超空泡航行体纵向运动控制的水洞实验  

Water tunnel experiment of longitudinal motion control for supercavitating vehicle

作　　者：白涛[1] 吴振 刘建芸 韩云涛[1] 

机构地区：[1]哈尔滨工程大学自动化学院,黑龙江哈尔滨150001 [2]渤海造船厂集团有限公司规划建设处,辽宁葫芦岛125000

出　　处：《哈尔滨工程大学学报》2017年第7期1006-1014,共9页Journal of Harbin Engineering University

基　　金：国家自然科学基金项目(51309058);黑龙江省自然科学基金项目(F201343)

摘　　要：针对在理想环境下设计的超空泡航行体控制器不能满足实际条件下的控制要求的问题,本文提出了一种基于水洞试验的超空泡航行体纵向运动控制器的等效设计的方法。通过对空化器可控的超空泡航行体的缩比模型的水洞实验,获取了空化器在运动时的空化数和空泡形态数据,以此为基础对超空泡航行体的纵向运动模型进行修正,并采用LPV反演算法设计了控制器,采用仿真实验检验控制效果。结果表明,采用水洞试验数据进行控制器设计,能够更加贴近实际运动环境,为实现超空泡航行体在真实环境中的控制提供了有力的依据。Given that the controller of a supercavitating vehicle designed in an ideal environment can hardly meet the control requirement in actual conditions, an equivalent design method for the longitudinal motional controller of a supercavitating vehicle based on a water tunnel experiment was proposed. In addition, a simulative demonstration was conducted. In the paper, a water tunnel experiment was carried out on the scale model of a supercavitating ve-hicle with controllable cavitator, and the data of cavitation number and shape of cavity were obtained when a cavitator was moving. Subsequently, the longitudinal motion model of a supercavitating vehicle was amended, and an LPV inversion algorithm was applied to design a controller. Finally, the simulation was applied to inspect the control effect. Results show that a controller design based on water tunnel experiment data was close to the real motion environment, thereby providing an important basis for controlling a supercavitating vehicle in the real environment.

关 键 词：水洞实验 超空泡航行体 纵向运动控制 模型修正 线性变参数 仿真验证 空化器 

分 类 号：TP15[自动化与计算机技术—控制理论与控制工程]