CN112230547A - Supercavitation navigation body H∞Controller design method - Google Patents

Supercavitation navigation body H∞Controller design method Download PDF

Info

Publication number
CN112230547A
CN112230547A CN202011157446.7A CN202011157446A CN112230547A CN 112230547 A CN112230547 A CN 112230547A CN 202011157446 A CN202011157446 A CN 202011157446A CN 112230547 A CN112230547 A CN 112230547A
Authority
CN
China
Prior art keywords
navigation body
supercavitation
controller
vehicle
matrix
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Pending
Application number
CN202011157446.7A
Other languages
Chinese (zh)
Inventor
赵新华
王雪
景力涛
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Harbin Engineering University
Original Assignee
Harbin Engineering University
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Harbin Engineering University filed Critical Harbin Engineering University
Priority to CN202011157446.7A priority Critical patent/CN112230547A/en
Publication of CN112230547A publication Critical patent/CN112230547A/en
Pending legal-status Critical Current

Links

Images

Classifications

    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B13/00—Adaptive control systems, i.e. systems automatically adjusting themselves to have a performance which is optimum according to some preassigned criterion
    • G05B13/02—Adaptive control systems, i.e. systems automatically adjusting themselves to have a performance which is optimum according to some preassigned criterion electric
    • G05B13/04—Adaptive control systems, i.e. systems automatically adjusting themselves to have a performance which is optimum according to some preassigned criterion electric involving the use of models or simulators
    • G05B13/042—Adaptive control systems, i.e. systems automatically adjusting themselves to have a performance which is optimum according to some preassigned criterion electric involving the use of models or simulators in which a parameter or coefficient is automatically adjusted to optimise the performance

Landscapes

  • Engineering & Computer Science (AREA)
  • Health & Medical Sciences (AREA)
  • Artificial Intelligence (AREA)
  • Computer Vision & Pattern Recognition (AREA)
  • Evolutionary Computation (AREA)
  • Medical Informatics (AREA)
  • Software Systems (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Automation & Control Theory (AREA)
  • Feedback Control In General (AREA)

Abstract

The invention discloses a supercavitation navigation body H∞The controller design method comprises the following steps: step 1: establishing a nonlinear dynamical model of the underwater supercavitation navigation body, and setting model parameters to obtain a longitudinal plane motion equation of the supercavitation navigation body; step 2: according to the navigation state of the navigation body, calculating the tail immersion depth and the tail immersion angle of the supercavitation navigation body to obtain the sliding force of the supercavitation navigation body; and step 3: establishing a linear matrix inequality according to a longitudinal plane motion equation of the supercavitation navigation body; and 4, step 4: solving the linear matrix inequality to obtain state feedback H∞A controller; and 5: feeding back the state H∞The controller is used for the supercavitation navigation body and carrying out simulation analysis on the system, and when the control effect meets the requirement, the design is finished; otherwise, executing step 6; step 6: adjustment status feedback H∞The controller weights the coefficients and returns to step 5. Designed H∞The state feedback controller can ensure the stable operation of the supercavitation navigation body within a certain range and meet the requirement of H∞Performance index.

