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A cascade control method for underwater ultra-high-speed vehicle

A control method and technology for a supercavitating vehicle, applied in the directions of adaptive control, general control system, control/regulation system, etc., can solve the problems of tail oscillation of the vehicle, and achieve easy engineering implementation, simplified design process, and complete steps. Effect

Active Publication Date: 2021-12-24
HARBIN ENG UNIV
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

The gliding force is a kind of nonlinear force unique to underwater ultra-high-speed vehicles. This force can cause the tail of the vehicle to vibrate, tail beating and other unstable phenomena, which greatly challenges the stable navigation of the vehicle. The design of the stability controller of the underwater ultra-high-speed vehicle has become one of the bottlenecks for the stability of the vehicle

Method used

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  • A cascade control method for underwater ultra-high-speed vehicle
  • A cascade control method for underwater ultra-high-speed vehicle
  • A cascade control method for underwater ultra-high-speed vehicle

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Embodiment 1

[0047] A cascade control method for an underwater ultra-high-speed vehicle, the specific implementation steps are as follows:

[0048] Step 1. Establish the motion model module of the underwater ultra-high-speed super-cavitation vehicle, set the model parameters, the model has the characteristics of the longitudinal motion of the underwater ultra-high-speed vehicle, and can replace the actual vehicle during the simulation and control process;

[0049] Step 2. Establish the nonlinear dynamic model of the longitudinal motion of the underwater ultra-high-speed vehicle, and obtain the center of mass displacement z of the vehicle, the longitudinal pitch angle θ of the vehicle, the vertical velocity w of the vehicle, and the Pitch angular velocity q;

[0050] Step 3. Establish a longitudinal motion error model module, calculate the error between the actual motion of the underwater ultra-high-speed vehicle and the set motion trajectory from the result obtained by the nonlinear dynamic ...

Embodiment 2

[0083] The invention relates to a control method of an underwater ultra-high-speed vehicle, in particular to a cascade control method.

[0084] Supercavitation technology is a unique drag reduction technology for underwater vehicles, which can significantly reduce the fluid resistance suffered by the vehicle. The underwater ultra-high-speed vehicle that adopts supercavitation technology to realize high-speed navigation can realize underwater high-speed direct navigation of more than 100m / s. Due to the package of cavitation, the wetted area of ​​the vehicle is significantly reduced. Only the cavitator installed on the top, the empennage at the rear of the vehicle, and the tail expose the wetted area of ​​the cavitation. Therefore, compared with conventional underwater vehicles, , the action mode and numerical value of the lift force provided by the fluid for the underwater ultra-high-speed vehicle have obviously changed, and the nonlinear hydrodynamic force acting on the tail o...

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Abstract

The invention provides a cascading control method for an underwater ultra-high-speed navigation body. By establishing an underwater ultra-high-speed ultra-cavitation navigation body motion model module, setting model parameters, and establishing a longitudinal motion error model module, the underwater ultra-high-speed navigation body is calculated. The error between the actual motion and the set motion trajectory is established by cascading subsystem modules. Subsystem 1 uses the standard sliding mode control method to eliminate interference and system errors. Subsystem 2 uses fuzzy sliding mode control methods to eliminate system errors and establishes a control effect simulation module. , adjust the parameters of the controller according to the real-time simulation results, so that the system can achieve the best control effect. The invention has complete steps and is easy to implement in engineering. Applying the cascading control method to the control of the underwater ultra-high-speed vehicle can simplify the design process of the vehicle controller and provide guarantee for the stable navigation of the underwater ultra-high-speed vehicle. .

Description

technical field [0001] The invention belongs to the field of underwater navigation control, and in particular relates to a cascading control method for an underwater ultra-high-speed navigation body. Background technique [0002] Supercavitation technology is a unique drag reduction technology for underwater vehicles, which can significantly reduce the fluid resistance suffered by the vehicle. The underwater ultra-high-speed vehicle that adopts supercavitation technology to realize high-speed navigation can realize underwater high-speed direct navigation of more than 100m / s. Due to the package of cavitation, the wetted area of ​​the vehicle is significantly reduced. Only the cavitator installed on the top, the empennage at the rear of the vehicle, and the tail expose the wetted area of ​​the cavitation. Therefore, compared with conventional underwater vehicles, , the action mode and numerical value of the lift force provided by the fluid for the underwater ultra-high-speed ...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): G05B13/04
CPCG05B13/042
Inventor 赵新华韩双泽叶秀芬
Owner HARBIN ENG UNIV
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