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首页> 外文期刊>Proceedings of the Institution of Mechanical Engineers, Part M. Journal of Engineering for the Maritime Environment >Nonlinear robust control of high-speed supercavitating vehicle in the vertical plane
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Nonlinear robust control of high-speed supercavitating vehicle in the vertical plane

机译：垂直平面中高速超级泄压车辆的非线性鲁棒控制

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摘要

The supercavitating vehicle can quickly become unstable under the influence of the planing force and external disturbances due to waves and currents. The planing force demonstrates nonlinear characteristics which can be described by the vehicle state variables. Strict standards for maneuvering strategy are required for high-speed vehicles to operate, particularly guidance, navigation, and control of underwater maneuver. In reality, the high-speed supercavitating vehicle dynamics present various control issues and challenges. This article proposes the nonlinear robust control synthesis to manipulate the vertical plane of the high-speed supercavitating vehicle against the planing force or parameter variations as well as external disturbances. The control synthesis is implemented by solving an algebraic Riccati equation at each iteration of the control algorithm with the updated system states, which is a so-called state-dependent Riccati equation. The control loops in the dive-plane satisfy an H infinity performance criterion that can reject external disturbances with perturbations. Simulation results show that the controlled vehicle system guarantees fast transient responses with steady-state performance. Besides, the proposed controller can eliminate up to 62% of disturbances and provides the robust performance against large planing force and parametric uncertainties. This new vehicle technology with active controller offers the potential strategy of higher speed and higher maneuverability solutions for various purposes of underwater maneuvering.
机译：由于波浪和电流，超级泄压车辆在刨力和外部干扰的影响下可以快速变得不稳定。刨力表明了可以通过车辆状态变量描述的非线性特性。高速车辆需要严格的机动策略标准，特别是水下机动的指导，导航和控制。实际上，高速超级挖掘车辆动态存在各种控制问题和挑战。本文提出了非线性稳健控制合成，以操纵高速超级扫描车辆的垂直平面，以防止刨力或参数变化以及外部干扰。通过在使用更新的系统状态下求解控制算法的每个迭代的代数Riccati方程来实现控制合成，这是所谓的状态相关的Riccati等式。潜水平面中的控制循环满足HIFINITY性能标准，可以扰乱外部干扰。仿真结果表明，受控车辆系统保证了稳态性能的快速瞬态响应。此外，所提出的控制器可消除高达62％的干扰，并提供针对大刨力和参数不确定性的强大性能。这种具有主动控制器的新型车辆技术为各种水下机动的各种目的提供了更高速度和更高的机动性解决方案的潜在策略。

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