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Modeling and Control of Supercavitating Vehicle

TIANHONG XIONG, YIPIN LV, WENJUN YI

Abstract


A supercavitating vehicle dynamic model is introduced based on the piecewise linear planing force function through the nonlinear planing force of a supercavitating vehicle, which is a four dimensional piecewise linear system and its dynamic characteristics (such as the equilibrium point and stability) are analyzed. The controller of the piecewise linear system is designed from the Lyapunov stability theory. It has been found that the controller shows good performance in the process for stabilizing the system and is also applicable for the non-piecewise linear dynamic model of the supercavitating vehicle. By controlling the deflection of the cavitator at the vehicle nose, the stable navigation of the supercavitating vehicle in the longitudinal plane can be achieved.

Keywords


supercavitating vehicle; nonlinearity; planing force; stability control


DOI
10.12783/ballistics2017/16777

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