基于混合扩展卡尔曼滤波的超空泡航行体变深运动控制研究

doi:10.3969/j.issn.1000-1093.2017.10.014

兵工学报 ›› 2017, Vol. 38 ›› Issue (10): 1980-1987.doi: 10.3969/j.issn.1000-1093.2017.10.014

基于混合扩展卡尔曼滤波的超空泡航行体变深运动控制研究

白涛¹，蒋运华²，韩云涛¹

(1.哈尔滨工程大学自动化学院, 黑龙江哈尔滨 150001; 2.哈尔滨工程大学航天与建筑工程学院, 黑龙江哈尔滨 150001)

收稿日期:2017-02-10 修回日期:2017-02-10 上线日期:2017-11-22
作者简介:白涛（1978—），男，讲师，博士。E-mail:baitao1@hrbeu.edu.cn
基金资助:
国家自然科学基金项目(51309058、51209049)

Research on Variable-depth Motion Control of Supercaviting Vehicle Based on Hybrid Extended Kalman Filter

BAI Tao¹， JIANG Yun-hua²， HAN Yun-tao¹

(1.College of Automation, Harbin Engineering University, Harbin 150001, Heilongjiang, China; 2.College of Aerospace and Civil Engineering, Harbin Engineering University, Harbin 150001, Heilongjiang, China)

Received:2017-02-10 Revised:2017-02-10 Online:2017-11-22

摘要/Abstract

摘要： 为解决测量和环境噪声导致的超空泡航行体在变深运动中的失稳问题，提出一种基于混合扩展卡尔曼滤波算法的控制方法。进行水洞实验获取超空泡航行体模型在控制过程中的测量和环境噪声，采用这些数据改进了超空泡航行体的纵向运动数学模型；基于混合扩展卡尔曼滤波算法改进了超空泡航行体变深运动控制器。仿真结果表明，混合扩展卡尔曼滤波算法能够有效地提高超空泡航行体变深运动的稳定性。

关键词: 流体力学, 超空泡航行体, 变深运动控制, 水洞实验, 混合扩展卡尔曼滤波

Abstract: A control method based on hybrid extended Kalman filter is proposed to solve the lose control during variable-depth motion of supercavitating vehicle caused by measured and environmental noises. The math model of supercavitating vehicle is improved based on the measured and environmental noises obtained by experiment in water tunnel. The control law is improved by using hybrid extended Kalman filter for variable-depth motion of supercavitating vehicle. Simulated result shows that the the hybrid extended Kalman filter can be used to improve the motion stability of supercavitating vehicle during variable-depth motion. Key

Key words: fluidmechanics, supercavitatingvehicle, variable-depthmotioncontrol, experimentinwatertunnel, hybridextendedKalmanfilter

中图分类号:

TJ630.1

白涛，蒋运华，韩云涛. 基于混合扩展卡尔曼滤波的超空泡航行体变深运动控制研究[J]. 兵工学报, 2017, 38(10): 1980-1987.

BAI Tao， JIANG Yun-hua， HAN Yun-tao. Research on Variable-depth Motion Control of Supercaviting Vehicle Based on Hybrid Extended Kalman Filter[J]. Acta Armamentarii, 2017, 38(10): 1980-1987.

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基于混合扩展卡尔曼滤波的超空泡航行体变深运动控制研究

Research on Variable-depth Motion Control of Supercaviting Vehicle Based on Hybrid Extended Kalman Filter

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