超空泡航行体加速段控制设计

为研究超空泡航行体在加速阶段动力学建模及稳定控制设计问题,根据空泡截面独立膨胀原理研究了空泡形态及其轴线的偏移,并考虑了空泡记忆效应、重力、空化器定向效应及航行体攻角的影响.采用细长体理论计算了超空泡航行体各区域的流体动力,建立超空泡航行体加速段纵平面内运动数学模型,设计了基于输入输出精确线性化的深度跟踪控制器,并对此进行数学仿真.仿真结果表明:控制器跟踪效果良好;滑行力在极短时间内变为零,有利于提高航行体的稳定性及减小部分沾湿区的摩擦阻力.

Acceleration stage control design for supercavitating vehicle

In order to study the dynamics modeling and stability control design of supercavitating vehicle at the acceleration stage, the shape of natural cavity and the deviation of its axis were investigated according to the principle of cavity expansion independence. The influences of the cavity memory effect, gravity, cavitator orientation effect and attack angle were considered. The hydrodynamic force on each region of the supercavitating vehicle was calculated by means of the theory of slender bodies. Then a mathematical model for the acceleration stage of the supercavitating vehicle was presented for the longitudinal plane. Based on the precision linearization method, a depth tracking controller was designed. The simulation results show that this controller has better tracking performance; the planing force goes to zero in a short time, so the stability of the vehicle is improved and the friction drag of the partially wetted region is decreased.