超高速水下航行器控制方法研究热点综述

Review of Research Hotspots of Superspeed Undersea Vehicle Control Methods

超高速水下航行器借助超空泡减阻技术可以达到常规全沾湿航行器难以企及的200 kn以上的高航速,对这类航行器的研究近年来呈现出由机理阐释向应用研究发展的主导趋势。在此趋势下,针对超高速航行器控制方法的研究日益成为该领域的热点。文中首先给出了超高速水下航行器的概念,继而综述了国内外最新研究进展,随后提出并分析了若干热点研究问题,包括对被广泛引用的Dzielski模型的讨论,以及非线性滑行力、系统不确定性等动力学特性的研究热点,和线型控制、反馈线性化、变结构控制、模糊控制等热点控制方法的优劣对比等,最后对研究现状进行了总结,展望了未来的发展方向,提出对被控对象描述范围的拓展将是超高速水下航行器控制领域未来发展的主要驱动力,同时智能控制也将成为超高速水下航行器控制方法的重要研究方向之一。

With the help of supercavitation drag-reduction technology,the speed of the superspeed undersea vehicle could reach over 200 kn,and this is difficult for conventional fully wet vehicles.In recent years,the researches on this kind of vehicles have shown a leading trend from mechanism to application.Under this trend,control method of superspeed undersea vehicle has become a hotspot in this field.In this paper,the concept of the superspeed undersea vehicle is given,and the latest progress at home and abroad is reviewed.Then several hot research issues are put forward and analyzed,including the discussion about the widely quoted Dzielski model,and the dynamic characteristics such as nonlinear sliding force and system uncertainty,as well as the comparison among the popular control methods,such as linear control,feedback linearization,variable structure control,and fuzzy control.Finally,the latest researches are summarized,and future development directions are prospected.It is pointed out that expansion of the description range of controlled object will be the main driving force on future development of superspeed undersea vehicle control,and intelligent control will also become one of its important research directions.