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

doi:10.3969/j.issn.1000-1093.2017.10.014

Abstract

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

CLC Number:

TJ630.1

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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第38卷
第10期2017 年10月兵工学报ACTA
ARMAMENTARIIVol.38No.10Oct.2017

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