Underwater gliders are recent innovative types of autonomous underwater vehicles （AUVs） used in ocean exploration and observation. They adjust their buoyancy to dive and to return to the ocean surface. During the ch...Underwater gliders are recent innovative types of autonomous underwater vehicles （AUVs） used in ocean exploration and observation. They adjust their buoyancy to dive and to return to the ocean surface. During the change of altitude, they use the hydrodynamic forces developed by their wings to move forward. Their flights are controlled by changing the position of their centers of gravity and their buoyancy to adjust their trim and heel angles. For better flight control, the understanding of the hydrodynamic behavior and the flight mechanics of the underwater glider is necessary. A 6-DOF motion simulator is coupled with an unsteady potential flow model for this purpose. In some specific cases, the numerical study demonstrates that an inappropriate stabilizer dimension can cause counter-steering behavior. The simulator can be used to improve the automatic flight control. It can also be used for the hydrodynamic design optimization of the devices.展开更多
In order to minimize the harm caused by the instability of a planing craft, a motion prediction model is essential. This paper analyzed the feasibility of using an MGM（1,N） model in grey system theory to predict pla...In order to minimize the harm caused by the instability of a planing craft, a motion prediction model is essential. This paper analyzed the feasibility of using an MGM（1,N） model in grey system theory to predict planing craft motion and carried out the numerical simulation experiment. According to the characteristics of planing craft motion, a recurrence formula was proposed of the parameter matrix of an MGMfl,N） model. Using this formula, data can be updated in real-time without increasing computational complexity significantly. The results of numerical simulation show that using an MGM（1,N） model to predict planing motion is feasible and useful for prediction. So the method proposed in this study can reflect the planing craft motion mechanism successfully, and has rational and effective functions of forecasting and analyzing trends.展开更多
A maneuver control approach using a scissored pair of control moment gyros is proposed to improve the penetration ability of a hypersonic gliding vehicle(HGV) with a relatively high lift-drag ratio. Then, a multivaria...A maneuver control approach using a scissored pair of control moment gyros is proposed to improve the penetration ability of a hypersonic gliding vehicle(HGV) with a relatively high lift-drag ratio. Then, a multivariable strong coupling nonlinear bank-toturn dynamical model is established for the case of lateral maneuvering of an HGV equipped with a scissored pair of control moment gyros. According to the requirement of coordinated turning of the HGV in a lateral maneuver, a decoupling controller based on feedback linearization and a linear quadratic optimal algorithm is designed. Finally, the large airspace maneuvering trajectories of the HGV including S-shaped, cycloid and spiral maneuvering modes are designed by applying overload control technology. Simulations demonstrate that the designed maneuvering trajectory significantly increases the airspace range and flexibility of the vehicle. The coordinated turn control system achieves an accurate and rapid tracking of the maneuvering trajectories in large airspace.展开更多
Three-dimensional(3D)nonlinear diving guidance strategy considering the coupling between longitudinal and lateral motions for hypersonic vehicle is investigated in this paper.It constructs the complete nonlinear coupl...Three-dimensional(3D)nonlinear diving guidance strategy considering the coupling between longitudinal and lateral motions for hypersonic vehicle is investigated in this paper.It constructs the complete nonlinear coupling motion equation without any approximations based on diving relative motion relationship directly,and converts it into linear state space equation with the same relative degree by feedback linearization.With the linear equation,slide mode control with strong robustness is employed to design the guidance law,and 3D diving guidance law which can satisfy terminal impact point and falling angle constraints with high precision is obtained by substituting the previous control law into the origin nonlinear guidance system.Besides,regarding lateral overload as the standard,hybrid control strategy which can take full advantage of the excellent characters of both bank-to-turn(BTT)and skid-to-turn(STT)controls is designed to improve the guidance accuracy further.Finally,the results of CAV-H vehicle guidance test show that the algorithm can realize high accuracy guidance even if serious motion coupling exists,and has strong robustness to the path disturbances and navigation errors as well.展开更多
文摘Underwater gliders are recent innovative types of autonomous underwater vehicles （AUVs） used in ocean exploration and observation. They adjust their buoyancy to dive and to return to the ocean surface. During the change of altitude, they use the hydrodynamic forces developed by their wings to move forward. Their flights are controlled by changing the position of their centers of gravity and their buoyancy to adjust their trim and heel angles. For better flight control, the understanding of the hydrodynamic behavior and the flight mechanics of the underwater glider is necessary. A 6-DOF motion simulator is coupled with an unsteady potential flow model for this purpose. In some specific cases, the numerical study demonstrates that an inappropriate stabilizer dimension can cause counter-steering behavior. The simulator can be used to improve the automatic flight control. It can also be used for the hydrodynamic design optimization of the devices.
基金Supported by the Foundation of State Key Laboratory of Autonomous Underwater Vehicle, Harbin Engineering Universitythe Fundamental Research Funds for the Central Universities (HEUCFL20101113)
文摘In order to minimize the harm caused by the instability of a planing craft, a motion prediction model is essential. This paper analyzed the feasibility of using an MGM（1,N） model in grey system theory to predict planing craft motion and carried out the numerical simulation experiment. According to the characteristics of planing craft motion, a recurrence formula was proposed of the parameter matrix of an MGMfl,N） model. Using this formula, data can be updated in real-time without increasing computational complexity significantly. The results of numerical simulation show that using an MGM（1,N） model to predict planing motion is feasible and useful for prediction. So the method proposed in this study can reflect the planing craft motion mechanism successfully, and has rational and effective functions of forecasting and analyzing trends.
基金supported by the Key Laboratory Opening Funding(Grant No.HIT.KLOF.2016.071)
文摘A maneuver control approach using a scissored pair of control moment gyros is proposed to improve the penetration ability of a hypersonic gliding vehicle(HGV) with a relatively high lift-drag ratio. Then, a multivariable strong coupling nonlinear bank-toturn dynamical model is established for the case of lateral maneuvering of an HGV equipped with a scissored pair of control moment gyros. According to the requirement of coordinated turning of the HGV in a lateral maneuver, a decoupling controller based on feedback linearization and a linear quadratic optimal algorithm is designed. Finally, the large airspace maneuvering trajectories of the HGV including S-shaped, cycloid and spiral maneuvering modes are designed by applying overload control technology. Simulations demonstrate that the designed maneuvering trajectory significantly increases the airspace range and flexibility of the vehicle. The coordinated turn control system achieves an accurate and rapid tracking of the maneuvering trajectories in large airspace.
基金supported by the National Natural Science Foundation of China(Grant No.61104200)the National University of Defense Technology Innovation Foundation for Postgraduates(Grant No.B140103)
文摘Three-dimensional(3D)nonlinear diving guidance strategy considering the coupling between longitudinal and lateral motions for hypersonic vehicle is investigated in this paper.It constructs the complete nonlinear coupling motion equation without any approximations based on diving relative motion relationship directly,and converts it into linear state space equation with the same relative degree by feedback linearization.With the linear equation,slide mode control with strong robustness is employed to design the guidance law,and 3D diving guidance law which can satisfy terminal impact point and falling angle constraints with high precision is obtained by substituting the previous control law into the origin nonlinear guidance system.Besides,regarding lateral overload as the standard,hybrid control strategy which can take full advantage of the excellent characters of both bank-to-turn(BTT)and skid-to-turn(STT)controls is designed to improve the guidance accuracy further.Finally,the results of CAV-H vehicle guidance test show that the algorithm can realize high accuracy guidance even if serious motion coupling exists,and has strong robustness to the path disturbances and navigation errors as well.
