时滞超空泡航行体复杂控制系统设计  

COMPLEX CONTROL SYSTEM DESIGN FOR TIME DELAY SUPERCAVITATING VEHICLE

作　　者：赵新华[1,2] 段广仁[1] 孙尧[2] 

机构地区：[1]哈尔滨工业大学航天学院,黑龙江哈尔滨150001 [2]哈尔滨工程大学自动化学院,黑龙江哈尔滨150001

出　　处：《工程力学》2011年第9期234-239,共6页Engineering Mechanics

基　　金：国家自然科学基金项目(50909027);高等学校博士学科点专项科研基金项目(20050217021)

摘　　要：根据Logvinovich提出的空泡截面独立扩张原理,空泡某一截面的形状与空化器的运行轨道之间存在时延,进而使得超空泡航行体的非线性动力学模型存在时延(记忆)效应。针对超空泡航行体存在的时延特性,建立超空泡航行体纵向运动非线性时滞动力学模型,并对其进行复杂控制系统设计。分别设计前馈调节器及反馈调节器,前馈调节用于克服滑行力干扰,反馈调节采用基于反馈线性化的滑模变结构控制方法保证系统的控制精度。仿真结果表明,系统对阶跃信号的动态响应过程衰减较快,调节时间为1.5s;系统的稳态误差为小于±5%,能够满足工程实际中的稳态性能指标。According to the Logvinoch Theory of Independent Expansion, there is a time delay between each cross-section of the cavity expands and the path of the cavitator, such that the nonlinear dynamics model of supercavitating vehicles presents time-delay （memory） effects. In this paper, a nonlinear time-delay dynamic model is built and a complex control system is designed for the vehicle. A feedforward regulator and a feedback regulator are designed respectively. The feedforward regulator is used to eliminate disturbance of a planning force. The feedback regulator applied feedback linearization sliding mode to guarantee the control precision. The simulation results indicate that the dynamic response of step response curve decays fast, and adjusting time is 1 .Ss. The steady-state error is less than ±5%, which could fulfill the stable performance index of practical engineering.

关 键 词：超空泡 时延 前馈调节器 反馈线性化 滑模变结构 

分 类 号：TP13[自动化与计算机技术—控制理论与控制工程]