Abstract
Supercavitation technology can greatly improve the speed of underwater vehicles by reducing drag. However, the time-delay characteristic of a supercavitating vehicle presents control challenge. In this paper, a linear parameter-varying (LPV) time-delay model for a supercavitating vehicle is established by analysing the time-delay characteristics of the planing force. Moreover, considering that the cavitation radius is easily perturbed by external disturbances, a supercavitating LPV delay model depicted as a polytope is established. Based on the model, a predictive controller based on time-delay characteristics is designed. The controller can solve linear matrix inequalities (LMI) online to find the optimal solution at a given moment. In addition, the controller introduces a different Lyapunov function and multiple free control variables to reduce the system’s conservativeness and expand the system’s initial feasible region, which can improve the control performance of the system. A simulation verifies that the system exhibits good stability and robustness.
Highlights
Due to the Bernoulli effect, when the speed of an underwater vehicle reaches a certain range, supercavitation will arise on the surface of the vehicle
Because of its strong drag reduction effect, supercavitation technology has become a topic of interest in high-speed underwater vehicle researchs worldwide
Han et al.: Predictive Control of a Supercavitating Vehicle Based on Time-Delay Characteristics of a pitch-plane model for supercavitating vehicle dynamics that considered vehicle motions into and out of the cavity, the unstable nature of the planing force and the memory effect
Summary
Due to the Bernoulli effect, when the speed of an underwater vehicle reaches a certain range, supercavitation will arise on the surface of the vehicle. In [4], a motion control model of a vehicle was proposed based on cavitation theory and considering the time-delay effect of supercavitation. Y. Han et al.: Predictive Control of a Supercavitating Vehicle Based on Time-Delay Characteristics of a pitch-plane model for supercavitating vehicle dynamics that considered vehicle motions into and out of the cavity, the unstable nature of the planing force and the memory effect. In [20], based on this study, the author combined the effect of cavitation rotation during forward motion and developed a pitch-plane model of a supercavitating vehicle. The effectiveness of the controller was proven by a numerical study of a nonlinear delay-dependent pitch-plane model of supercavitating vehicle.
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