CN115235732B - Multimode switching supercavitation navigation body acceleration section dynamics analysis method - Google Patents
Multimode switching supercavitation navigation body acceleration section dynamics analysis method Download PDFInfo
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Abstract
The invention discloses a multimode switching supercavitation navigation body acceleration section dynamics characteristic analysis method; comprising the following steps: establishing a supercavitation evolution model, and obtaining the morphological change of the supercavitation in the accelerating process of the navigation body; carrying out stress analysis on the navigation body and the cavitation device according to the morphological change of the supercavitation in the acceleration process of the navigation body; the cavitation device is positioned at the head of the navigation body; constructing a supercavitation navigation body acceleration section dynamics model according to the stress analysis results of the navigation body and the cavitation device; analyzing the dynamics characteristics of the target supercavitation navigation body in an acceleration section through a supercavitation navigation body acceleration section dynamics model; by the method, the dynamic characteristics of the supercavitation navigation body in the initial emission stage and the subsequent acceleration stage can be accurately analyzed.
Description
Technical Field
The invention belongs to the technical field of underwater vehicles, and particularly relates to a multimode switching supercavitation vehicle acceleration section dynamics characteristic analysis method.
Background
There are many studies on dynamic modeling of supercavitation vehicles today, but most focus on supercavitation cruise segments, and there are few studies on acceleration segments from low speed navigation to high speed navigation. The current mathematical models of supercavitation navigation bodies all assume constant speed, namely the speed is not changed, and the cavitation morphology is not changed basically. Based on the above, the ballistic characteristics and stability of the supercavitation navigation body from wetting to full encapsulation by cavitation cannot be explored, and the controller design work cannot be carried out.
Therefore, how to accurately analyze the dynamics of the supercavitation navigation body in the initial emission stage and the subsequent acceleration stage becomes a key problem of the current research.
Disclosure of Invention
In view of the above problems, the present invention provides a method for analyzing dynamics characteristics of an acceleration section of a multi-mode switching supercavitation navigation body, which at least solves some of the above technical problems, and by using the method, the dynamics characteristics of the supercavitation navigation body during an initial emission stage and a subsequent acceleration stage can be accurately analyzed.
The embodiment of the invention provides a multimode switching supercavitation navigation body acceleration section dynamics analysis method, which comprises the following steps:
establishing a supercavitation evolution model, and obtaining the morphological change of the supercavitation in the accelerating process of the navigation body;
carrying out stress analysis on the navigation body and the cavitation device according to the morphological change of the supercavitation in the acceleration process of the navigation body; the cavitation device is positioned on the head of the navigation body;
constructing a supercavitation navigation body acceleration section dynamics model according to the stress analysis results of the navigation body and the cavitation device;
and analyzing the dynamics characteristics of the target supercavitation navigation body in the accelerating section through the supercavitation navigation body accelerating section dynamics model.
Further, the establishing of the supercavitation evolution model is expressed as:
wherein R is c Representing the supercavitation radius; r is R n Representing the cavitation radius; x is x 1 ＝2R n Representing a second-order curve separation point in the supercavitation model; x represents the distance from the supercavitation section to the cavitation device; r is R 1 Representing x=x 1 Supercavitation radius at the point; r is R k Represents the maximum radius of supercavitation, L k Representing supercavitation length; c (C) x0 Representing the zero liter resistance coefficient of the cavitation device; sigma represents cavitation number.
Further, the force analysis results of the navigation body and the cavitation device comprise:
stress data of the cavitation device under a navigation body coordinate system;
a rotational moment of the force of the cavitation device relative to the center of mass of the vehicle;
gravity data of the navigation body under a projectile body coordinate system;
thrust received by the navigation body;
acting force data of the tail rudder of the navigation body under the projectile body coordinate system and corresponding moment;
the tail rudder sliding force and the corresponding moment of the navigation body;
buoyancy data of the navigation body under the projectile body coordinate system and corresponding moment.
Further, obtaining stress data of the cavitation device in a navigation body coordinate system includes:
acquiring density rho and cavitation device speed V of fluid environment of navigation body c Cavitation device cross section S c Cavitation lift coefficient C l Cavitation resistance coefficient C d Cavitation device angle of attack alpha c ；
Calculating the lifting force F of the cavitation device under a speed coordinate system according to the acquired data cl And resistance F cd ；
Based on the lift force F of the cavitation device under a speed coordinate system cl And resistance F cd Combined with sideslip angle beta of navigation body c And calculating the component force of the cavitation device force along the X, Y, Z axis under the navigation body coordinate system.
Further, acquiring gravity data of the navigation body in a projectile body coordinate system comprises:
acquiring component forces of gravity of the navigation body along an X axis and a Y axis under a ground coordinate system;
and converting the component force of the gravity of the navigation body along the X axis and the Y axis in the ground coordinate system into the component force of the gravity of the navigation body along the X axis and the Y axis in the projectile body coordinate system.
Further, acquiring force data of the tail rudder of the navigation body in a projectile body coordinate system, including:
obtaining the tail rudder length r s A vehicle tail radius R, a vehicle depth z (t), a vehicle head-to-centroid distance L c And cavitation device position, combined with supercavitation radius R c Calculating the tail vane wetting rate I (t, tau) of the navigation body;
based on the tail rudder wetting rate I (t, tau), the component force of the tail rudder of the navigation body along the X axis and the Y axis under the speed system is combined with the tail rudder angle delta f Angle of attack alpha at tail rudder f And sideslip angle beta at tail rudder f And calculating the component force of the tail rudder acting force of the navigation body along the X axis and the Y axis under the projectile body coordinate system.
