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Double-loop decoupling control for a supercavitating vehicle

机译：用于超级泄压车辆的双回路解耦控制

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Underwater vehicles that travel inside a large continuous gas bubble offer an opportunity for high speed transportation. This type vehicle is referred to as high speed super cavitating vehicle (HSSV). The main challenge of the HSSV control is that dynamics model of HSSV system have strong-coupling and weak damped characteristics. In general, the dynamic response of the system is relatively fast, and the kinematics response is relatively slow. In the control design, the system is divided into fast varying inner loop and slow varying outer loop and this double-loop is used to stabilize the high-frequency and low-frequency mode respectively. Through the design of inner and outer loop, the feedback control law of kinematics and dynamics decoupling is given. Root locus of the system show that weakly damped oscillation of HSSV is inherent, and thus it is inevitable by feedback control. Simulation results verified effective of the designed control method and motion stability of HSSV. This idear of Double-loop Decoupling Control design provide a new method, which could be as a reference for the design of systems with weak damping and strong coupling.
机译：在大型连续气泡内部旅行的水下车辆为高速运输提供了机会。该类型车辆被称为高速超空化车（HSSV）。 HSSV控制的主要挑战是HSSV系统的动力学模型具有强耦合和弱阻尼特性。通常，系统的动态响应相对较快，并且运动学响应相对较慢。在控制设计中，系统被分成快速变化的内环和慢速外环，并且该双环分别用于稳定高频和低频模式。通过内部和外环的设计，给出了运动学和动力学去耦的反馈控制定律。系统的根轨迹表明，HSSV的弱潮湿振荡是固有的，因此通过反馈控制是不可避免的。仿真结果已验证了HSSV设计的控制方法和运动稳定性。这种双环解耦控制设计的IDEAR提供了一种新方法，可以作为具有弱阻尼和强耦合的系统的参考。

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