Description

Supercavitation navigation body H∞Controller design method
Technical Field
The invention relates to a supercavitation navigation body H∞Controller design method, in particular to linear matrix inequality-based supercavitation navigation body H∞A controller design method.
Background
When the navigation body runs underwater, the resistance of the navigation body is far greater than that of the navigation body in the air, which seriously restricts the speed of the navigation body. The supercavitation technology is an important means for speed increasing and drag reduction of the underwater vehicle, and the supercavitation vehicle realizes high-speed movement by utilizing the supercavitation phenomenon. When the navigation body moves underwater, the liquid pressure is gradually reduced along with the increase of the speed of the navigation body, when the speed is increased to a certain value, the liquid pressure is lower than the saturated vapor pressure, a cavitation phenomenon is formed near the surface of the navigation body, bubbles are formed between the navigation body and the liquid at the moment, the surface wetting area of the navigation body is reduced due to the wrapping of the bubbles, the surface friction and hydrodynamic resistance received in the moving process of the navigation body are greatly reduced, and therefore the moving speed of the underwater navigation body is improved.
The method has the advantages that the navigation speed of the supercavitation navigation body is improved, meanwhile, great challenges are brought to the motion control of the supercavitation navigation body, and in the development process of the supercavitation navigation body, the mathematical modeling and control technology of the supercavitation navigation body is always the most critical part. The navigation body is completely or almost completely wrapped in the vacuole, so that most buoyancy is lost, and meanwhile, the interaction between the tail of the navigation body and the edge of the vacuole generates sliding force, the sliding force is a specific nonlinear acting force of an underwater super-speed navigation body, the acting force can cause the navigation body to generate unstable phenomena such as tail oscillation, tail shooting and the like, the original moment balance of the navigation body is changed due to the occurrence of the sliding force, and the modeling and control design of the super-vacuole navigation body is difficult. Many scholars at home and abroad also obtain a lot of achievements in the research on the control aspect of the underwater supercavitation navigation body, and carry out detailed research work on the problems of balance of motion stress, controllability of motion attitude, navigation stability and the like of the underwater supercavitation navigation body, and the research achievements can be used as a theoretical basis of hydromechanics design of the underwater supercavitation navigation body and further provide a theoretical premise for the design work of a controller.
The supercavitation navigation body can continuously flap the inner wall of the cavitation under the action of the sliding force to advance at a high speed in the navigation process, so that the sliding force can be taken as external disturbance H in the control design of the supercavitation navigation body∞The state feedback controller is a design which takes external disturbance into consideration, so that the stability is ensured, and the robustness under the action of the external disturbance is also ensured.
Disclosure of Invention
In order to solve the technical problems, the invention provides a linear matrix inequality-based supercavitation navigation body H∞The controller design method takes the external disturbance into account, so that the stability is ensured, and the robustness under the action of the external disturbance is also ensured.
In order to solve the technical problem, the invention provides a basic supercavitation navigation body H∞The design method of the controller comprises the following steps:
step 1: establishing a nonlinear dynamical model of the underwater supercavitation navigation body, and setting model parameters to obtain a longitudinal plane motion equation of the supercavitation navigation body;
step 2: according to the navigation state of the navigation body, calculating the tail immersion depth and the tail immersion angle of the supercavitation navigation body to obtain the sliding force of the supercavitation navigation body;
and step 3: establishing a corresponding linear matrix inequality according to a longitudinal plane motion equation of the supercavitation navigation body;
and 4, step 4: solving the linear matrix inequality to obtain the state feedback H of the system∞A controller;
and 5: feeding back the state H∞The controller is used for the supercavitation navigation body and carrying out simulation analysis on the system, and when the control effect meets the requirement, the design of the controller is finished; otherwise, executing step 6;
step 6: adjustment status feedback H∞Weighting factor beta of controller1、β2、β3、β4、η1、η2And returns to step 5.
The invention also includes:
1. the longitudinal plane motion equation of the supercavitation navigation body in the step 1 is specifically as follows:
Figure BDA0002743191690000021
