水下超高速航行体非线性鲁棒控制器设计  

Design of Nonlinear Robust Controller for Underwater High-speed Vehicle

作　　者：韩云涛[1] 孙尧[1] 莫宏伟[1] 

机构地区：[1]哈尔滨工程大学自动化学院,哈尔滨150001

出　　处：《武汉理工大学学报（交通科学与工程版）》2010年第2期221-224,232,共5页Journal of Wuhan University of Technology（Transportation Science & Engineering）

基　　金：国家自然科学基金项目资助(批准号:60672035)

摘　　要：水下航行体在高速运动时,其表面大部分被空泡包裹.航行体尾部与空泡壁的相互作用力的存在使航行体模型具有较强的非线性.文中将基于反馈线性化的非线性鲁棒控制策略应用于水下超高速航行体纵向运动控制.反馈线性化可以实现航行体动力学模型的非线性解耦,得到系统精确线性化模型.针对线性化模型设计系统鲁棒控制器,解决由于模型不准确、参数摄动等引起的鲁棒性问题,仿真结果表明,所设计的鲁棒控制器是有效的.In high-speed flight, the surfaces of an underwater vehicle are enveloped by cavity entirely or mostly. Due to the existence of interactions between tail of body and cavity wall, supercavitating vehicle model is highly nonlinear. A control structure integrating H∞ control with the feedback lineariza- tion is designed for underwater high-speed vehicle. Linearization of the model based on differential geometry and H∞ controller design for linearized model improves robustness of parameter perturbation and external disturbance. The simulation studies demonstrate that the robust controller is feasible for underwater high-speed vehicle.

关 键 词：水下超高速航行体 反馈线性化 非线性鲁棒控制 滑行力 

分 类 号：TJ630.33[兵器科学与技术—武器系统与运用工程] TP273[自动化与计算机技术—检测技术与自动化装置]