Longitudinal Modeling and Variable-Depth Control of Supercavitating Vehicle

摘要

For ensuring steady motion and variabledepth control of underwater Supercavitating Vehicles in vertical plane. Firstly, through analyzing dynamic characteristics of underwater supercavitatating vehicles, the motion model on vertical plane was investigated. Secondly, useing state variable feedback exact linearization method to linearize the nonlinear movement equations. Then design controllor for the vehicle by utilizing MIMO pole placement method, and control solution of segment and timedelay combining cavitator and tail wing is proposed, as well asvariable-depth control of supercavitating vehicle in the vertical plane. Simulation results show that the proposed control system accomplishes variable-depth control of the supercavitating vehicles.