wherein V represents the advancing speed of the vehicle, a22、a24、a42And a44For the parameters in the state matrix to be,b21、b22、b41and b42To control the parameters of the matrix, c2Is gravity, d2And d4The coefficients of the matrix generated by the gliding forces and the gliding forces, z represents the vertical position of the center of gravity of the vehicle, ω represents the vertical speed of the vehicle, θ represents the pitch angle of the vehicle, q represents the pitch rate of the vehicle, δeIndicating the yaw angle, delta, of the aircraft tail-ruddercIndicating the angle of deflection, f, of the cavitator of the navigation bodypRepresenting the planing force of the vehicle.
2. The gliding force of the navigation body is as follows:
Figure BDA0002743191690000022
wherein h 'is the immersion depth of the tail part of the navigation body, alpha is the immersion angle of the tail part of the navigation body, and h' satisfies the following conditions:
Figure BDA0002743191690000023
α satisfies:
Figure BDA0002743191690000031
wherein
Figure BDA0002743191690000032
Figure BDA0002743191690000033
RcThe radius of the cavity is indicated as,
Figure BDA0002743191690000034
indicating the rate of change of cavitation radius, cavitation length L, cavitation number sigma and cavitator radius RnAre all constants.
3. The linear matrix inequality in step 3 is specifically:
Figure BDA0002743191690000035
wherein
Figure BDA0002743191690000036
Figure BDA0002743191690000037
I is the identity matrix, beta1、β2、β3、β4、η1、η2Is the weighting factor to be designed.
4. Solving the linear matrix inequality in the step 4 to obtain the state feedback H of the system∞The controller is specifically as follows: if and only if a symmetric positive definite matrix X and a symmetric positive definite matrix W exist, the matrix inequality is established, the conditions are converted into a linear matrix inequality to be solved, and a feasible solution X is solved*、W*If u is W*(X*)-1x is H of the system∞A state feedback controller.
The invention has the beneficial effects that: the invention provides a supercavitation navigation body H based on LMI∞Controller design method according to H∞Riccati's equation for state feedback, listing a H∞The weighting coefficient is solved, and the solved parameters are substituted into the supercavitation navigation body nonlinear dynamics model
Figure BDA0002743191690000038
In (b), the designed H is obtained∞The state feedback controller can ensure the stable operation of the supercavitation navigation body within a certain range and meet the requirement of H∞Performance index.
Drawings
FIG. 1 shows an LMI-based supercavitation H∞A work flow diagram of a controller design method.
FIG. 2 is an LMI-based supercavitation H∞A system control block diagram of a controller design method.
Detailed Description
The following further describes the embodiments of the present invention with reference to the drawings.
With reference to fig. 1 and 2, the present invention is completed by the following parts:
firstly, establishing a nonlinear dynamic model of the underwater supercavitation navigation body, and setting model parameters. The nonlinear dynamic model of the underwater supercavitation navigation body is as follows:
Figure BDA0002743191690000041
wherein x is a state variable [ z ω θ q ]]TZ represents the vertical position of the center of gravity of the vehicle, ω represents the vertical velocity of the vehicle, θ represents the pitch angle of the vehicle, q represents the pitch rate of the vehicle, and u is the control input [ δ ]e δc]T，δeIndicating the yaw angle, delta, of the aircraft tail-ruddercIndicating the angle of deflection, f, of the cavitator of the navigation bodypRepresenting the gliding force of the navigation body, A, B, C, D, respectively being parameter matrixes, and obtaining the following group of supercavitation navigation body longitudinal plane kinetic equations after sorting:
Figure BDA0002743191690000042
wherein V represents the advancing speed of the vehicle, a22、a24、a42And a44As a parameter in the state matrix, b21、b22、b41And b42To control the parameters of the matrix, c2Is gravity, d2And d4Is the coefficient of the matrix generated by the sliding force and the sliding force.
Figure BDA0002743191690000043
Wherein h' is the immersion depth of the tail part of the navigation body, alpha is the immersion angle of the tail part of the navigation body,
the model of the tail immersion depth and the tail immersion angle of the underwater supercavitation navigation body is as follows:
Figure BDA0002743191690000044
Figure BDA0002743191690000045
wherein
Figure BDA0002743191690000051
Figure BDA0002743191690000052
RcThe radius of the cavity is indicated as,
Figure BDA0002743191690000053
indicating the rate of change of cavitation radius, cavitation length L, cavitation number sigma and cavitator radius RnAre all constants.
II, carrying out H on the supercavitation navigation body by utilizing LMI∞And designing a controller to obtain a corresponding linear matrix inequality.
H∞The state space of the state feedback is described as:
Figure BDA0002743191690000054
here, x is the state vector, ω is the external disturbance, and u is the control input. Because the supercavitation navigation body is a nonlinear dynamic model, when the navigation body is disturbed when running underwater at high speed, the vertical speed of the navigation body exceeds the threshold value omegathWhen the flight vehicle is not in contact with the cavity wall, no sliding force is generated, and the sliding force is zero. Based on this characteristic of the gliding force, the gliding force can be considered as an external disturbance of the navigation body, i.e. H∞ω ═ f in the state feedback equationpThus, the equation of state of the supercavitation vehicle can be written as follows:
