超空泡航行体H∞状态反馈设计

H-infinity state feedback design for supercavitating vehicles

中文关键词  超空泡航行体  滑行力  H∞控制  状态反馈

英文关键词  supercavitating vehicle  planning force  H-infinity control  state feedback

中文摘要

      针对超空泡航形体的控制设计问题, 提出采用H∞控制. 超空泡航行体是尾部拍打着空泡内壁滑行前进的, 所以要在持续的滑行力作用下保持各个状态变量在指定范围内变化, 文中分析了这种H1性能要求. 当超空泡航形 体受到扰动后会反复碰撞上下空泡壁而最终失稳, 文中还分析了超空泡航行体这种特殊的稳定性要求. 这些控制 要求构成了H∞设计中加权系数的选择问题. 文中从Riccati方程的病态问题, 低频特性的要求, 和姿态稳定性等多方 面综合考虑, 给出了解决方案. 仿真结果表明满足了多方面的要求. 文中所提出的设计思路也可供其他的H∞问题 参考.

英文摘要

      This study proposes an H-infinity design for controlling high-speed supercavitating vehicles (HSSV). Because the weight of the body forces the tail of the vehicle into contact with the cavity, the body skips forward on the cavity wall. Therefore, the state variables of the vehicle must be kept within reasonable limits under the consistent planing force acting on the tail. This H-infinity performance requirement is discussed and analyzed in the paper. In addition, the HSSV may respond to perturbation by hitting upwards and downwards against the cavity wall, eventually losing stability. This special stability requirement of an HSSV is also discussed in the paper. The aforementioned requirements lead to the problem of selecting weights for the state variables and control inputs. A comprehensive solution to this weight selection problem is presented, which takes into account solving ill-conditioned Riccati equations, as well as the requirement of a lowfrequency domain and the attitude stabilization problem. The simulation results show the effectiveness of the proposed design. Furthermore, this design methodology can also be used for other H-infinity problems as well.