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Self-adaptive fault-tolerant control method for supercavitation navigation body

A supercavitation vehicle, fault-tolerant control technology, applied in the direction of hull, hull design, special data processing applications, etc., can solve problems such as input saturation and gain failure of the vehicle, reference trajectory deviation, low efficiency, etc.

Active Publication Date: 2020-09-15
HARBIN INST OF TECH
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0002] High-speed underwater vehicles utilize supercavitation technology to reduce friction on their surfaces, allowing them to travel at speeds up to 200 m / s; however, large deviations from the reference trajectory may occur due to uncertainties and actuator failures, Therefore, for the control system design, driving at a very high speed may encounter challenges; the fault-tolerant control problem of the existing supercavitating vehicle, the vehicle may have input saturation and gain failure, that is, the saturation of the actuator and cavitation Inefficiencies caused by parcel actuators

Method used

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  • Self-adaptive fault-tolerant control method for supercavitation navigation body
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  • Self-adaptive fault-tolerant control method for supercavitation navigation body

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Embodiment 1

[0096] An adaptive fault-tolerant control method for a supercavitating vehicle, the control method has the following steps:

[0097] Step 1: Design the mathematical model of the supercavitating vehicle;

[0098] Step 2: Establish a model of system uncertainty and actuator failure through the mathematical model of step 1;

[0099] Step 3: Design an adaptive control law through the model of step 2.

[0100] Further, the step 1 specifically includes the following steps:

[0101] Step 1.1: Establish an inertial reference frame O e x e Y e Z e , whose origin is the sea level; establish a fixed coordinate system O b x b the y b z b , the origin of the vehicle coordinate system is located at the pressure center of the cavitator, x b The axis points to the symmetry axis of the vehicle, y b The axis points to the right side of the vehicle, z b The axis satisfies the right-hand rule pointing down;

[0102] The cavitator is installed at the head of the vehicle, for the cavit...

Embodiment 2

[0176] The multiplicative fault model is given by:

[0177]

[0178] The additive fault model is:

[0179]

[0180] The initial state of the supercavitating vehicle is z=-0.5m, w=2m / s, θ=0° and q=10° / s, and the given control gain parameter is κ 1 =[20,20] T ,κ 2 =[4,4] T ,λ=2,γ=2,ε=20,

[0181] The simulation mainly verifies two parts: first, whether the designed fault-tolerant control can accurately, quickly and stably track the designed expected trajectory when the system does not fail; secondly, when the system fails (the fault is introduced after 14 seconds), Whether the designed adaptive estimation law can effectively suppress the unknown uncertainty caused by the fault and whether the fault-tolerant control law can effectively control the fault and make the system re-stabilized; the simulation results are as follows: Figure 2-Figure 9 .

[0182] Depend on Figure 2-Figure 7 It can be seen that the designed adaptive fault-tolerant control law can effectively...

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Abstract

The invention provides a self-adaptive fault-tolerant control method for a supercavitation navigation body. The self-adaptive fault-tolerant control method comprises the following steps: 1, designinga mathematical model of the supercavitation navigation body; 2, establishing a system uncertainty and actuating mechanism fault model through the mathematical model in the step 1; and 3, designing anadaptive control law through the model in the step 2. The self-adaptive fault-tolerant control method ensures the stability of the navigation body closed-loop control system in the presence of executing mechanism faults and uncertainty.

Description

technical field [0001] The technical field to which the invention belongs; in particular, it relates to an adaptive fault-tolerant control method for a supercavitating vehicle. Background technique [0002] High-speed underwater vehicles utilize supercavitation technology to reduce friction on their surfaces, allowing them to travel at speeds up to 200 m / s; however, large deviations from the reference trajectory may occur due to uncertainties and actuator failures, Therefore, for the control system design, driving at a very high speed may encounter challenges; the fault-tolerant control problem of the existing supercavitating vehicle, the vehicle may have input saturation and gain failure, that is, the saturation of the actuator and cavitation Inefficiencies caused by wrapper actuators. Contents of the invention [0003] An adaptive backstepping tracking control law is designed for supercavitating vehicles. The control law is robust to actuator failures, parameters and en...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G06F30/15B63B1/38
CPCG06F30/15B63B1/38G06F2119/14B63B2001/382Y02T90/00
Inventor 白瑜亮王小刚荣思远崔乃刚
Owner HARBIN INST OF TECH
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