Figure BDA0002743191690000055
since C is a constant term, it mainly affects the static error at steady state of the system, and the static error at steady state is small, so H is the time∞In the design process of the state feedback controller, the constant C term is ignored, and the obtained supercavitation navigation body mathematical model can be matched with the H term∞The state space description of the state feedback corresponds. Establishing a linear matrix inequality according to parameters and LMI parameters in the supercavitation navigation body nonlinear dynamical model:
Figure BDA0002743191690000056
wherein
Figure BDA0002743191690000061
Figure BDA0002743191690000062
I is the identity matrix, beta1、β2、β3、β4、η1、η2Is the weighting factor to be designed. If and only if a symmetric positive definite matrix X and a symmetric positive definite matrix W exist, the matrix inequality is enabled to be true, the conditions are converted into LMI to be solved, and then a feasible solution X is solved*、W*If u is W*(X*)-1x is H of the system∞A state feedback controller.
And thirdly, establishing a simulation model of the underwater supercavitation navigation body system, and performing simulation analysis on the supercavitation navigation body control system by using numerical analysis software. Writing corresponding program files according to the listed linear matrix inequalities, taking the comprehensive performance of the system into consideration, and selecting proper H through system debugging∞The state feeds back the weighting coefficient to obtain the corresponding H∞A state feedback control rate. According to the nonlinear dynamical equation of the underwater supercavitation navigation body, a system is builtAnd the simulation model inputs all parameters and the controller parameters into the model to obtain the simulation result of the system. In the simulation process, the deflection angles of the cavitator and the tail vane are changed within an allowable range, and the simulation result shows that the cavitator and the tail vane deflect to generate upward control force and gliding force to balance the gravity of the navigation body in the navigation process of the navigation body. According to the dead zone characteristic of the sliding force, when the vertical speed of the navigation body does not exceed the threshold value of 1.64, the sliding force is zero, which indicates that the navigation body is always positioned in the vacuole and is not contacted with the vacuole wall in the motion process, when the vertical speed exceeds 1.64, the sliding force is generated, and the sliding force pushes the navigation body back into the vacuole, so that the super-vacuole navigation body stably moves forwards under the action of the tail part periodically beating the vacuole wall.
The flow chart of the invention is shown in figure 1, firstly, an underwater supercavitation navigation body nonlinear dynamics model is established according to the standard design and standard parameters of the supercavitation navigation body given in the existing literature, and a group of supercavitation navigation body longitudinal plane motion equations are obtained after the model parameters are set and arranged; secondly, in the process of high-speed navigation of the navigation body, collision between the tail of the navigation body and the edge of the cavitation bubble is caused by instability of the cavitation bubble, so that the sliding force with the nonlinear characteristic is generated, and the tail immersion depth and the tail immersion angle of the supercavitation navigation body are calculated according to the navigation state of the navigation body, so that the calculation data of the sliding force of the supercavitation navigation body are obtained; then, according to a longitudinal plane motion equation of the supercavitation navigation body, a corresponding matrix inequality is established, the Riccati equation is solved, and state feedback H of the system is obtained∞A controller; and finally, model building is carried out on a longitudinal plane motion system of the supercavitation navigation body, simulation analysis is carried out on the system after the controller acts on the supercavitation navigation body, if the control effect meets the requirement, controller binding and next operation are carried out, and if the control effect does not meet the requirement, H needs to be adjusted∞Weighting coefficient beta of state feedback1、β2、β3、β4、η1、η2Due to β3、β4Weighting the state variable pitch angle and pitch angle rate, mainly to the pitch angleTaking beta as a stable function and being numerically related to the system bandwidth3＝200β4，β2The corresponding term is a constant term, β1/η2Corresponding to a gain feedback on the state variable z, beta1Greater compression of z, so β1Should be as large as possible while beta2The control parameters are readjusted to obtain the best control effect when the control parameters are as small as possible. System H∞The state feedback control block diagram is shown in FIG. 2, where A is the state matrix of the system and B is1To perturb the input matrix, B2For the control input matrix, the control input u is Kx, K is the state feedback control rate, w is the disturbance input, here the side refers to the coasting force fp，Ax、B1w、B2u are summed and integrated to obtain the state variables x, C1And D12Is the weighting matrix of the system and z is the system performance output.

