控制理论与应用2017，Vol.34Issue(7)：885-894,10.DOI:10.7641/CTA.2017.60745
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
摘要
Abstract
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 su-percavitating 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 struc-ture 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.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Key words
incomplete-encapsulated/supercavitating vehicle/extended state observer/attitude and orbit control/adap-tive/backstepping variable structure control/pulse-width pulse-frequency分类
信息技术与安全科学引用本文复制引用
李洋,刘明雍,杨盼盼,彭星光..非全包裹超空泡航行体建模与姿轨控制[J].控制理论与应用,2017,34(7):885-894,10.基金项目
国家自然科学基金项目(51379176, 61473233, 51109179)资助. Supported by National Natural Science Foundation of China (51379176, 61473233, 51109179) （51379176, 61473233, 51109179）
