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[1]何朕,庞爱平.超空泡航行体的反馈控制设计 [J].电机与控制学报,2017,21(08):101-108.[doi:10.15938/j.emc.2017.08.014]
 HE Zhen,PANG Ai-ping.Feedback control design for supercavitating vehicles [J].,2017,21(08):101-108.[doi:10.15938/j.emc.2017.08.014]
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超空泡航行体的反馈控制设计
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《电机与控制学报》[ISSN:1007-449X/CN:23-1 408/TM]

卷:
21
期数:
2017年08
页码:
101-108
栏目:
出版日期:
2018-01-01

文章信息/Info

Title:
Feedback control design for supercavitating vehicles
作者:
?何朕 庞爱平
?( 哈尔滨工业大学 控制科学与工程系,黑龙江 哈尔滨 150001)
Author(s):
?HE Zhen PANG Ai-ping
?( Department of Control and Engineering,Harbin Institute of Technology,Harbin 150001,China)
关键词:
超空泡 超空泡航行体 反馈控制 频域解耦 滑行力 深度控制
Keywords:
supercavitation supercavitating vehicle feedback control frequency domain decoupling planing force depth control
分类号:
TP 273
DOI:
10.15938/j.emc.2017.08.014
文献标志码:
A
摘要:
?针对超空泡航行体的弱阻尼和耦合特性,提出采用内外回路的设计思想。用俯仰角反馈来对弱阻尼的动态特性进行镇定,并与运动学进行解耦。再根据深度信号作为输出,对以运动学方程 为主的主回路进行设计。对所设计的系统用 Nyquist 法进行了理论分析,结论是这种用回路和带宽 来确定反馈增益的做法是很有效的,既能满足深度控制的良好性能要求,又能保证姿态回路的稳定 性。通过在扰动作用下的仿真对这个结论进行了验证。所提出的这种设计的每一步都有明确的物理解释,为状态反馈设计提供了一种新的思路,具有推广价值。
Abstract:
Because of the coupling effect and lightly damped dynamics of the high-speed supercavitating vehicle( HSSV) ,a decoupling inner-outer loop design is proposed. The pitch angle can be considered as a feedback signal of the inner loop which is used to stabilize the lightly damped mode and to decouple the vehicle dynamics from the kinematic movement. The depth signal was then used as an output for the main loop which was dominated by the kinematic equations of the vehicle. The resulting design was theoretically verified by the Nyquist theory. It is noticed that the determination of system gain by using the concepts of loops and bandwidth is proved to be useful. Simulation result for HSSV under external disturbances was presented.It is noticed that there are explicit physical meanings in each of the design steps,so the proposed method may be further used as an alternative approach for state feedback design.

参考文献/References:

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相似文献/References:

[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.[doi:10.15938/j.emc.2018.01.015]
 PANG Ai-ping,HE Zhen. Disturbance observer and compensation design forsupercavitating vehicles[J].,2018,22(08):107.[doi:10.15938/j.emc.2018.01.015]

备注/Memo

备注/Memo:
收稿日期: 2017-03-08
基金项目: 国家自然科学基金重点资助项目( U1564207)
作者简介: 何 朕( 1972—) ,女,博士,教授,研究方向为鲁棒控制、H-inf 控制等;
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。
更新日期/Last Update: 2017-11-20