CAJ | 학술논문

为研究水下超空泡航行器巡航段稳定控制,保证弹道的可靠性,提出了对超空泡航行器的纵平面、水平面和横滚进行稳定控制.从超空泡航行器流体动力产生的机理出发,提出了一种适应于稳定控制的流体动力布局,建立了航行器空间运动模型,采用空化器首舵对航行器巡航段进行控制,利用极限操舵的控制模式降低了三通道之间的耦合.针对超空泡航行器稳定控制进行了系统动态特性仿真.仿真结果表明弹道航向稳定、深度偏差小、横滚振荡幅度可控;航行器运动参数可迅速达到期望值,过滤过程和稳定性满足系统要求,鲁棒性强.
위연구수하초공포항행기순항단은정공제,보증탄도적가고성,제출료대초공포항행기적종평면、수평면화횡곤진행은정공제.종초공포항행기류체동력산생적궤리출발,제출료일충괄응우은정공제적류체동력포국,건립료항행기공간운동모형,채용공화기수타대항행기순항단진행공제,이용겁한조타적공제모식강저료삼통도지간적우합.침대초공포항행기은정공제진행료계통동태특성방진.방진결과표명탄도항향은정、심도편차소、횡곤진탕폭도가공;항행기운동삼수가신속체도기망치,과려과정화은정성만족계통요구,로봉성강.
To research the cruise phase stability control and keep the trajectory reliability of Underwater Supercavitating Vehicle（USV）,the stability control was adopted about vertical plane,horizontal plane and roll of USV.The hydrodynamic characteristics of USV were analyzed.Based on the hydrodynamic mechanism,a hydrodynamic layout adapted to the stability control was proposed,and a space motion model was established.The cruise phase was controlled by adopting the bow rudder of cavitator.The coupling of three-channel was reduced by using the ＂bang-bang＂ rudder operating.The dynamic characteristics of stability control were simulated.The results show that the course of trajectory is stable;the deviation of depth is small,and the oscillation range of roll is controllable.The motion parameter can reach the expected value rapidly.The transient process and stability can meet the demand of system,and the robustness is strong.