基于混合扩展卡尔曼滤波的超空泡航行体变深运动控制研究

Research on Variable-depth Motion Control of Supercaviting Vehicle Based on Hybrid Extended Kalman Filter

为解决测量和环境噪声导致的超空泡航行体在变深运动中的失稳问题,提出一种基于混合扩展卡尔曼滤波算法的控制方法。进行水洞实验获取超空泡航行体模型在控制过程中的测量和环境噪声,采用这些数据改进了超空泡航行体的纵向运动数学模型;基于混合扩展卡尔曼滤波算法改进了超空泡航行体变深运动控制器。仿真结果表明,混合扩展卡尔曼滤波算法能够有效地提高超空泡航行体变深运动的稳定性。

A control method based on hybrid extended Kalman filter is proposed to solve the lose control during variable-depth motion of supercavitating vehicle caused by measured and environmental noises.The math model of supercavitating vehicle is improved based on the measured and environmental noises obtained by experiment in water tunnel. The control law is improved by using hybrid extended Kalman filter for variable-depth motion of supercavitating vehicle. Simulated result shows that the the hybrid extended Kalman filter can be used to improve the motion stability of supercavitating vehicle during variabledepth motion.