Supercavitation navigation body LPV controller design method

Abstract

The invention discloses a supercavitation navigation body LPV controller design method, which is used for solving the acceleration section control problem in the underwater navigation process of a supercavitation navigation body, and mainly comprises the following steps: firstly, establishing a cavitation form model based on an independent expansion principle, and deducing a tail sliding force and tail vane wetting rate model according to the cavitation form model, establishing a nonlinear mathematical model of a supercavitation navigation body, then assuming the model to obtain a navigation body longitudinal plane mathematical model, establishing a parameter dependent LPV model about the self speed and the tail vane wetting rate of the navigation body based on the longitudinal plane mathematical model, and finally designing an H infinite robust controller for each state vertex of the navigation body, and connecting controller parameters in series by using a robust variable gain method, and establishing a global controller. According to the method, mathematical simulation is used for proving that the constructed controller can meet the control requirement, good robustness is achieved, and acceleration section depth-keeping control can be conducted on the navigation body under a certain interference effect.

Description

technical field [0001] The invention relates to the technical field of acceleration section control during underwater navigation of a supercavitating vehicle, in particular to a design method for an LPV controller of a supercavitating vehicle. Background technique [0002] Most of the existing supercavitating vehicle controllers are designed based on the constant speed cruise of the vehicle. It is assumed that the speed of the vehicle is constant during the motion process, and the parameter V remains unchanged. Under this assumption, the cavitation model is relatively unified. During the force-bearing process of the vehicle body, the mathematical model remains unchanged. Research on the control of supercavitating vehicles during the acceleration phase is relatively weak, and in the process of vehicle motion, it is inevitable to solve the problems of strong coupling and strong nonlinearity of the parameters of the supercavitating vehicle during the acceleration period, so it ...

AI Technical Summary

Problems solved by technology

Research on the control of supercavitating vehicles during the acceleration phase is relatively weak, and in the process of vehicle motion, it is inevitable to solve the problems of strong coupling and strong nonlinearity of the parameters of the supercavitating vehicle during the acceleration period, so it is urgent to study A Method to Solve the Stability Control Problem of Supercavitating Vehicle in Acceleration Section

Images