合实际运动规律,设计的控制器能够在纵平面内实现对水下超空泡航行体机动运动的稳定控制.

In considering the maneuvering of difficult to control underwater supercavitating vehicles,a model of an underwater supercavitating vehicle was developed through analyzing planing and tail wing forces.It turned a nonlinear movement equation into a linear equation using the state variable feedback exact linearization method.Then,using the MIMO pole placement method to design a controller,a control solution concerning the sectional control of the cavitator and tail wing was proposed,and the control depth of the supercavitating vehicle was in the longitudinal plane.The simulation proves that the improvement model agrees with the real motion law,and that the stable maneuvering control was realized in the longitudinal plane.