超空泡航行体的扰动观测器补偿设计

Disturbance observer and compensation design for supercavitating vehicles

针对水下高速超空泡航行体尾部与空泡壁周期性碰撞的现象,提出了采用扰动观测器来补偿和消除重力的影响。推导了扰动观测器方程,给出了补偿器设计方案。仿真验证了扰动补偿能够避免超空泡航行体前进中周期性碰撞空泡壁的现象,并且控制面偏转角满足正常工作范围的要求。接入扰动估计和补偿控制后,航行体由原来的周期性拍打空泡壁能很快恢复到平稳工作状态。结论是扰动观测补偿的设计能够避免超空泡航行体产生滑行,使运动更为平稳,并且减少了前进的阻力。所提的扰动估计和补偿的控制思想,避免了直接补偿时执行机构行程过大的问题,可用于一般的控制系统设计。

when the underwater high-speed supercavitation vehicles aft e n d pierces the b u b b l e generated planning force, for tlie phenomenon of periodic collisions, the control motliod b a s e d o n observer is u s e d to compensate and eliminate the influence of gravity. Disturbance observer equation w a s d e d u c e d a n d the compensator was given. Simulations of vehicle m a n e u v e r s demonstrate that the c o m p e n s a t i o n c a n avoidthe phenomenon of cyclical collisions , a n d control surface deflection angle satisfy the requirements of t!ie scope of work. After tiie obserer access to the system a n d c o m p e n s a t e the Constant disturbance, the su-percavitation vehicles can b e b a c k to smoot!ily ru n n i n g f r o m periodic slapping the cavity wall quickly.Conclusion is that observer a n d c o m p e n s a t i o n control avoid the planning force generatinthe underwater high-speed supercavitation vehicles r un smoothly a n d the resistance is r e d u c e d aslo. D is-turbance estimation and c o m p e n s a t i o n control design w a s p r o p o s e d, w h i c h avoid the p r o b l e m tstroke is too large in direct c o m p e n s a t i o n, a n d this idea c a n b e u s e d in the design of generalcontrol system.