超空泡水下航行体的纵向机动运动的控制研究

项目名称： 超空泡水下航行体的纵向机动运动的控制研究

项目编号： No.51309058

项目类型： 青年科学基金项目

立项/批准年度： 2014

项目学科： 水利工程

项目作者： 白涛

作者单位： 哈尔滨工程大学

项目金额： 25万元

中文摘要： 超空泡水下高速航行体的纵向机动运动的控制问题，一直是制约超空泡航行体发展的关键技术之一。超空泡水下高速航行体在纵平面内进行机动运动时，超空泡的形态和航行体的姿态都会发生强非线性变化，导致航行体失稳。为解决这一问题，本项目以基础理论为依据，以理论研究、实验研究和仿真为手段，对超空泡水下高速航行体的纵向机动运动的控制问题进行了研究。本项目的主要研究内容包括：1.超空泡水下高速航行体的模型的完善；2. 超空泡水下高速航行体的运动稳定性的判定标准研究；3.基于多传感器信息融合技术的超空泡水下高速航行体纵向机动运动的稳定性预测研究；4.超空泡水下高速航行体纵向机动运动的控制策略研究。本项目的研究将多传感器信息融合技术引入水下高速航行体机动运动的控制领域，使其成为解决超空泡水下高速航行体的纵向机动运动控制问题的重要工具，具有重要的学术意义和应用价值。

中文关键词： 超空泡航行体；水洞实验；纵向运动控制；多传感器信息融合；卡尔曼滤波

英文摘要： The problem to the longitudinal maneuvering motion control of supercavitation underwater high-speed vehicle is always one of the key technologies, which restricts development of the vehicle. When supercavitation underwater high-speed vehicle realizes the maneuvering motion in vertical plane, the changes of vehicle attitude and supercavitation shape are strongly nonlinear, which will lead to destabilization of the vehicle. To solve this problem, this project will research the questions to the longitudinal maneuvering control of supercavitation vehicle based on basic theory, experimental research and simulation. The main contents of the project are described as follows: 1.Improvement to the model of supercavitation underwater high-speed vehicle; 2. Research on stability of supercavitation underwater high-speed vehicle. 3.Study on stablity prediction of maneuvering of supercavitation vehicle in vertical plane based on multiple sensor information fusion algorithms; 4.Study on control strategies of maneuvering motion in vertical plane to supercavitation underwater high-speed vehicle. The research objective of the project is to introduce the multi-sensor information fusion technology into underwater high-speed motion on motor control field,and makes it a solution to longitudinal maneuvering control problem of supercav

英文关键词： Supercavitating vehicle；Water tunnel experiment；Longitudinal motion control；Multi-sensor information fusion；Kalman filtering