Investigation on the Perturbation Characteristics and Compound Axis Control for Submarine-borne Servo System

doi:10.3969/j.issn.1000-1093.2019.04.019

Abstract

Abstract: A boundary layer and the separated vortexes are formed on the surface of submarine due to the fluid viscous when a submarine moves at high speed under water. The generation and shedding of vortexes would cause the substantial disturbance of force and torque, thus further affecting the tracking and sighting accuracies of servo system of submarine-borne laser weapon as well as the damage effectiveness. The influence of submarine flow noise on the tracking error of compound-axis tracking and sighting system is analyzed. Based on the basic control equations of fluid mechanics and the hierarchical grids, the hydrodynamic characteristics of the submarine at 1×10⁷ Reynolds number and 6° yaw angle is numerically simulated by using finite volume method. In order to analyze the interaction between the torque and input error, the pressure torque pulsation of submarine is transferred into the optical axis coordinate system of servo system before control system simulation. The transfer functions of the coarse and fine servo system are deduced, and the closed-loop controllers are designed, by which the time domain response characteristics for the special input signals were obtained. The compensation effect for the disturbance error of flow field around submarine is analyzed. And the influence of large separated vortex on the tracking and sighting errors is explored based on the investigation of flow field evolution. Research results show that the servo system with compound control could effectively compensate the optical axis error caused by flow field disturbance. The fluctuations of azimuth and pitch angles as well as the tracking and sighting errors are mainly origin from the pressure torque pulsation caused by the large scale separated tip vortex around the top of the submarine hull, while the disturbance of submarine body had no special influence on the tracking and sighting error due to a longer pressure moment pulsation period. Key

Key words: submarine-borneservosystem, perturbationcharacteristic, compoundaxis, trackingandsighting, separatedvortex, pressuremomentpulsation

CLC Number:

TP275

LIU Zongkai， LU Jinlei， BO Yuming， WANG Jun， TANG Zhaolie. Investigation on the Perturbation Characteristics and Compound Axis Control for Submarine-borne Servo System[J]. Acta Armamentarii, 2019, 40(4): 837-847.

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第40卷
第4期2019 年4月兵工学报ACTA
ARMAMENTARIIVol.40No.4Apr.2019