超空泡航行体最优控制建模与仿真

基于空泡独立膨胀原理分析了超空泡航行体在小机动条件下空泡轴线的偏移，详细计算了航行体各部分流体动力，建立了超空泡航行体纵向运动非线性动力学模型.针对该模型存在严重的动态耦合与操纵耦合，利用精确线性化方法进行了解耦处理，进而设计了最优控制器，实现了对航行深度的渐进跟踪控制.仿真结果表明:该控制系统能够有效地跟踪深度信号，具有良好的控制品质；航行体能稳定在空泡内而不与空泡壁面接触. 

Modeling and Simulating of Supercavitating Vehicles Based on Optimal Control

The deviation of cavitation axis under maneuver conditions was investigated based on the principle of cavity expansion independence. Through computing the hydrodynamic forces acting on supercavitating vehicles, a nonlinear dynamics model of supercavitating vehicles was presented for the longitudinal plane. Regarding the problem of serious dynamic coupling and control coupling characteristics in the nonlinear system, precision linearization method was used to achieve decoupling. Then an optimal controller was designed to realize the progressive tracking in a given depth. The simulation results show that the control system is able to track depth signals effectively and possesses good control performance; supercavitating vehicles can maintain stability in cavity and have no contact with the cavity surface.