超空泡水下航行器直航弹道三通道控制与动态特性仿真

Three-channel control for rectilinear motion trajectory of supercavitating underwater vehicle and its dynamic characteristics simulation

水下航行器在超空泡状态直航时,其运动模式和常规全沾湿水下航行器完全不同,为保证该模式下直航弹道的稳定性,提出对超空泡航行器的纵平面、水平面和横滚三通道进行特殊控制。从超空泡航行器流体动力产生的机理出发,分析了其力学特性,建立了航行器三通道空间运动模型;采用空化器首舵和航行器尾舵对超空泡航行器直航弹道进行控制,利用极限操舵的控制模式降低了三通道之间的耦合。针对超空泡航行器直航三通道进行了动态特性仿真,仿真结果表明弹道航向稳定、深度偏差小、横滚振荡幅度可控。

When an underwater vehicle runs supercavitatedly in rectilinear motion, its motion characteristics are different from those of a usual fully wetted vehicle. In order to keep the trajectory stability, a special control, the threechannel control about vertical plane, horizontal plane and roll of supercavitating vehicle was adopted. The hydrodynamic characteristics of supereavitating vehicle were analysed based on the hydrodynamic mechanism, and a three-channel space motion model was established. A three-channel control device for rectilinear motion trajectory was put forward, adopting a bow rudder of cavitator and a tail rudder of vehicle, and the coupling between three-channel was reduced by using the ＂bang-bang＂ rudder operation. The dynamic characteristics of three-channel trajectory were simulated. Analysis results show that the course of trajectory is stable; the deviation of depth is small and the oscillation range of roll is controllable.