| 超空泡航行体的增益自适应变结构控制设计 |
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| 引用本文： | 吕瑞,于开平,魏英杰,曹伟,张嘉钟,王京华.超空泡航行体的增益自适应变结构控制设计[J].兵工学报,2010,31(3):303-308. |
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| 作者姓名： | 吕瑞 于开平 魏英杰 曹伟 张嘉钟 王京华 |
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| 作者单位： | 哈尔滨工业大学,航天学院,黑龙江,哈尔滨,150001;哈尔滨工业大学,航天学院,黑龙江,哈尔滨,150001;哈尔滨工业大学,航天学院,黑龙江,哈尔滨,150001;哈尔滨工业大学,航天学院,黑龙江,哈尔滨,150001;哈尔滨工业大学,航天学院,黑龙江,哈尔滨,150001;哈尔滨工业大学,航天学院,黑龙江,哈尔滨,150001 |
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| 基金项目： | 博士点基金，国家自然科学基金 |
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| 摘 要： | 针对超空泡航行体在实际巡航时具有其独特的运动特性,同时存在流体动力系数的摄动及尾部流体未知干扰等问题,提出了增益自适应变结构的控制方法。首先改进了目前普遍采用的超空泡航行体的数学模型,借鉴Backstepping思想设计了滑动模态面;采用增益自适应算法对干扰未知上界进行了估计,最后设计了基于变结构理论的控制器,并进行了数学仿真。仿真结果表明:该系统响应快速,具有很好的鲁棒稳定性能。
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| 关 键 词： | 控制理论 超空泡 数学模型 自适应 变结构控制 |
Design of Gain Adaptive Variable-structure Controller for Supercavitating Vehicle |
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| LV Rui,YU Kai-ping,WEI Ying-jie,CAO Wei,ZHANG Jia-zhong,WANG Jing-hua.Design of Gain Adaptive Variable-structure Controller for Supercavitating Vehicle[J].Acta Armamentarii,2010,31(3):303-308. |
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| Authors: | LV Rui YU Kai-ping WEI Ying-jie CAO Wei ZHANG Jia-zhong WANG Jing-hua |
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| Affiliation: | （School of Astronautics, Harbin Institute of Technology, Harbin 150001, Heilongjiang, China） |
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| Abstract: | Regarding to these problems that supercavitating vehicles have different characteristics from usual underwater vehicles in cruise phase and are acted by the perturbation of the hydrodynamic coefficient and the unknown disturbance on its tail,a gain adaptive control method bases on variable-structure theory was presented.The mathematical model of supercavitating vehicle was improved,and the sliding mode function was designed by using Backstepping theory for reference;upper bound of uncertain factors was esti... |
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| Keywords: | control theory supercavitation mathematical model adaptive variable-structure control |
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