超空泡航行体闭环控制动力学特性研究

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振动与冲击 ›› 2015, Vol. 34 ›› Issue (17) : 167-173.

论文

超空泡航行体闭环控制动力学特性研究

熊天红1 包伯成2

作者信息 +

Closed-Loop Control Dynamics for Supercavitating Vehicles

Xiong Tian-hong 1 BAO Bo-cheng 2

Author information +

文章历史 +

摘要

通过对超空泡航行体的动力学描述，采用分段线性滑行力函数拟合复杂非线性滑行力函数，构建了超空泡航行体闭环控制动力学模型，获得了以反馈控制增益为可变参数的四维混沌系统．利用相轨图、庞加莱映射、分岔图和Lyapunov指数等动力学分析工具，分析了不同反馈控制增益变化时系统复杂的动力学行为．结果表明，超空泡航行体闭环控制动力学行为依赖于各个闭环控制增益，随着这些参数的变化，系统存在分岔、混沌、周期窗、共存吸引子和不完全费根鲍姆树等奇异的非线性物理现象；合理选择反馈增益，能够实现超空泡航行体的稳定航行．研究结果将对超空泡航行体反馈控制器的设计具有重要的指导意义．

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.

导出引用

熊天红1 包伯成2. 超空泡航行体闭环控制动力学特性研究[J]. 振动与冲击, 2015, 34(17): 167-173

Xiong Tian-hong 1 BAO Bo-cheng 2. Closed-Loop Control Dynamics for Supercavitating Vehicles[J]. Journal of Vibration and Shock, 2015, 34(17): 167-173

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