| 考虑空泡延迟特性的超空泡航行器运动控制模型 |
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| 引用本文： | 罗凯, 李代金, 党建军, 王育才, 张宇文. 考虑空泡延迟特性的超空泡航行器运动控制模型[J]. 交通运输工程学报, 2010, 10(3): 41-45. doi: 10.19818/j.cnki.1671-1637.2010.03.007 |
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| 作者姓名： | 罗凯 李代金 党建军 王育才 张宇文 |
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| 作者单位： | 西北工业大学 航海学院, 陕西 西安 710072 |
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| 基金项目： | 中国船舶工业预研基金项目07J4.1.2 |
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| 摘 要： | 基于超空泡的独立扩张原理, 考虑了超空泡的时间延迟特性, 在随体坐标系中建立航行器尾部中心指向超空泡中心的空间矢量, 提出了可以描述超空泡航行器机动航行特性的运动控制模型。在充分考虑超空泡航行器巡航阶段纵平面为弱机动的基础上, 对运动模型进行了无横滚匀速定深直航简化。所得航行器空间运动模型既考虑了超空泡的延迟效应诱发的空泡脱体现象, 也兼顾了巡航阶段运动特点的描述, 模型封闭, 便于工程应用, 可作为航行器机动运动控制的对象基础。
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| 关 键 词： | 超空泡水下航行器 机动运动 运动模型 时间延迟 运动特性 |
| 收稿时间： | 2010-03-21 |
Motion control model of supercavitating vehicle considering time-delay effect of supercavitation |
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| LUO Kai, LI Dai-jin, DANG Jian-jun, WANG Yu-cai, ZHANG Yu-wen. Motion control model of supercavitating vehicle considering time-delay effect of supercavitation[J]. Journal of Traffic and Transportation Engineering, 2010, 10(3): 41-45. doi: 10.19818/j.cnki.1671-1637.2010.03.007 |
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| Authors: | LUO Kai LI Dai-jin DANG Jian-jun WANG Yu-cai ZHANG Yu-wen |
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| Affiliation: | School of Marine Engineering, Northwestern Polytechnical University, Xi'an 710072, Shaanxi, China |
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| Abstract: | Based on the cavitation theory of unattached expansion, the time-delay effect of supercavitation was considered, the vector from the empennage center of maneuverable supercavitating vehicle to supercavitation center in accompanying reference frame was established, and a motion control model of the vehicle was presented, which could describe the maneuverable motion property of the vehicle.Convenient for practical application, the model was simplified to straight-and-level flight without roll based on investigating the motion characteristics of the vehicle.The model is close and applied.It adequately considers the time-delay effect of supercavitation, accurately describes the motion characteristics of the vehicle at cruise phase and is the base of designing the motion control system of the vehicle. |
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| Keywords: | underwater supercavitating vehicle maneuvering motion kinematic model time-delay motion characteristics |
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