Method for planning motion track of supercavitating vehicle based on multi-steady-state analysis

Abstract

The invention discloses a method for planning a motion track of a supercavitating vehicle based on multi-steady-state analysis. The method comprises the following steps of: 1) establishing a four-dimensional dynamical model of the supercavitating vehicle; 2) confirming a parameter region having a multi-steady-state phenomenon in the motion of the vehicle through two-dimension fork analysis; 3) confirming the category of the multi-steady-state phenomenon by adopting a multi-steady-state analysis method, such as, Lyapunov exponential spectrum and phase track diagram; 4) utilizing attraction domain to acquire the relation of the motion track of the supercavitating vehicle, the initial position of the vehicle, the initial vertical speed, the initial pitch angle and the pitch angle speed; and 5) simulating and verifying the motion track of the vehicle. According to the method disclosed by the invention, the multi-steady-state analysis method is utilized to plan the motion track of the vehicle, the relation between the motion state of the vehicle and the initial condition is confirmed and a new method is supplied for analyzing the motion characteristics of the supercavitating vehicle.

Description

technical field [0001] The invention relates to a motion planning method, in particular to a motion trajectory planning method of a supercavitation flying body based on multi-stable analysis. Background technique [0002] Supercavitation is a peculiar physical phenomenon. As the speed of the underwater vehicle moves faster, the water pressure on it will decrease instead. Once the water pressure decreases to a certain level, the water in contact with the vehicle will It will vaporize and form cavitation bubbles, which then wrap the entire flying body to form a "gas coat", which can make the flying body always sail inside the supercavitation created by itself, thereby avoiding the stickiness of water to the greatest extent. Sexual resistance, to achieve high-speed sailing. [0003] Since the vehicle in the supercavitation state is almost completely wrapped by cavitation, its fluid dynamics and stability are completely different from those in the previous fully wet state, and ...

AI Technical Summary

Problems solved by technology

The supercavitating vehicle is also a strong nonlinear system, in which there are many nonlinear phenomena, but the multi-stable analysis of the supercavitating vehicle system has not been reported. Therefore, in order to design a stable and reliable supercavitating vehicle Body control system, through two-dimensional dynamic analysis to determine the parameter area where multi-stable phenomena may exist in the motion of the flying body, referring to the research results of the multi-stable analysis method in other nonlinear systems, combined with the motion phenomenon of the supercavitating flying body , conduct a detailed study on the unpredictable factors of its motion state

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