论文:2016,Vol:34,Issue(2):215-221
引用本文:
李洋, 刘明雍, 张小件, 彭星光. 非全包裹超空泡航行体建模与反演变结构控制[J]. 西北工业大学学报
Li Yang, Lui Mingyong, Zhang Xiaojian, Peng Xingguang. Modeling and Backstepping Variable Structure Control for a Incomplete-Encapsulated Supercavitating Vehicle[J]. Northwestern polytechnical university

非全包裹超空泡航行体建模与反演变结构控制
李洋, 刘明雍, 张小件, 彭星光
西北工业大学 航海学院, 陕西 西安 710072
摘要:
超空泡航行体动力学系统存在高度非线性及多变量耦合等问题,非全包裹超空泡使其受力更为复杂,给控制系统设计造成诸多困难。针对超空泡航行体的以上特点,开展了对非全包裹超空泡航行体控制系统的研究,在通过受力分析建立其动力学模型基础上,设计了超空泡航行体的反演变结构控制器,并证明了系统稳定性。仿真结果验证了该控制器对超空泡航行体稳定航行及跟踪控制的有效性。
关键词:    非全包裹    超空泡航行体    建模    反演变结构控制   
Modeling and Backstepping Variable Structure Control for a Incomplete-Encapsulated Supercavitating Vehicle
Li Yang, Lui Mingyong, Zhang Xiaojian, Peng Xingguang
College of Marine Science and Technology, Northwestern Polytechnical University, Xi'an 710072, China
Abstract:
The special navigation environment of supercavitating vehicle causes it to be sensitive to disturbance and the dynamics system is highly nonlinear with multivariable coupling; these make it very difficult to design the control system. According to this problem,we study the control system for an incomplete-encapsulated supercavitating vehicle, design backstepping variable structure controller based on force analysis, establish the dynamic model, and prove the system stability. Numerical simulations illustrate the effectiveness of the proposed control method.
Key words:    angular velocity    backstepping    cavitation    closed loop control systems    computer simulation    controllers    design    dynamics    efficiency    errors    Lyapunov function    mathematical models    matrix algebra    navigation    stability    variable structure control    incomplete-encapsulated    supercavitating vehicle    backstepping variable structure control   
收稿日期: 2015-10-20     修回日期:
DOI:
基金项目: 国家自然科学基金(51379176、61473233、51109179)资助
通讯作者:     Email:
作者简介: 李洋(1987-),西北工业大学博士研究生,主要从事超空泡航行体姿轨控制研究。
相关功能
PDF(1423KB) Free
打印本文
把本文推荐给朋友
作者相关文章
李洋  在本刊中的所有文章
刘明雍  在本刊中的所有文章
张小件  在本刊中的所有文章
彭星光  在本刊中的所有文章

参考文献:
[1] Vanek B, Bokor J, Balas G J, et al. Longitudinal Motioncontrol of a High-Speed Supercavitation Vehicle[J]. Journal of Vibration and Control, 2007, 13(2):159-184
[2] Dzielski J E. Longitudinal Stability of a Supercavitating Vehicle[J]. IEEE Journal of Oceanic Engineering, 2011, 36(4):562-570
[3] Mao X, Wang Q. Adaptive Control Design for a Supercavitating Vehicle Model Based on Fin Force Parameter Estimation[J]. Journal of Vibration and Control, 2013, 1:2-4
[4] Kirschner I N, Kring D C, Stokes A W, et al. Control Strategies for Supercavitating Vehicles[J]. Journal of Vibration and Control, 2002, 8(2):219-242
[5] Yu K, Zhang G, Zhou J, et al. Numerical Study of the Pitching Motions of Supercavitating Vehicles[J]. Journal of Hydrodynamics, Ser B, 2012, 24(6):951-958
[6] Kirschner I N, Uhlman J S, Perkins J B. Overview of High-Speed Supercavitating Vehicle Control[C]//Proceedings of the AIAA Guidance, Navigation, and Control Conference and Exhibit, 2006:3100-3116
[7] Li D, Luo K, Huang C, et al. Dynamics Model and Control of High-Speed Supercavitating Vehicles Incorporated with Time-Delay[J]. International Journal of Nonlinear Sciences and Numerical Simulation, 2014, 15(3):221-230
[8] Mokhtarzadeh H, Balas G, Arndt R. Effect of Cavitator on Supercavitating Vehicle Dynamics[J]. IEEE Journal of Oceanic Engineering, 2012, 37(2):156-165
[9] Kim S, Kim N. Neural Network-Based Adaptive Control for a Supercavitating Vehicle in Transition Phase[J]. Journal of Marine Science and Technology, 2015, 20(3):454-466
[10] Vanek B, Balas G J, Arndt R E A. Linear, Parameter-Varying Control of a Supercavitating Vehicle[J]. Control Engineering Practice, 2010, 18(9):1003-1012
[11] Qu Y B, Zhang J Y, Wu Y, et al. An Improved Sliding-Backstepping Control Law for Large Flexible Satellite Attitude Maneuver[C]//20103rd International Symposium on Systems and Control in Aeronautics and Astronautics, 2010:918-923
[12] Mao X, Wang Q. Nonlinear Control Design for a Supercavitating Vehicle[J]. IEEE Trans on Control Systems Technology, 2009, 17(4):816-832
[13] Mao X, Wang Q. Delay-Dependent Control Design for a Time-Delay Supercavitating Vehicle Model[J]. Journal of Vibration and Control, 2011, 17(3):431-448
[14] Vanek B, Bokor J, Balas G. Theoretical Aspects of High-Speed Supercavitation Vehicle Control[C]//American Control Conference IEEE, 2006:5263-5267
[15] Kirschner I N, Rosenthal B J, Uhlman J S. Simplified Dynamical Systems Analysis of Supercavitating High-Speed Bodies[C]//Proceedings of the 5th International Symposium on Cavitation, 2003:1-4
[16] Xia Y, Lu K, Zhu Z, et al. Adaptive Back-Stepping Sliding Mode Attitude Control of Missile Systems[J]. International Journal of Robust and Nonlinear Control, 2013, 23(15):1699-1717