摘要
超空泡航行体是一个具有非线性滑行力、系统参数不确定性的多变量系统。文中以Dzielski提出的航行体模型作为基础,分析了超空泡航行体在运动中,由于空泡形态、尾部湍流等因素引起的不确定性及外界干扰力。利用反演法设计了超空泡航行体的滑模控制器,并在控制器设计中加入自适应律,估计不确定项的上界。仿真结果表明,设计的控制器能够有效的调整超空泡航行体的纵向状态,并对设计的标准弹道表现出良好的跟踪性能。
Supercavitation vehicle is a muhivariable system with parameter uncertainties and non-linear sliding force. Based on a supercavi- tation vehicle model proposed by Dzielsk, the uncertainties caused by cavitation shape and turbulence of afterbody were discussed. Then inversion method was used to design a sliding mode controller. Adaptive control law was introduced for estimating upper boundary of uncer- tain parameters and disturbances. The responses have high precision and small overshoot. A nominal trajectory was designed to testify tracking capability in a wide range. The simulation results show that the proposed controller has good tracking performance and can stabilize the system rapidly.
出处
《弹箭与制导学报》
CSCD
北大核心
2012年第4期18-22,共5页
Journal of Projectiles,Rockets,Missiles and Guidance
基金
航空基金(2008ZA51002)资助
