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

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

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.