超空泡航行体运动稳定性及切换控制研究

项目名称： 超空泡航行体运动稳定性及切换控制研究

项目编号： No.51209049

项目类型： 青年科学基金项目

立项/批准年度： 2013

项目学科： 水利科学与海洋工程学科

项目作者： 韩云涛

作者单位： 哈尔滨工程大学

项目金额： 25万元

中文摘要： 超空泡技术可以减小航行体的阻力，使水下航行体速度突破200节甚至更高成为可能。由于超高速航行体被空泡包裹而使沾湿面积减小，丧失大部分浮力，其受力及运动方式与普通水下运动体显著不同，因此超空泡航行体的控制、制导和稳定性是其工程应用的重要组成部分。本项目以解决此关键问题为宗旨，以基础理论为中心，以理论研究与半实物仿真为手段，研究航行体动力学模型及控制规律。包括研究滑行力变化条件及规律；研究超空泡航行体空化器与尾舵综合控制策略；研究航行体有无滑行力情况下的数学模型及其差异特性；研究两种模型切换条件下的运动稳定性及控制方法；研究空泡噪声干扰时控制系统稳定性；进行半实物仿真实验，验证并修正理论研究内容。 　　研究内容可以为水下超空泡航行体运动提供鲁棒控制方法，为水下超空泡航行体工程应用提供理论基础，也可以为超空泡相关领域的理论研究提供参考。

中文关键词： 超空泡航行体；滑行力；不确定性；绝对稳定；鲁棒H∞

英文摘要： Supercavitation technology can reduce the resistance of underwater vehicle, which makes the speed of vehicle exceeding 200 knots or more become possible. Due to super high-speed vehicle is enveloped by cavity, the wetted area decreases, most of buoyancy force loses, and both force and motion mode of underwater vehicle are significantly different from common underwater body. Therefore, studying the control, guidance and stability of supercavitating vehicle is an important part of its engineering applications. To solve this key problem, this project takes basic theory as central point, theoretical research and semi-physical simulation as method, and studies dynamics model and control law of vehicle. The main contents include research on changing conditions and laws of planing force, integrated control strategy of vehicle cavitator and rudder, mathematical models and their different characteristics when the vehicle with or without planing force, stability of motion and control methods under two models switching conditions, and the stability of control system when cavity noise disturbance exists, finally carrying out semi-physical simulation experiment, validation and revising theoretical research. This project can provide robust control method for underwater supercavitating vehicle, offer theoretical basis for engi

英文关键词： supercavitating vehicle；planing force；uncertainty；absolute stability；robust H∞