Research On Depth Control And Hardware In The Loop Simulation Technology For High-Speed Underwater Vehicle

The development of super cavitation technology provides a new way to improve the speed of underwater vehicles.The bubble produced by the underwater ultra-high speed vehicles will sail vehicles and water separation,which reduces most of the resistance for the underwater ultra-high speed vehicles.So the vehicles have the ultra-high speed performance.Due to the underwater ultra-high speed vehicles has the speed and distance is far,as well as good concealment,the world’s major military powers have invested heavily in related theory and experimental study.Control system design is crucial to underwater ultra-high speed vehicles’ s movement.But there are many problems will seriously affect the stability of vehicles’ s movement,such as the good and bad of control algorithm,response of the cavitator device steering technical problems.This paper completed different control algorithm design and the research for semi-physical simulation technology and cavitator steering gear selection,based on the longitudinal motion model of the underwater ultra-high speed vehicles.Firstly,this paper studies the background,purpose and meaning,especially the longitudinal control strategy and the steering gear control characteristics of the underwater ultra-high speed vehicles to make a brief introduction.After this,the underwater ultra-high speed vehicles hardware-in-the-loop simulation system is set up,mainly analyses the working principle of cavitator steering gear,mechanical structure and the point of acquisition.Secondly,after the analysis of high-speed underwater body parts put forward the sailing body configuration scheme in this paper.According to analyze the force for high speed underwater vehicles,especially the sailing body tail plane force change rule,the nonlinear kinematics and kinetic model was built based on supercavitation related theory and the theory of rigid body kinematics.Simplified longitudinal motion of vehicle sailing single degree of freedom cavitator device without stern rudde was built through the perturbation linear theory and some assumptions for the model.The control characteristics of the vehicles were get after the analysis for the model’s controllability,obervability and stability.Again,based on the vehicles longitudinal model,the deepth controller for the vehicles was designed and anaylzed.According to the actual control precision and sensor measurement,the control law which has depth,pitch angle and pitch rate was determined to be used for fixed depth control system.On the basis of this control law,fuzzy adaptive controller has improved the performance of navigation control system,which is using depth,pitch angle and pitch rate to design the fuzzy control rules to setting control parameters.The simulationresults show that the fuzzy adaptive controller has improved the control precision of the system,and decrease the oscillation amplitude of the state variables.Finally,cavitator servo linear motion experiment verified the limited distance of steering gear servo linear motion in each control cycle.In order to solve the limited distance of steering gear servo linear motion caused by the short control cycle,a variable structure adaptive controller is designed in this paper.Digital simulation and the hardware-in-the-loop simulation show that variable structure adaptive control can improve the control of depth precision and pitch attitude,and the linear motion of the steering gear in each control cycle is limited within the maximum distance.The steering gear selection of high speed underwater vehicles are analyzed.