超空泡航行体纵向运动的鲁棒极点配置控制

由于空泡及滑行力的存在,使得超空泡航行体的建模及控制问题变得非常复杂,在其模型简化过程中会产生一定的建模误差,采用鲁棒极点配置算法进行超空泡航行体控制可以有效克服这一缺点.对超空泡航行体所受的流体动力、尤其是滑行力的动态特性进行了分析整理;建立了超空泡航行体纵平面内的动力学模型;最后利用鲁棒极点配置算法设计了控制器.仿真结果表明,该控制系统具有较强的鲁棒性及稳定性.对各控制变量的控制效果进行了对比分析,分析结果表明空化器比尾舵具有更好的控制效果.

Longitudinal motion control of supercavitating vehicles using the robust pole assignment method

Owing to the existence of planing forces and cavitation, modeling and control problems for supercavitating vehicles are very complicated. A model predigestion process would produce some modeling errors, while using the robust pole assignment method to control the supercavitating vehicle can overcome this defect efficiently. The authors analysed the hydrodynamic characteristics of supercavitating vehicles, focusing on analysis and integration of the dynamics of planing forces. A dynamic model of a supercavitating vehicle was then built in the longitudinal plane. Finally a controller was designed using the robust pole assignment method. Simulation results showed that the control system is both robust and stable. Moreover, when the control efficiency of various control variables was compared, it became clear that a cavitator allows better control than fins.