Supercavitating vehicle H-infinity controller controller design method

Abstract

The invention discloses a supercavitating vehicle H-infinity controller design method. The method comprises the following steps: 1, establishing an underwater supercavitating vehicle nonlinear kineticmodel, and setting model parameters to obtain a supercavitating vehicle longitudinal plane motion equation; 2, according to the navigation state of the supercavitating vehicle, calculating the tail immersion depth and the tail immersion angle of the supercavitating vehicle, and obtaining the sliding force of the supercavitating vehicle; 3, establishing a linear matrix inequality according to thelongitudinal plane motion equation of the supercavitating vehicle; 4, solving the linear matrix inequality to obtain a state feedback H-infinity controller; 5, using the state feedback H-infinity controller for the supercavitating vehicle, performing simulation analysis on the system, when the control effect meets the requirement, completing design, otherwise, executing step 6; and 6, adjusting the weighting coefficient of the state feedback H-infinity controller and returning to step 5. The designed H-infinity state feedback controller can guarantee stable operation of the supercavitating vehicle within a certain range and meet the H-infinity performance index.

Description

technical field [0001] The invention relates to a supercavitation vehicle H ∞ Controller design method, especially a supercavitating vehicle H based on linear matrix inequalities ∞ controller design method. Background technique [0002] When the vehicle is running underwater, the resistance it receives is much greater than that in the air, which seriously restricts the speed of the vehicle. Supercavitation technology is an important means for increasing speed and reducing drag of underwater vehicles. Supercavitating vehicles use supercavitation to achieve high-speed motion. When the vehicle moves underwater, as the speed of the vehicle increases, the liquid pressure gradually decreases. When the speed increases to a certain value, the liquid pressure is lower than the saturated vapor pressure, and cavitation is formed near the surface of the vehicle. At this time Bubbles will be formed between the vehicle and the liquid, and the wrapping of the bubbles will reduce the wet...

AI Technical Summary

Problems solved by technology

Because the vehicle body is completely or almost completely wrapped in the cavity, it loses most of its buoyancy, and at the same time, the interaction between the tail of the vehicle body and the edge of the cavity produces a gliding force, which is a special characteristic of an underwater super-high-speed vehicle. Linear force, this force can cause the vehicle to produce unstable phenomena such as tail oscillation and tail flapping. The emergence of gliding force changes the original moment balance of the vehicle, which makes the modeling and control design of the supercavitating vehicle more difficult. difficulty

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