Research On Dual Channel Control Of Supercavitating Vehicle

For conventional underwater vehicle, because they suffered friction limit its sailing speed. However, the design of a top navigation device installed free of the body is possible,capable of generating cavitation bubble wrap and maintaining navigational body, this technique is called supercavitation technology. Ultra cavitation technology bring hope to people, it greatly reduces the surface friction of underwater objects. At this point the underwater vehicle is called supercavitating vehicle, compared with ordinary objects under-water 40m/s of speed it can reach the speed of 300m/s. Although the generation of high-speed sailing vacuoles body of the object, it also brings some problems. For example:changing the hydrodynamic properties of the body makes the modeling of sailing voyage body becomes more complex, nonlinear terms in the model but also to control the supercavitating body has posed a serious challenge. In this paper, the various parts of supercavitating body is analyzed, six degrees of freedom nonlinear mathematical model established body of sailing, and control studies supercavitation body. The main work is as follows:First of all, this paper studies the background, purpose and meaning to make a brief introduction, discusses the analysis of the status quo of domestic and foreign policy on the control of ultra cavitation technology supercavitating body and the body of supercavitating.According to the existing literature and supercavity basic theory, detailed analysis of the two commonly used vacuoles models. In order to achieve the purpose of this study, using the configuration program is installed with two degrees of freedom and the rudder cavitation supercavitation body. Depending on the configuration program supercavitating vehicle in the appropriate coordinate system to study the dynamics of sailing body, fluid dynamics, basic rigid body dynamics and Newton's law, the completion of the voyage body modeling.Secondly, the completion supercavitation longitudinal channels controller design. In some assumptions, decomposite six degrees of freedom supercavitating vehicle mathe-matical model, establish a mathematical model of supercavitating vehicle longitudinal channels. And do the open loop simulation analysis of model. Afterwards, as the model has a nonlinear, using inverse dynamic thinking to feedback linearization of model. To design optimal vertical channel controller, achieving depth control of supercavitating vehicle.Finally, to complete supercavitation horizontal channel controller design. Based on relevant simplification quasi-side processing to simplify the model, taking into account the roll motion of vertical movement and lateral movement, ignoring the role or that roll can be well controlled, the establishment of no supercavitating roll level channel model. Then, do the open loop simulation analysis of model, taking into account the nonlinear model, using exact feedback linearization method for processing the model. Using variable structure control theory for the lateral displacement of supercavitating vehicle is possible. And proposed method has been applied to control the course of navigation. Achieve lateral displacement control and yaw control of supercavitating vehicle.