| 引用本文: | 李洋,刘明雍,杨盼盼,彭星光.非全包裹超空泡航行体建模与姿轨控制[J].控制理论与应用,2017,34(7):885~894.[点击复制] |
| LI Yang,LIU Ming-yong,YANG Pan-pan,PENG Xing-guang.Modeling and attitude-orbit control for incomplete-encapsulated supercavitating vehicles[J].Control Theory and Technology,2017,34(7):885~894.[点击复制] |
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| 非全包裹超空泡航行体建模与姿轨控制 |
| Modeling and attitude-orbit control for incomplete-encapsulated supercavitating vehicles |
| 摘要点击 2797 全文点击 1219 投稿时间：2016-10-10 修订日期：2017-04-27 |
| 查看全文 查看/发表评论 下载PDF阅读器 |
| DOI编号 10.7641/CTA.2017.60745 |
| 2017,34(7):885-894 |
| 中文关键词 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 |
| 英文关键词 incomplete-encapsulated supercavitating vehicle Extended State Observer attitude and orbit control adaptive backstepping variable structure control Pulse-Width Pulse-Frequency |
| 基金项目 国家自然科学基金 |
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| 中文摘要 |
| 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. |
| 英文摘要 |
| For the problem of the dynamic characteristic and the attitude and orbit control method in the state of the
incomplete-encapsulated supercavitating, the study on the attitude and orbit control for the incomplete- encapsulated supercavitating
vehicle is carried out. Firstly, the forces and the cavity shape are analyzed, and the dynamic modeling of the
supercavitating vehicle is combined with the cavity contour and momentum theorem; then a backstepping variable structure
controller is designed, and the cavitator and the direct lateral force acting on the tail are used as the control inputs, otherwise,
we propose an adaptive law for an unknown parameter of the system, and an Extended State Observer(ESO) for the
unknown disturbance. Finally, in the process of the simulation, the direct lateral force of the control inputs is divided into
two situation: adjustable and unadjustable. Then, we use Pulse-Width Pulse-Frequency(PWPF) method to deal with the
modulation of control inputs. The simulation results show the accuracy of the model and the effectiveness of the proposed
controller for the stabilize sailing and tracking control. |
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