포텐셜함수 기반 초공동 수중운동체 플레이닝 회피 제어 연구
Planing Avoidance Control for a Supercavitating Underwater Vehicle Based on Potential Functions
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초록
In this paper, we focus on planing avoidance control for a supercavitating underwater vehicle based on the potential function method. The planing margin can be calculated using the relative position between the cavity center and vehicle center at the end of the vehicle. The planing margin was transformed into a limit variable such as the pitch angle and yaw angle limit. To prevent the vehicle attitude from exceeding the limit variable, a potential function based planing envelope protection method was proposed. The planing envelope protection system overrides commands from the tracking controller, and the vehicle attitude converges to a desired angle, in which the potential function is minimized. Numerical simulations were performed to analyze the physical feasibility and performance of the proposed method. The results showed that the proposed methods eliminated the planing, allowing the vehicle to follow tracking commands.
Abstract
In this paper, we focus on planing avoidance control for a supercavitating underwater vehicle based on the potential function method. The planing margin can be calculated using the relative position between the cavity center and vehicle center at the end of the vehicle. The planing margin was transformed into a limit variable such as the pitch angle and yaw angle limit. To prevent the vehicle attitude from exceeding the limit variable, a potential function based planing envelope protection method was proposed. The planing envelope protection system overrides commands from the tracking controller, and the vehicle attitude converges to a desired angle, in which the potential function is minimized. Numerical simulations were performed to analyze the physical feasibility and performance of the proposed method. The results showed that the proposed methods eliminated the planing, allowing the vehicle to follow tracking commands.
참고문헌 (7)
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- 김선홍, "Integrated dynamics modeling for supercavitating vehicle systems", International Journal of Naval Architecture and Ocean Engineering, 7(2), pp.346~363 (2015), 대한조선학회
- Kim, S., "Neural Network-based Adaptive Control for a Supercavitating Vehicle in Transition Phase", Journal of Marine Science and Technology, 20(3), pp.454~466 (2015)[DOI]
- Sanabria, D.E., "Planing Avoidance Control for Supercavitating Vehicles", 2014 American Control Conference, pp.4979~4984 (2014), IEEE
- Sun, D., "A Flight Envelope Protection Method Based on Potential Functions", AIAA Guidance, Navigation, and Control Conference, pp.1024~ (2017)
- Vanek, B., "Control Methods for High-Speed Supercavitating Vehicles", pp.2008