水下超空泡航行器巡航段稳定控制

为研究水下超空泡航行器巡航段稳定控制,保证弹道的可靠性,提出了对超空泡航行器的纵平面、水平面和横滚进行稳定控制.从超空泡航行器流体动力产生的机理出发,提出了一种适应于稳定控制的流体动力布局,建立了航行器空间运动模型,采用空化器首舵对航行器巡航段进行控制,利用极限操舵的控制模式降低了三通道之间的耦合.针对超空泡航行器稳定控制进行了系统动态特性仿真.仿真结果表明弹道航向稳定、深度偏差小、横滚振荡幅度可控;航行器运动参数可迅速达到期望值,过滤过程和稳定性满足系统要求,鲁棒性强.

Cruise Phase Stability Control for Underwater Supercavitating Vehicle

To research the cruise phase stability control and keep the trajectory reliability of Underwater Supercavitating Vehicle(USV),the stability control was adopted about vertical plane,horizontal plane and roll of USV.The hydrodynamic characteristics of USV were analyzed.Based on the hydrodynamic mechanism,a hydrodynamic layout adapted to the stability control was proposed,and a space motion model was established.The cruise phase was controlled by adopting the bow rudder of cavitator.The coupling of three-channel was reduced by using the "bang-bang" rudder operating.The dynamic characteristics of stability control were simulated.The results show that the course of trajectory is stable;the deviation of depth is small,and the oscillation range of roll is controllable.The motion parameter can reach the expected value rapidly.The transient process and stability can meet the demand of system,and the robustness is strong.