超空泡航行体H_∞状态反馈设计  

H-infinity state feedback design for supercavitating vehicles

作　　者：庞爱平 何朕[1] 王京华[1] 王广雄[1] PANG Ai-ping;HE Zhen;WANG Jing-hua;WANG Guang-xiong(Department of Control Science and Engineering, Harbin Institute of Technology, Harbin Heilongjiang 150001, China)

机构地区：[1]哈尔滨工业大学控制科学与工程学院,黑龙江哈尔滨150001

出　　处：《控制理论与应用》2018年第2期146-152,共7页Control Theory & Applications

基　　金：国家自然科学基金重点项目(U1564207)资助~~

摘　　要：针对超空泡航形体的控制设计问题,提出采用H_∞控制.超空泡航行体是尾部拍打着空泡内壁滑行前进的,所以要在持续的滑行力作用下保持各个状态变量在指定范围内变化,文中分析了这种H_∞性能要求.当超空泡航形体受到扰动后会反复碰撞上下空泡壁而最终失稳,文中还分析了超空泡航行体这种特殊的稳定性要求.这些控制要求构成了H_∞设计中加权系数的选择问题.文中从Riccati方程的病态问题,低频特性的要求,和姿态稳定性等多方面综合考虑,给出了解决方案.仿真结果表明满足了多方面的要求.文中所提出的设计思路也可供其他的H_∞问题参考.This study proposes an H-infinity design for controlling high-speed supercavitating vehicles(HSSV).Because the weight of the body forces the tail of the vehicle into contact with the cavity,the body skips forward on the cavity wall.Therefore,the state variables of the vehicle must be kept within reasonable limits under the consistent planing force acting on the tail.This H-infinity performance requirement is discussed and analyzed in the paper.In addition,the HSSV may respond to perturbation by hitting upwards and downwards against the cavity wall,eventually losing stability.This special stability requirement of an HSSV is also discussed in the paper.The aforementioned requirements lead to the problem of selecting weights for the state variables and control inputs.A comprehensive solution to this weight selection problem is presented,which takes into account solving ill-conditioned Riccati equations,as well as the requirement of a lowfrequency domain and the attitude stabilization problem.The simulation results show the effectiveness of the proposeddesign.Furthermore,this design methodology can also be used for other H-infinity problems as well.

关 键 词：超空泡航行体 滑行力 H∞控制 状态反馈 

分 类 号：TP273[自动化与计算机技术—检测技术与自动化装置]