水下超高速航行体的动力学建模及控制问题研究

水下超高速航行体的全部或大部分表面被空泡包裹,只有小部分与水接触.空泡的包裹一方面使航行体的阻力显著降低以达到高速航行的目的,另一方面又改变了航行体所受流体动力及其力矩的平衡方式,给超高速水下航行体的建模和控制带来了很大难度.该文采用空化器和尾部控制面联合控制方法,建立了水下超高速航行体纵向运动的动力学及控制模型.利用鲁棒性极点配置算法设计控制器并对该系统进行了仿真分析.分析结果表明,该控制方法能够明显改善超高速航行体系统的动态稳定性和可控品质,为进一步研究水下超高速航行体的动力学控制问题提供了一定的理论依据.

Dynamic modeling and control of underwater high-speed vehicles

An underwater high-speed vehicle is entirely or substantially enveloped by cavities,with only a small part of the body exposed to water.This phenomenon greatly reduces the resistance of the vehicle and is a prerequisite for high speed motion.However,when there is so little contact with water,the balance between the hydrodynamic forces and moments breaks down,making modeling and controlling of underwater high-speed vehicles difficult.In this paper,both the dynamic and the control models for longitude motion were established using a joint control method for cavitator and tail control surfaces.The design of the controller was developed using the robust pole assignment approach,and related simulation analysis was done for the system.The analytical results showed that the proposed control method improves the dynamic stability and control quality of underwater high-speed vehicles,providing a necessary theoretical basis for further study of the dynamic control problem for underwater high-speed vehicles.