Research On The Integration Of Guidence And Control Of Underwater High Speed Vehicle

Underwater high-speed vehicle is surrounded by vacuoles,the sailing resistance in the water quickly reduced,the speed of movement to achieve a qualitative improvement,like air missiles in the water as "flying".However,the supercavitation technology for the underwater vehicle drag reduction has brought great changes at the same time,but to the underwater vehicle guidance and control caused great difficulties.Because of the body wrapped by the vacuoles,the hydrodynamic characteristics of the complex changes have occurred,the control strategy put forward more stringent requirements;and because of the underwater high-speed vehicle maneuverability is poor,but with the current development of the maritime war,underwater targets become increasingly complex,the maneuver and guidance performance requirements of the vehicle body is also getting higher and higher.Therefore,this paper studies and analyzes the design of an active underwater high-speed navigation system and control system.The main research contents are as follows:Firstly,the dynamic model of underwater high speed vehicle is studied.In order to describe the motion law of underwater high-speed vehicle,the relevant coordinate system is defined,the motion parameters are selected and the transformation relationship between the coordinate systems is deduced.The geometric model of the navigation body and the stable navigation scheme of the navigation body in the water are selected.And the factors influencing the shape of the cavities were analyzed.The hydrodynamics and moments of each part of the aerodynamics were analyzed and calculated.Finally,the dynamics and kinematics equations of the six degrees of freedom of the underwater high speed vehicle were established.Secondly,the traditional guidance law and control law of the underwater high speed vehicle in the vertical plane are analyzed.In the process of establishing the longitudinal plane model,the model equation is simplified according to the related simplification criterion,and the open-loop dynamic coupling characteristic of the model is simulated and analyzed.In the traditional design,the characteristics of the underwater high-speed airplane trajectory And the guidance law is used in the traditional proportional guidance method and the adaptive sliding mode guidance law,and the simulation comparison analysis is carried out.The controller design is based on the linearization and decoupling of the longitudinal model according to the feedback linearization method,sliding mode variable structure control and pole placement control are used to control the navigation body,and the simulation analysis is carried out.Thirdly,in order to make up for the lack of traditional design,put forward the integration of underwater high speed vehicle guidance and control design.By using the relative motion relation between the vehicle and the target,the guidance information is introduced into the longitudinal plane motion model of the vehicle body,so as to establish the vertical plane integration model of the vehicle body.For this model,the finite time LQR controller with stateless constraint is designed The finite-time LQR controller with state constraints is solved by classical Euler method.Based on classical gain scheduling,an infinite time LQR controller is proposed to improve the integration system,the results of the simulations of the three controllers are given according to the given initial parameters.The results verify the correctness and validity of the established model and the designed controller.Finally,a comparative analysis of guidance and control integration design and traditional design underwater high speed vehicle is given.The simulation results show that compared with the traditional design method,the integrated design can improve the potential maneuverability of the underwater high speed vehicle itself and make the vehicle body itself have better stability.