考虑空泡延迟特性的超空泡航行器运动控制模型

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。

Motion control model of supercavitating vehicle considering time-delay effect of supercavitation

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.