Claims (5)

1. Supercavitation navigation body H∞The design method of the controller is characterized by comprising the following steps:
step 1: establishing a nonlinear dynamical model of the underwater supercavitation navigation body, and setting model parameters to obtain a longitudinal plane motion equation of the supercavitation navigation body;
step 2: according to the navigation state of the navigation body, calculating the tail immersion depth and the tail immersion angle of the supercavitation navigation body to obtain the sliding force of the supercavitation navigation body;
and step 3: establishing a corresponding linear matrix inequality according to a longitudinal plane motion equation of the supercavitation navigation body;
and 4, step 4: solving the linear matrix inequality to obtain the state feedback H of the system∞A controller;
and 5: feeding back the state H∞The controller is used for the supercavitation navigation body and carrying out simulation analysis on the system, and when the control effect meets the requirement, the design of the controller is finished; otherwise, executing step 6;
step 6: adjustment status feedback H∞Weighting factor beta of controller1、β2、β3、β4、η1、η2And returns to step 5.
2. The supercavitation vehicle H according to claim 1∞The design method of the controller is characterized in that: the supercavitation navigation body longitudinal plane motion equation in the step 1 is specifically as follows:
Figure FDA0002743191680000011
wherein V represents the advancing speed of the vehicle, a22、a24、a42And a44As a parameter in the state matrix, b21、b22、b41And b42To control the parameters of the matrix, c2Is gravity, d2And d4The coefficients of the matrix generated by the gliding forces and the gliding forces, z represents the vertical position of the center of gravity of the vehicle, ω represents the vertical speed of the vehicle, θ represents the pitch angle of the vehicle, q represents the pitch rate of the vehicle, δeIndicating the yaw angle, delta, of the aircraft tail-ruddercIndicating the angle of deflection, f, of the cavitator of the navigation bodypRepresenting the planing force of the vehicle.
3. A supercavitation vehicle H according to claim 1 or 2∞The design method of the controller is characterized in that: the gliding force of the navigation body is as follows:
Figure FDA0002743191680000012
wherein h 'is the immersion depth of the tail part of the navigation body, alpha is the immersion angle of the tail part of the navigation body, and h' satisfies the following conditions:
Figure FDA0002743191680000021
α satisfies:
Figure FDA0002743191680000022
wherein
Figure FDA0002743191680000023
Figure FDA0002743191680000024
RcThe radius of the cavity is indicated as,
Figure FDA0002743191680000025
indicating the rate of change of cavitation radius, cavitation length L, cavitation number sigma and cavitator radius RnAre all constants.
4. The supercavitation vehicle H according to claim 3∞The design method of the controller is characterized in that: step 3, the linear matrix inequality is specifically as follows:
Figure FDA0002743191680000026
X＞0
wherein
Figure FDA0002743191680000027
Figure FDA0002743191680000028
I is the identity matrix, beta1、β2、β3、β4、η1、η2Is the weighting factor to be designed.
5. The supercavitation navigation body H according to claim 4∞The design method of the controller is characterized in that: step 4, solving the linear matrix inequality to obtain the state feedback H of the system∞The controller is specifically as follows: if and only if there is oneThe matrix X and the matrix W are symmetrically determined to ensure that the matrix inequality is established, the conditions are converted into a linear matrix inequality to be solved, and a feasible solution X is solved*、W*If u is W*(X*)-1x is H of the system∞A state feedback controller.
CN202011157446.7A 2020-10-26 2020-10-26 Supercavitation navigation body H∞Controller design method Pending CN112230547A (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
CN202011157446.7A CN112230547A (en) 2020-10-26 2020-10-26 Supercavitation navigation body H∞Controller design method

