Longitudinal motion control of supercavitating vehicles using the robust pole assignment method
Owing to the existence of planing forces and cavitation,modeling and control problems for supercavitating vehicles are very complicated.A model predigestion process would produce some modeling errors,while using the robust pole assignment method to control the supercavitating vehicle can overcome this defect efficiently.The authors analysed the hydrodynamic characteristics of supercavitating vehicles,focusing on analysis and integration of the dynamics of planing forces.A dynamic model of a supercavitating vehicle was then built in the longitudinal plane.Finally a controller was designed using the robust pole assignment method.Simulation results showed that the control system is both robust and stable.Moreover,when the control efficiency of various control variables was compared,it became clear that a cavitator allows better control than fins.