Course Control of Superspeed Underwater Vehicle
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摘要: 针对超高速水下航行器巡航阶段的超空泡运动特性及其具体运动条件下的特点，考虑发动机推力偏心会造成航向误差，建立了航行器水平面运动方程，分析了其欠阻尼运动特性，提出了基于比例积分算法的极限操舵方式对超高速水下航行器实施航向控制的方法，此类控制方法在确保航向准确性的同时保证了超空泡的稳定性，且简单易实现，鲁棒性好，数字仿真证明该方法的有效性。Abstract: In order to correct the course error caused by the thrust deflexion of a rocket engine, a motion model of superspeed underwater vehicle in horizontal plane is built considering the supercavitation motion characteristics and the unique restriction of the vehicle control in horizontal plane. The underdamping motion characteristics of the vehicle are analyzed.A course control method of the vehicle is presented by adopting the ‘bang-bang’ rudder operating control based on a proportional integral(PI) algorithm. This control method can keep both right course and stable supercavitation. Simulation verifies the simplicity,robustness and efficiency of the present control method.
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[1] 罗凯,党建军，王育才，张宇文.超高速水下航行器纵平面运动特性分析［J］.鱼雷技术，2007, 15(5): 37-40.Luo K, Dang J J,Wang Y C, Zhang Y W.Motion Characteristics on Vertical Plane of Superspeed Underwater Vehicle ［J］.Torpedo Technology, 2007, 15(5): 37-40. [2] 罗凯,党建军,王育才,张宇文.超高速水下航行器定深控制研究［J］，鱼雷技术，2008, 16(1):25-28.Luo K,Dang J J.Wang Y C,Zhang Y W.Depth Control of Superspeed Underwater Vehicle in Vertical Plane［J］. Torpedo Technology, 2008, 16(1):25-28. [3] 詹致祥，陈景熙，鱼雷航行力学［M］，西安：西北工业大学出版社，1990. [4] 徐德民，鱼雷自动控制系统［M］，西安：西北工业大学出版社，1991. -
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