Cavitation is phenomenon which must be avoided in most of the engineering application, because of its undesired effects. With deliberate construction of underwater vehicles it can be used for our advantage also. A high speed vehicle with a cavitator mounted on the nose of it can generate a cavity bubble covering nearly the entire body of it. Just only small parts of the body will be in contact with the water, the most part of the vehicle's surface is not wetted leading to significant drag reduction, enabling high speeds under the water. There is very low buoyancy acting on the body; hence the vehicle's weight must be supported by the cavitator and the fins. A longitudinal trajectory tracking control system based on feedback linearization and receding horizon control is proposed for the recently refined dynamics model of the high-speed super-cavitating underwater vehicle. The supercavitation bubble surrounding the body not just reduces the drag but it is responsible for the undesired switched, nonlinear and delay dependent behavior caused by the phenomenon known as planing. The objective of the control design is to avoid undesired state with limited actuator deflections even when the cavity surface is noisy. Special attention is made to understand the complex and novel dynamics of the vehicle to explore the maneuvering range.
High-speed supercavitation vehicle control
Regelung von schnellen Unterwasserfahrzeugen in einer Superkavitation
2006
17 Seiten, 8 Bilder, 12 Quellen
Conference paper
English
High-Speed Supercavitation Vehicle Control
AIAA | 2006
|AIAA-2006-6446 High-Speed Supercavitation Vehicle Control
British Library Conference Proceedings | 2006
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