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
CN202011157446.7A CN112230547A (en) 2020-10-26 2020-10-26 Supercavitation navigation body H∞Controller design method

Publications (1)

Publication Number Publication Date
CN112230547A true CN112230547A (en) 2021-01-15

Family

ID=74110073

Family Applications (1)

Application Number Title Priority Date Filing Date
CN202011157446.7A Pending CN112230547A (en) 2020-10-26 2020-10-26 Supercavitation navigation body H∞Controller design method

Country Status (1)

Country Link
CN (1) CN112230547A (en)

Cited By (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN113777929A (en) * 2021-09-22 2021-12-10 哈尔滨工程大学 Time-lag LPV model-based robust control method for supercavitation navigation body
CN113885539A (en) * 2021-09-29 2022-01-04 哈尔滨工业大学 Design method of super-cavity navigation body LPV controller
CN114818540A (en) * 2022-04-28 2022-07-29 哈尔滨工业大学 Construction method of non-torpedo-shaped navigation body high-speed water-entering trajectory prediction model
CN115407788A (en) * 2022-08-26 2022-11-29 哈尔滨工业大学 Fixed time convergence second-order sliding mode control method and control system for underwater high-speed navigation body

Citations (7)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN106644382A (en) * 2016-12-27 2017-05-10 南京理工大学 Method for planning motion track of supercavitating vehicle based on multi-steady-state analysis
CN107015477A (en) * 2017-04-05 2017-08-04 同济大学 Vehicle route tracking H ∞ control methods based on feedback of status
CN107748494A (en) * 2017-09-14 2018-03-02 南京理工大学 A kind of supercavitating vehicle motion state handover control method
CN109084952A (en) * 2018-08-13 2018-12-25 南京理工大学 Calculation method based on the small-sized supercavitating vehicle vacuole deformation of potential flow theories
WO2020056267A1 (en) * 2018-09-14 2020-03-19 Honda Motor Co., Ltd. Stable balance controller
CN110955980A (en) * 2019-12-12 2020-04-03 哈尔滨工程大学 Stability analysis method for time-lag underwater ultrahigh-speed navigation body
CN111666628A (en) * 2020-05-13 2020-09-15 哈尔滨工业大学 Adaptive fault-tolerant control method for supercavitation navigation body

Patent Citations (7)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN106644382A (en) * 2016-12-27 2017-05-10 南京理工大学 Method for planning motion track of supercavitating vehicle based on multi-steady-state analysis
CN107015477A (en) * 2017-04-05 2017-08-04 同济大学 Vehicle route tracking H ∞ control methods based on feedback of status
CN107748494A (en) * 2017-09-14 2018-03-02 南京理工大学 A kind of supercavitating vehicle motion state handover control method
CN109084952A (en) * 2018-08-13 2018-12-25 南京理工大学 Calculation method based on the small-sized supercavitating vehicle vacuole deformation of potential flow theories
WO2020056267A1 (en) * 2018-09-14 2020-03-19 Honda Motor Co., Ltd. Stable balance controller
CN110955980A (en) * 2019-12-12 2020-04-03 哈尔滨工程大学 Stability analysis method for time-lag underwater ultrahigh-speed navigation body
CN111666628A (en) * 2020-05-13 2020-09-15 哈尔滨工业大学 Adaptive fault-tolerant control method for supercavitation navigation body

Non-Patent Citations (3)

