超空泡水下航行器运动学与动力学模型

在考虑超空泡"时间延迟"效应的基础上, 建立了强机动情况下的超空泡水下航行器空间运动学与动力学模型. 为考察该模型在弱机动条件下的适配性, 以航行器俯仰通道为例, 对忽略超空泡时间延迟效应和考虑延迟效应两种情况进行了仿真对比研究, 得到如下结论: 弱机动条件下, 两种情况均能较好地反映航行器的运动特性; 施加相同的俯仰角时, 后者的一阶响应比例增益较小, 且表现出较强的振荡特性, 在控制系统设计时应特别注意微分环节的引入. 研究结论对超空泡水下航行器控制技术研究具有重要意义.

Kinematics and dynamics model of underwater supercavitating vehicles

The kinematics and dynamics model of strong maneuvering supercavitating vehicles are established considering time-delay effects. Validating the adaptability of the model to weak maneuvering, two conditions of ignoring and considering time-delay effects are simulated and contrasted in pitch angle channel. Following conclusions are obtained: The motion characteristics of the weak maneuvering vehicle performs well in the two conditions; With the same pitch angle, proportional gain of the single rank response is smaller in the latter condition; And response of pitch angle performs oscillatory drastically. So differential control arithmetic should be paid more attention to use. The research results have an important significance to the control technology of supercavitation vehicles.