LONGITUDINAL MOTION CONTROL OF UNDERWATER HIGH-SPEED VEHICLE

The underwater high-speed vehicle surfaces are enveloped by cavity entirely or mostly, which reduces skin friction drag and allows the vehicle to obtain high speed. So, compared to normal underwater vehicles, the balance of hydrodynamic forces and moments and trajectory control are prominent different. In this paper, the dynamic model and control model of the vehicle are presented based on the analysis of the cavitator forces and planning forces. Taking cavitator deflection, pitch and thrust deflection as control variable, using the linear quadric regulator method, the feedforward and feedback controllers are designed, and then simulation analysis is performed for the system. The simulation results indicate that the control system could track control signals effectively and has better control quality. Therefore, it provides theoretical references for farther studying the control problem of underwater high-speed vehicle.