* Cited by examiner, † Cited by third party
Title
TAO BAI.ETC: "A Study of Supercavitating Vehicles with Unconstant Cavitation Number", 《PROCEEDINGS OF THE 34TH CHINESE CONTROL CONFERENCE》 *
庞爱平等: "超空泡航行体H∞状态反馈设计", 《控制理论与应用》 *
韩云涛等: "超空泡航行体鲁棒H∞绝对稳定控制", 《哈尔滨工程大学学报》 *

Cited By (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN113777929A (en) * 2021-09-22 2021-12-10 哈尔滨工程大学 Time-lag LPV model-based robust control method for supercavitation navigation body
CN113777929B (en) * 2021-09-22 2023-12-12 哈尔滨工程大学 Supercavitation navigation body robust control method based on time-lapse LPV model
CN113885539A (en) * 2021-09-29 2022-01-04 哈尔滨工业大学 Design method of super-cavity navigation body LPV controller
CN114818540A (en) * 2022-04-28 2022-07-29 哈尔滨工业大学 Construction method of non-torpedo-shaped navigation body high-speed water-entering trajectory prediction model
CN115407788A (en) * 2022-08-26 2022-11-29 哈尔滨工业大学 Fixed time convergence second-order sliding mode control method and control system for underwater high-speed navigation body
CN115407788B (en) * 2022-08-26 2023-09-15 哈尔滨工业大学 Fixed-time convergence second-order sliding mode control method and control system for underwater high-speed navigation body

Similar Documents

Publication Publication Date Title
CN112230547A (en) Supercavitation navigation body H∞Controller design method
CN107942651B (en) Near space vehicle control system
CN105182742A (en) Elastic body aircraft adaptive constrained tracking control indirect method
CN109871628B (en) Simulation computing system and method for evaluating seaworthiness compliance of amphibious aircraft
Yasukawa et al. Application of the MMG method for the prediction of steady sailing condition and course stability of a ship under external disturbances
CN109270837B (en) Cascade control method for underwater ultrahigh-speed navigation body
CN111666628A (en) Adaptive fault-tolerant control method for supercavitation navigation body
CN114942649B (en) Airplane pitching attitude and track angle decoupling control method based on backstepping method
CN114564045A (en) Unmanned aerial vehicle flight control law design method considering rainfall and gust conditions
CN106383523A (en) Aircraft nonlinear attitude control system stability analysis method
CN111290278A (en) Hypersonic aircraft robust attitude control method based on prediction sliding mode
CN113885539A (en) Design method of super-cavity navigation body LPV controller
CN110187715A (en) A kind of hypersonic aircraft control method for coordinating based on dynamic Coupling Analysis
CN114637312A (en) Unmanned aerial vehicle energy-saving flight control method and system based on intelligent deformation decision
CN108255193A (en) A kind of vertical/short field aircraft flight control method
CN112149234B (en) Aircraft particle motion model design method based on pitch angle rate input
Yan et al. Study on control strategy for tilt-rotor aircraft conversion procedure
Wu et al. Analysis and verification of a miniature dolphin-like underwater glider
CN113777929B (en) Supercavitation navigation body robust control method based on time-lapse LPV model
CN112668092B (en) Aircraft hybrid trim analysis method coupled with pneumatic interference
CN115562319A (en) Method for correcting attitude of navigation body under influence of internal waves
CN115729264A (en) Flexible self-adaptive winglet-based stability-variable stealth aircraft control method
Batina et al. Application of transonic codes to aeroelastic modeling of airfoils including active controls
CN115562271B (en) Open loop control method suitable for high-speed water inlet
Rizzi et al. Virtual aircraft design and control of transcruiser-A canard configuration

Legal Events

Date Code Title Description
PB01 Publication
PB01 Publication
SE01 Entry into force of request for substantive examination
SE01 Entry into force of request for substantive examination
RJ01 Rejection of invention patent application after publication
RJ01 Rejection of invention patent application after publication

Application publication date: 20210115