Cascaded control method of underwater ultrahigh-speed navigation body

A cascade control, supercavitating vehicle technology, applied in the directions of adaptive control, general control system, control/regulation system, etc., can solve problems such as the tail oscillation of the vehicle, achieve easy engineering implementation, and simplify the design process and steps full effect

Active Publication Date: 2019-01-25
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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  • Cascaded control method of underwater ultrahigh-speed navigation body
  • Cascaded control method of underwater ultrahigh-speed navigation body
  • Cascaded control method of underwater ultrahigh-speed navigation body

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Effect test

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 cascaded control method of an underwater ultrahigh-speed navigation body. The cascaded control method comprises the steps of setting a model parameter by building an underwater ultrahigh-speed supercavity navigation body motion model module, building a longitudinal motion error model module, calculating an error between actual motion of the underwater ultrahigh-speed navigation body and a set motion track, building a cascaded sub-system model, eliminating an interference and a system error through a standard sliding-mode control method by a sub-system 1, eliminating the system error through a fuzzy sliding-mode control method by a sub-system 2, building a control effect simulation module, and adjusting a parameter of a controller according to a real-time simulationresult so that the optical control effect of the system can be achieved. The cascaded control method is complete in step, and engineering implementation is easy; and when the cascaded control methodis applied to control of the underwater ultrahigh-speed navigation body, the design process of the navigation body controller can be simplified, and a guarantee can be provided for stable navigation of the underwater ultrahigh-speed navigation body.

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 Applications(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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