|本期目录/Table of Contents|

[1]庞爱平,何朕.超空泡航行体的扰动观测器补偿设计[J].电机与控制学报,2018,22(01):107-113.[doi:10.15938/j.emc.2018.01.015]
 PANG Ai-ping,HE Zhen. Disturbance observer and compensation design forsupercavitating vehicles[J].,2018,22(01):107-113.[doi:10.15938/j.emc.2018.01.015]
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超空泡航行体的扰动观测器补偿设计(PDF)
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《电机与控制学报》[ISSN:1007-449X/CN:23-1 408/TM]

卷:
22
期数:
2018年01
页码:
107-113
栏目:
出版日期:
2018-01-05

文章信息/Info

Title:
 Disturbance observer and compensation design forsupercavitating vehicles
作者:
 庞爱平 何朕
 ( 哈尔滨工业大学 航天学院,黑龙江 哈尔滨 150001)
Author(s):
 PANG Ai-ping HE Zhen
 ( School of Astronautics,Harbin Institute of Technology,Harbin 150001,China)
关键词:
 超空泡 超空泡航行体 扰动观测器 补偿 滑行
Keywords:
supercavitation supercavitating vehicle disturbance observer compensation planning
分类号:
TP 273
DOI:
10.15938/j.emc.2018.01.015
文献标志码:
A
摘要:
 针对水下高速超空泡航行体尾部与空泡壁周期性碰撞的现象,提出了采用扰动观测器来补偿和消除重力的影响。推导了扰动观测器方程,给出了补偿器设计方案。仿真验证了扰动补偿能够避免超空泡航行体前进中周期性碰撞空泡壁的现象,并且控制面偏转角满足正常工作范围的要求。接入扰动估计和补偿控制后,航行体由原来的周期性拍打空泡壁能很快恢复到平稳工作状态。结论是扰动观测补偿的设计能够避免超空泡航行体产生滑行,使运动更为平稳,并且减少了前进的阻力。所提的扰动估计和补偿的控制思想,避免了直接补偿时执行机构行程过大的问题,可用于一般的控制系统设计。
Abstract:
 when the underwater high-speed supercavitation vehicles aft end pierces the bubble generatedplanning force,for the phenomenon of periodic collisions,the control mothod based on observer is used tocompensate and eliminate the influence of gravity. Disturbance observer equation was deduced and thecompensator was given. Simulations of vehicle maneuvers demonstrate that the compensation can avoidthe phenomenon of cyclical collisions ,and control surface deflection angle satisfy the requirements of thescope of work. After the observer access to the system and compensate the Constant disturbance,the su-percavitation vehicles can be back to smoothly running from periodic slapping the cavity wall quickly.Conclusion is that observer and compensation control avoid the planning force generating,which makesthe underwater high-speed supercavitation vehicles run smoothly and the resistance is reduced aslo. Dis-turbance estimation and compensation control design was proposed,which avoid the problem that actuatorstroke is too large in direct compensation, and this idea can be used in the design of generalcontrol system.

参考文献/References:

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备注/Memo

备注/Memo:
收稿日期: 2017 - 07 - 01
基金项目: 国家自然科学基金( U1564207)
作者简介: 庞爱平( 1986—) ,女,博士研究生,研究方向为控制理论、H-inf 控制、水下航行体控制与制导;
                  何 朕( 1972—) ,女,博士,教授,博士生导师,研究方向为鲁棒控制、H-inf 控制等。
更新日期/Last Update: 2018-06-28