非全包裹超空泡航行体建模与姿轨控制

发布时间：2018-02-20 15:57

本文关键词： 非全包裹超空泡航行体扩展状态观测器姿轨控制自适应反演变结构控制脉宽脉频调制　出处：《控制理论与应用》2017年07期 　论文类型：期刊论文

【摘要】：针对非全包裹超空泡航行体动力学特性及相关姿轨控制方法尚不清楚等问题,开展了对非全包裹超空泡航行体姿轨控制研究.首先对航行体进行受力及空泡外形分析,并结合空泡轮廓及动量定理对航行体动力学建模;其次,设计了以空化器及尾部直接侧向力作为控制输入的超空泡航行体反演变结构控制器,并对系统未知参数设计了参数自适应律,对于系统模型中存在的未知干扰项设计了扩展状态观测器(extended state observer,ESO)对其进行估计和补偿;最后,将控制输入中的直接侧向力分为可调与不可调两种情况分别进行分析研究,利用脉宽脉频调制方式(pulse-width pulse-frequency,PWPF)解决直接侧向力不可调的情况下的控制输入调制问题.仿真结果验证了模型的准确性以及控制器对超空泡航行体稳定航行及跟踪控制的有效性.
[Abstract]:Aiming at the problem that the dynamic characteristics of incomplete encapsulated supercavitation vehicle and the related attitude orbit control methods are not clear, the research on attitude orbit control of incomplete encapsulated supercavitation vehicle is carried out. Firstly, the force and cavitation shape of the vehicle are analyzed. Combined with the cavitation profile and momentum theorem, the dynamics of the vehicle is modeled. Secondly, the inverse evolution structure controller of the supercavitation vehicle is designed, in which the cavitation device and the tail direct lateral force are used as the control input. The parameter adaptive law is designed for the unknown parameters of the system, and the extended state observer (extended state observer ESO) is designed to estimate and compensate the unknown disturbance in the system model. The direct lateral force in the control input is divided into adjustable and unadjustable conditions. The pulse-width pulse-frequency PWM (PWM) is used to solve the control input modulation problem when the direct lateral force is not adjustable. The simulation results verify the accuracy of the model and the effectiveness of the controller for the stable navigation and tracking control of the supercavitation vehicle.
【作者单位】：西北工业大学航海学院;长安大学电子与控制工程学院;
【基金】：国家自然科学基金项目(51379176,61473233,51109179)资助~~
【分类号】：TJ6;TP273;U664.82

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