Research On Hardware-in-the-loop Simulation Technology Of Underwater Hign-speed Vehicle Control System

The application of supercavitation technology makes the navigation speed of underwater vehicle achieve a qualitative leap,and greatly improves the lethality of underwater weapons.It has great strategic significance and practical value.Different from the conventional underwater vehicle,the surface of supercavitating vehicle is mostly wrapped by cavitation,the uncertainty of cavitation shape and the complex of underwater environment,all of which bring great difficulties to the stability control of the vehicle.In order to shorten the development period of the vehicle and reduce the research cost,it is necessary to verify the main components of the vehicle and the corresponding control algorithm before the assembly of the vehicle by the semi-physical simulation technology.Firstly,the requirements of underwater high-speed vehicle hardware-in-the-loop simulation system are determined.On this basis,the system framework is designed,and the working flow of the hardware-in-the-loop simulation system is analyzed.The functional requirements,composition and software platform of the simulation computer system are analyzed.According to the needs of the realization of the function,to determine the required system hardware equipments.Secondly,analysis the forces and moments in the vertical plane for vehicle and establish the mathematical models.The vehicle coordinate system is established,and the force of tail rudder and cavitator,gravity,sliding force and its corresponding moments are analyzed.The nonlinear sliding force between the cavities and the surface of the moving body is analyzed,and the mathematical model is established in the longitudinal plane of the underwater vehicle.Thirdly,considering the uncertainties and external perturbations of the mathematical model of the underwater vehicle,the sliding mode variable structure controller is designed to realize the longitudinal plane control of the under water high-speed vehicle.In this paper,two kinds of sliding mode variable structure controllers are designed.The first is to design a sliding mode variable structure controller based on the exponential convergence law for the purpose of obtaining better dynamic performance and weakening the buffeting.The second is based on the system tracking error for the new state variables to obtain a new state space equation,stabilizing the equation to realize the depth of tracking,because the vertical velocity of the vehicle can not be directly obtained,designing the high gain observer to observe the depth of the vehicle to obtain the estimated value of vertical velocity.Aiming at the actuator saturation,the actuator amplitude is limited.And the saturation compensation design of the controller is completed to achieve the purpose of anti-saturation.The control algorithm of the design is simulated and the effect and performance of the controller are analyzed.At the same time,according to the digital simulation results to adjust the controller parameters for the choice of hardware-in-the-loop controller parameters.Finally,the completion of semi-physical simulation system PC software written.The function of the system is divided into two parts: digital simulation and semi-physical simulation.The sub-function modules of the digital simulation and the semi-physical simulation are analyzed respectively.The simulation computer software uses MATLAB to realize the system mathematical model calculation,and realizes the functions of system interface design,data storage,curve real-time display and communication with external equipment by C#.NET.And the digital simulation and the semi-physical simulation are carried out respectively,and the simulation curves of the two are compared to verify the performance of the vehicle components and the validity of the control rules.