【作者】 赵新华；

【导师】 孙尧；

【作者基本信息】 哈尔滨工程大学 ， 导航、制导与控制， 2008， 博士

【摘要】 水下超高速航行体以其低流体阻力突破了水下运动的速度瓶颈,获得了极高的水下航行速度,将成为新一代的高速水下武器,能够凭借其速度优势打击、拦截陆海空各种军事目标,并以远程攻击、高速、隐蔽等优越的作战效能克敌制胜。本文以国防基础科研项目“水下超高速运动的基础理论与相关技术研究”的研制任务为背景,对水下超高速航行体的动力学建模及纵向运动控制问题进行了深入研究,主要工作如下:运用刚体动力学原理和船舶运动建模理论,对有尾舵与无尾舵的超高速航行体运动模型进行受力分析与整理,尤其对航行体尾部产生的滑行力进行仿真计算,分析其产生的原因及过程,最后建立了超空泡航行体的非线性动力学模型,为系统动力学特性分析及控制系统的设计奠定了基础。提出运用小扰动原理对非线性运动方程组进行线性化处理,推导了无尾舵运动模型与有尾舵模型的线性运动微分方程组;对于有尾舵模型提出采用空化器偏转及尾舵偏转为控制变量,推出了其状态空间表达式;对于无尾舵模型,以空化器偏转、航行体冲角及推力矢量偏转为控制变量,推出了无尾舵模型的状态空间表达式,并对有尾舵控制模型及无尾舵控制模型的可控性及可观性进行了分析。由于水下超高速航行体本身的复杂性,航行体对象本身存在建模误差、系统参数不确定或动态特性不能完全确定的诸多不确定因素,对于有尾舵模型以空化器偏转及尾舵偏转为控制量,采用鲁棒极点配置算法设计控制器,仿真结果表明该方法可以有效地改进模型的动态稳定性;对于无尾舵模型,以空化器偏转、航行体冲角及推力矢量为控制变量,首先采用LQR方法为航行体设计控制器,由于该方法法设计的控制系统抗干扰能力较弱,而后又采用了H_∞混合灵敏度方法及μ综合方法为航行体设计控制器,仿真结果表明所设计的控制系统具有较强的鲁棒性。在理论研究超空泡航行体动力学特性及控制策略的基础上,提出了超高速水下航行体机动控制系统硬件实现等技术难点及关键问题,并对突变理论在空化问题中的应用进行了探讨,最后针对超空泡问题的研究重点进行了分析和展望。更多还原

【Abstract】 Underwater high-speeds vehicle breaks the velocity bottleneck of underwater movement with its low fluid drag and obtains super high underwater speed. It will become a new generation of high-speed underwater weapons to combat and intercept various land, sea and air military targets with its speed advantage, and with its long-range strike, high-speed, and concealment superior operational effectiveness to defeat the enemy. This paper takes the national defense basis research projects "Research on theory and related technology of underwater high-speeds movement" as background. The dynamic modeling and vertical motion control problems of underwater high-speeds vehicles are mainly studied. The main works are:The stress analysis and collate are completed for movement model of high speeds vehilce with rudders and without rudder by using rigid body dynamics principle and ship modeling theory. Especially, simulation and calculation of the planing forces produced in the tail of the vehicle are done to analyse its cause and process. Finally, a nonlinear dynamic model of the supercavity vehicle is established. It offers theory foundation for analyzing the dynamic characteristic and designing control system.Linearization is completed for nonlinear movement equations by introduced the small perturbation theory, then linear differential equations of the model with rudders and without rudders have been derived. For the model with rudders, this paper proposes that take the cavitator deflection and rudders deflection as control variables to establish its state-space expression, and for the model without rudders, this paper proposes that take the cavitator deflection and pitch angel and thrust vector deflection as control variables to establish its state-space expression. The controllability and observability are done for rudders control model and no rudders control model. Because of the complexity of underwater high-speeds, there are many uncertainties such as modeling error of the vehicle object, system parameters uncertainty or dynamic characteristics can not be fully identified and so on. So for the model with rudders, take cavitator deflection and rudders deflection as control variables, using robust pole assignment algorithm to design the controllor. The simulation results show that the method could effectively improve the model dynamic stability; For the model without rudders, take cavitator deflection and pitch angle and thrust vector deflection as control variables, firstly using LQR method to design the controllor for the vehicle, as the anti-interference capability of the LQR control system is weak, then H_∞mixed sensitivity method andμsynthesis method are used to design the cotrol system for the vehicle. The simulation results show that the system has stronger robustness.On the base of theoretical study of the dynamic characteristics and control strategies of the supercavity vehicle, presents hardware implementation technical difficulties and key issues on tactical control system of high-speeds underwater vehicle, then discusses the application of catastrophe theory in cavitation problems. Finally, analyzes and prospects the research focuses of supercavity problem.更多还原