Closed-Loop Control Dynamics for Supercavitating Vehicles
Xiong Tian-hong 1 BAO Bo-cheng 2
1. National Key Laboratory of Transient Physics, Nanjing University of Science and Technology, Nanjing 210094, China
2. School of Information Science and Engineering, Changzhou University, Changzhou 213164, China
Abstract：By describing dynamics of supercavitating vehicles and utilizing a piecewise-linear planing force function to fit the complex nonlinear planing force function, a closed-loop control dynamical model for the supercavitating vehicle is constructed, upon which a four-dimensional chaotic system with feedback control gains as variable parameters is obtained. By using dynamical analysis tools such as phase portrait, Poincaré map, bifurcation diagram and Lyapunov exponent spectrum, complex dynamical behaviors of the system with the variations of different feedback control gains are analyzed. The results indicate that the closed-loop control dynamical behaviors for supercavitating vehicles depend on each closed-loop control gain, resulting in the occurrence of novel nonlinear phenomena with these parameters varying, such as bifurcation, chaos, periodic window, co-existing attractor, imperfect Feigenbaum-tree and so on. The supercavitating vehicles can realize the stable motion by choicing appropriate feedback gain. The researches have an important guiding significance to the feedback controller designs of supercavitating vehicles.
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