Modeling and attitude-orbit control for incomplete-encapsulated supercavitating vehicles
LI Yang
LIU Ming-yong
YANG Pan-pan
PENG Xing-guang
Abstract：For the problem of the dynamic characteristic and the attitude and orbit control method in the state of the incomplete-encapsulated supercavitating, the study on the attitude and orbit control for the incomplete- encapsulated su-percavitating vehicle is carried out. Firstly, the forces and the cavity shape are analyzed, and the dynamic modeling of the supercavitating vehicle is combined with the cavity contour and momentum theorem; then a backstepping variable struc-ture controller is designed, and the cavitator and the direct lateral force acting on the tail are used as the control inputs, otherwise, we propose an adaptive law for an unknown parameter of the system, and an extended state observer (ESO) for the unknown disturbance. Finally, in the process of the simulation, the direct lateral force of the control inputs is divided into two situation: adjustable and unadjustable. Then, we use pulse-width pulse-frequency (PWPF) method to deal with the modulation of control inputs. The simulation results show the accuracy of the model and the effectiveness of the proposed controller for the stabilize sailing and tracking control.
Keywords：incomplete-encapsulatedsupercavitating vehicleextended state observerattitude and orbit controladap-tivebackstepping variable structure controlpulse-width pulse-frequency
Publication Date：2017-01-01
Online Publishing Date：2025-08-15(First online date of this platform, not the publication date of the document)
Pages：10( 885-894 )