基于主动倾斜转弯的超空泡航行器机动控制方法  

Maneuver Control Method of Supercavity Vehicle Based on Active Bank-To-Turn

作　　者：宋书龙 吕瑞[1] 周景军[1] 万亚民[1] 李建辰[1] SONG Shu-long;LÜRui;ZHOU Jing-jun;WAN Ya-min;LI Jian-chen(The 705 Research Institute,China Shipbuilding Industry Corporation,Xi’an 710077,China;Science and Technology on Underwater Information and Control Laboratory,Xi’an 710077,China)

机构地区：[1]中国船舶重工集团公司第705研究所,陕西西安710077 [2]水下信息与控制重点实验室,陕西西安710077

出　　处：《水下无人系统学报》2019年第6期607-613,共7页Journal of Unmanned Undersea Systems

基　　金：万人计划青年拔尖人才项目(W03070206);装备预研共用技术项目(41407040101);国重预研基金项目(JCKY2019207CD01)

摘　　要：针对超空泡航行器采用传统方式机动能力不足的问题,文中建立了一种基于主动倾斜转弯的机动控制方法。在分析超空泡航行器流体动力的基础上,根据不同工况下航行器的沾湿情况,求解了滑行力系数及力矩系数表格,对滑行力进行了重构,建立了超空泡航行器六自由度动力学模型,基于极限操舵模式设计了超空泡航行器深度与横滚通道的比例-积分-微分控制器,提出了基于主动倾斜转弯控制策略的横滚-航向协调控制的机动控制方法。数学仿真结果表明,所设计的控制器动态性能良好,可以满足超空泡航行器的机动要求。文中方法可为单自由度空化器超空泡航行器的机动实现问题提供参考。To raise the mobility of the supercavity vehicle,a maneuver control method based on active bank-to-turn(BTT)is established in this paper.After analyzing the hydrodynamics of the supercavity vehicle,the gliding force coefficient and moment coefficient tables are solved according to the wetting status of the vehicle under different working conditions,and the sliding force is reconstructed.A six-degree-of-freedom dynamic model of the supercavity vehicle is established.According to the up-and-down rudder control mode,the proportional-integral-derivative(PID)controller of depth and roll channel of the supercavity vehicle is designed.Thus,a maneuver control method based on the active BTT control strategy is proposed.Mathematical simulation results show that the designed controller has good dynamic characteristics,and can meet the requirements of the supercavity vehicle for maneuver.The method established in this paper can be referenced for maneuver realization of supercavity vehicle with single-degree-of-freedom cavitator.

关 键 词：超空泡航行器 主动倾斜转弯 动力学模型 比例-积分-微分控制 

分 类 号：TJ630.1[兵器科学与技术—武器系统与运用工程] TB71.2[一般工业技术—真空技术]