摘要
超高速水下航行器航行时由于被超空泡包裹着,使得其工况变得更为复杂,控制难度进一步加大;为了抑制或消除横滚,文章通过分析超高速水下航行器的运动特点,建立了航行器横滚运动模型方程,并进行特性分析和控制规律综合设计,最后提出使用配置控制面的方法来实现它的横滚控制;此方法的使用既为系统提供控制力又解决了系统弱阻尼的问题,同时还提高了系统的响应速度;最后运用PD算法,分析它的动态特性和幅频特性,仿真结果表明此方案简单,容易实现,且鲁棒性好,满足系统的要求。
When superspeed under water vehicle is navigating by water, it is wrapped with supercavitation. The condition makes the control more complicated and difficult. Through analyzing the motion characteristics, establishing the module of the roll control and designing the control arithmetic of the superspeed under water vehicle, the paper finally proposed a method of configuring control surface to achieve its roll control and establish the model equation of the system, which not only provides the control force for the system but also solves the prob lem of weak damping and meanwhile improves the system＇s response speed. Finally the roll control scheme which uses the PD arithmetic is brought up. The simulation result demonstrates that this programme is simple, easy to actualize, and have good robustness, which can meet the requirements of the system well.
出处
《计算机测量与控制》
CSCD
北大核心
2009年第1期129-131,共3页
Computer Measurement &Control
关键词
超高速
水下航行器
超空泡
横滚控制
superspeed
under water vehicle
supercavitation
roll control
