水下高速运动体纵向运动建模及稳定控制  

Modeling and stability control of underwater high-speed vehicle

作　　者：白涛[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：《中国科技论文在线》2009年第1期32-38,共7页

基　　金：国家自然科学基金资助项目(60672035);高等学校博士学科专项科研基金项目(20050217021)

摘　　要：为保证水下高速运动体在水中能稳定地高速运动,使用分叉法分析运动体的运动规律并确定控制律。对运动体受力和超空泡特性进行分析,建立了水下高速运动体纵向运动的动力学模型,利用Matlab/R2007asimulink仿真平台设计了水下高速运动体模型的仿真模块化模型。采用分叉分析法确定系统分叉点、模型稳定运动的区域,以此为依据确定最适合系统的极点,设计控制率并使用数值仿真验证。仿真结果证明,建立的水下高速运动体的纵向运动模型符合运动体的实际运动规律,在分叉点处模型的运动特性产生突变,在合适的控制率下可以避免突变产生,使模型能稳定运动。For ensuring steady motion of underwater high-speed vehicle at high-speed in water, determine motion stability and range of steady motion by using bifurcation method. Through analyzing acted forces of underwater high-speed vehicle and morphology of supercavity, the dynamic model of longitudinal motion of underwater high-speed vehicle is established. Using the environment of Matlab R2007a/Simulink, a modularization simulation of underwater high-speed vehicle was implemented. Useing bifurcation method to get bifurcation points of system to determine stability range of the model and stability of motion, simulation results validate ones of the theoretical analysis. The simulation results show that the longitudinal motion model of underwater high-speed vehicle agree with the real motion law, motion characteristics of underwater high-speed vehicle mutate on bifurcation points, catastrophe could be avoided with a proper control law so that the model could move stably.

关 键 词：水下高速运动体 建模 稳定控制 分叉分析 

分 类 号：U661.1[交通运输工程—船舶及航道工程]