潜载随动系统的扰动特征与复合轴补偿机理研究  

Investigation on the Perturbation Characteristics and Compound Axis Control for Submarine-borne Servo System

作　　者：刘宗凯[1,2] 陆金磊 薄煜明[1] 王军[1] 汤兆烈 LIU Zongkai;LU Jinlei;BO Yuming;WANG Jun;TANG Zhaolie(MIIT Key Laboratory of Advanced Solid Laser,Nanjing University of Science and Technology,Nanjing 210094,Jiangsu,China;National Key Laboratory of Transient Physics,Nanjing University of Science and Technology,Nanjing 210094,Jiangsu,China)

机构地区：[1]南京理工大学先进固体激光工业和信息化部重点实验室,江苏南京210094 [2]南京理工大学瞬态物理国家重点实验室,江苏南京210094

出　　处：《兵工学报》2019年第4期837-847,共11页Acta Armamentarii

基　　金：国家自然科学基金项目(11702139);先进固体激光工业和信息化部重点实验室开放基金项目(30918014115-009)

摘　　要：当潜艇在水下高速行进时,海水会在潜艇表面形成脱体边界层和分离涡,大尺度分离涡的生成和脱体会引起潜艇力与力矩的大幅度波动,从而影响潜载激光武器随动系统的跟瞄精度与毁伤效能。以潜载激光武器粗精复合轴跟瞄系统为研究对象,分析了潜艇流噪声对粗、精两级跟踪输出误差的影响。基于流体力学基本控制方程,通过层次结构网格下的有限体积法分析了1×107雷诺数下6°偏航角潜艇的流体动力学特性,并通过坐标解算将流体对艇体的扰动转化到光轴坐标系;获得了粗、精复合轴随动系统的传递函数,搭建了闭环控制器,获得了粗、精通道对特征输入信号的时域响应特性;分析了粗、精复合轴随动系统对潜艇流场扰动输出误差的补偿效果,并从流场演化和压力矩脉动层面分析了大尺度分离涡对跟瞄输出误差的影响。研究结果表明:粗、精复合轴随动控制系统可以有效补偿潜艇扰动带来的光轴输出误差,方位角、俯仰角的波动和跟瞄输出误差主要由围壳端面产生大尺度分离的梢涡引起的压力矩脉动造成,艇身扰动因其周期较长而对输出误差没有特别的影响。A boundary layer and the separated vortexes are formed on the surface of submarine due to the fluid viscous when a submarine moves at high speed under water. The generation and shedding of vortexes would cause the substantial disturbance of force and torque, thus further affecting the tracking and sighting accuracies of servo system of submarine-borne laser weapon as well as the damage effectiveness. The influence of submarine flow noise on the tracking error of compound-axis tracking and sighting system is analyzed. Based on the basic control equations of fluid mechanics and the hierarchical grids, the hydrodynamic characteristics of the submarine at 1×10 7 Reynolds number and 6° yaw angle is numerically simulated by using finite volume method. In order to analyze the interaction between the torque and input error, the pressure torque pulsation of submarine is transferred into the optical axis coordinate system of servo system before control system simulation. The transfer functions of the coarse and fine servo system are deduced, and the closed-loop controllers are designed, by which the time domain response characteristics for the special input signals were obtained. The compensation effect for the disturbance error of flow field around submarine is analyzed. And the influence of large separated vortex on the tracking and sighting errors is explored based on the investigation of flow field evolution. Research results show that the servo system with compound control could effectively compensate the optical axis error caused by flow field disturbance. The fluctuations of azimuth and pitch angles as well as the tracking and sighting errors are mainly origin from the pressure torque pulsation caused by the large scale separated tip vortex around the top of the submarine hull, while the disturbance of submarine body had no special influence on the tracking and sighting error due to a longer pressure moment pulsation period.

关 键 词：潜载随动系统 扰动特征 复合轴 跟瞄 分离涡 压力矩脉动 

分 类 号：TP275[自动化与计算机技术—检测技术与自动化装置]