Title :
Studies on Lateral Motion Control of Supercavitating Vehicle
Author :
Bai, Tao ; Bi, Xiaojun
Author_Institution :
Harbin Eng. Univ., Harbin, China
Abstract :
In order to realize stable lateral motion of the supercavitating vehicles in horizontal plane. First based on supercavitating vehicle dynamic characteristics and motion state analysis, using fuzzy logic method to the analysis on planing force, improvement kinematics equation of supercavitating vehicle on horizontal plane. Second useing state variable feedback exact linearization method to linearize the nonlinear motion equations. Third designed controllers based on MIMO pole placement method for a underwater supercavitating vehicle. Finally simulation results show that the supercavitating vehicle´s yaw-steering and lateral motion stability is improved.
Keywords :
MIMO systems; cavitation; fuzzy logic; kinematics; linearisation techniques; motion control; pole assignment; position control; stability; state feedback; underwater vehicles; vehicle dynamics; MIMO pole placement method; fuzzy logic method; kinematics equation; lateral motion control; lateral motion stability; nonlinear motion equation; planing force analysis; state variable feedback exact linearization method; underwater supercavitating vehicle; vehicle dynamic characteristics; vehicle motion state analysis; yaw-steering; Cavity resonators; Equations; Force; Mathematical model; Niobium; Planing; Vehicles; fuzzy logic; lateral motion; planing force; state variable feedback exact linearization; supercavitating vehicle;
Conference_Titel :
Measuring Technology and Mechatronics Automation (ICMTMA), 2011 Third International Conference on
Conference_Location :
Shangshai
Print_ISBN :
978-1-4244-9010-3
DOI :
10.1109/ICMTMA.2011.665
