超空泡水下航行器运动学与动力学模型  

Kinematics and dynamics model of underwater supercavitating vehicles

作　　者：李代金[1] 罗凯[1] 党建军[1] 王育才[1] 张宇文[1] 

机构地区：[1]西北工业大学航海学院

出　　处：《系统工程理论与实践》2013年第9期2437-2442,共6页Systems Engineering-Theory & Practice

基　　金：国家重点基础研究项目(A2720060294);陕西省科技计划项目(2011SA030001);西北工业大学基础研究基金项目(JC20110209)

摘　　要：在考虑超空泡"时间延迟"效应的基础上,建立了强机动情况下的超空泡水下航行器空间运动学与动力学模型.为考察该模型在弱机动条件下的适配性,以航行器俯仰通道为例,对忽略超空泡时间延迟效应和考虑延迟效应两种情况进行了仿真对比研究,得到如下结论:弱机动条件下,两种情况均能较好地反映航行器的运动特性;施加相同的俯仰角时,后者的一阶响应比例增益较小,且表现出较强的振荡特性,在控制系统设计时应特别注意微分环节的引入.研究结论对超空泡水下航行器控制技术研究具有重要意义.The kinematics and dynamics model of strong maneuvering supercavitating vehicles are es- tablished considering time-delay effects. Validating the adaptability of the model to weak maneuvering, two conditions of ignoring and considering time-delay effects are simulated and contrasted in pitch angle channel. Following conclusions are obtained： The motion characteristics of the weak maneuvering vehicle performs well in the two conditions; With the same pitch angle, proportional gain of the single rank re- sponse is smaller in the latter condition; And response of pitch angle performs oscillatory drastically. So differential control arithmetic should be paid more attention to use. The research results have an important significance to the control technology of supercavitation vehicles.

关 键 词：超空泡水下航行器 空泡时间延迟 运动学与动力学模型 强机动 

分 类 号：TJ630.1[兵器科学与技术—武器系统与运用工程]