超空泡水下航行器定深控制研究

极高的航速使得对超空泡水下航行器的控制变得异常复杂. 为了对其深度进行有效控制, 必须对其纵平面运动特性进行研究. 本文首先建立了超空泡水下航行器的纵平面运动模型, 分析了其纵平面运动特性; 然后进行了控制算法的综合; 最后, 仿真及试验结果均验证了所设计的航行器纵平面运动控制算法的有效性. 试验结果表明该控制系统具有较高的控制精度. 本文的研究成果为进一步研究水下超空泡航行器的运动控制提供了必要的理论基础.

Studies on Fixed-depth Control of Supercavitating Vehicles

A supercavitating vehicle is a complex high-speed underwater body that is exposed to extreme operating conditions due to its speed. To successfully control the depth and attitude, it is necessary to study the motion characteristics of the vehicles on a vertical plane. This study investigates the motion model on the vertical plane and analyzes the dynamic characteristics of supercavitating vehicles. Then, a fixed-depth control method is developed. For validating the designed control-algorithm, related simulation and experiments have been carried out for the control system. Analytical results show that the proposed control system accomplishes precise depth control of the supercavitating vehicles, providing a necessary theoretical basis for further study of the dynamic control problem for underwater supercavitating vehicles.