Three-channel control for rectilinear motion trajectory of supercavitating underwater vehicle and its dynamic characteristics simulation

When an underwater vehicle runs supercavitatedly in rectilinear motion, its motion characteristics are different from those of a usual fully wetted vehicle. In order to keep the trajectory stability, a special control, the three-channel control about vertical plane, horizontal plane and roll of supercavitating vehicle was adopted. The hydrodynamic characteristics of supercavitating vehicle were analysed based on the hydrodynamic mechanism, and a three-channel space motion model was established. A three-channel control device for rectilinear motion trajectory was put forward, adopting a bow rudder of cavitator and a tail rudder of vehicle, and the coupling between three-channel was reduced by using the bang-bang rudder operation. The dynamic characteristics of three-channel trajectory were simulated. Analysis results show that the course of trajectory is stable; the deviation of depth is small and the oscillation range of roll is controllable.