Further, acquiring the tail rudder sliding force and the corresponding moment of the navigation body includes:
obtaining the density rho of the fluid environment where the navigation body is located, the navigation speed V of the navigation body and the shrinkage rate of the supercavitation radiusVehicle tail radius R, vehicle wetting angle alpha plane And a wet depth h, combined with a supercavitation radius R c Calculating the tail rudder sliding force F of the navigation body w ；
According to the tail rudder sliding force F of the navigation body w Combining the distance L from the tail of the navigation body to the mass center f And calculating the moment of the tail vane sliding force.
Further, obtaining buoyancy data of the navigation body in a projectile body coordinate system includes:
acquiring a bottom area S of the navigation body and a wetting length l of the navigation body wet Calculating the volume of the wetted part of the navigation body;
according to the volume of the wetted part of the navigation body, calculating the buoyancy of the navigation body by combining the density rho of the fluid environment where the navigation body is positioned;
and according to the buoyancy of the navigation body, based on a transformation matrix of the projectile body coordinate system and the ground coordinate system, obtaining component forces of the buoyancy of the navigation body along the X axis and the Y axis under the projectile body coordinate system.
Further, the supercavitation navigation body acceleration section dynamics model is expressed as:
wherein F is xg And F yg Respectively representing the component force of gravity of the navigation body along the X, Y axis under the projectile body coordinate system; f (F) xc And F yc Respectively representing the component force of the cavitation device along the X, Y axis under the navigation body coordinate system; m is M zc Representing the rotational moment of the cavitation device to the center of mass of the navigation body; f (F) finx And F finy Respectively representing the component force of the tail rudder stress of the navigation body along the X axis under the projectile body coordinate system; m is M zfin Representing the moment of force applied to the tail vane; f (F) xB And F yB Respectively representing the component force of the buoyancy of the navigation body along the X axis under the projectile body coordinate system; m is M B Moment representing buoyancy; f (F) w Representing the tail rudder glide force of the craft; m is M zw Moment of tail rudder sliding force; t represents thrust; m represents the mass of the vehicle; j represents the moment of inertia of the vehicle.
Compared with the prior art, the multimode switching supercavitation navigation body acceleration section dynamics characteristic analysis method has the following beneficial effects: the dynamic model of the accelerating section of the supercavitation navigation body provided by the embodiment of the invention is suitable for numerical calculation of the supercavitation navigation body in an initial transmitting stage and a subsequent accelerating stage, and compared with the existing mathematical model of the supercavitation navigation body, the speed of the navigation body is a dynamic process.
Additional features and advantages of the invention will be set forth in the description which follows, and in part will be obvious from the description, or may be learned by practice of the invention. The objectives and other advantages of the invention will be realized and attained by the structure particularly pointed out in the written description and claims thereof as well as the appended drawings.
The technical scheme of the invention is further described in detail through the drawings and the embodiments.
Drawings
The accompanying drawings are included to provide a further understanding of the invention and are incorporated in and constitute a part of this specification, illustrate the invention and together with the embodiments of the invention, serve to explain the invention. In the drawings:
fig. 1 is a flowchart of a method for analyzing dynamics characteristics of an acceleration section of a multimode switching supercavitation navigation body according to an embodiment of the present invention.
Fig. 2 is a schematic diagram of a stress pattern of a vehicle at different acceleration phases according to an embodiment of the present invention.
Fig. 3 is a schematic view of buoyancy of a navigation body according to an embodiment of the present invention.
Fig. 4 is a schematic diagram showing a change of a pitch rate with time in an uncontrolled state according to an embodiment of the present invention.
Fig. 5 is a schematic diagram of a pitch angle change curve of a navigation body according to an embodiment of the present invention.
Fig. 6 is a schematic diagram of a moment-to-time curve of a tail sliding force according to an embodiment of the present invention.
Fig. 7 is a schematic view of a longitudinal plane trajectory of a vehicle according to an embodiment of the present invention.
Fig. 8 is a schematic diagram of a speed change curve of a vehicle according to an embodiment of the present invention.
Fig. 9 is a schematic diagram of a change curve of an attack angle of a navigation body according to an embodiment of the present invention.
Fig. 10 is a schematic view of a change in wet length of an aircraft surface according to an embodiment of the present invention.
FIG. 11 is a graph showing the cavitation number versus time according to an embodiment of the present invention.
Detailed Description
Exemplary embodiments of the present disclosure will be described in more detail below with reference to the accompanying drawings. While exemplary embodiments of the present disclosure are shown in the drawings, it should be understood that the present disclosure may be embodied in various forms and should not be limited to the embodiments set forth herein. Rather, these embodiments are provided so that this disclosure will be thorough and complete, and will fully convey the scope of the disclosure to those skilled in the art.
Referring to fig. 1, an embodiment of the invention provides a method for analyzing dynamics characteristics of an acceleration section of a multimode switching supercavitation navigation body, which specifically comprises the following steps:
establishing a supercavitation evolution model, and obtaining the morphological change of the supercavitation in the accelerating process of the navigation body;
carrying out stress analysis on the navigation body and the cavitation device according to the morphological change of the supercavitation in the acceleration process of the navigation body; the cavitation device is positioned on the head of the navigation body;
constructing a supercavitation navigation body acceleration section dynamics model according to the stress analysis results of the navigation body and the cavitation device;
and analyzing the dynamics characteristics of the target supercavitation navigation body in the accelerating section through the supercavitation navigation body accelerating section dynamics model.
The following describes each of the above steps in detail.
Based on the principle of independent expansion of the cavitation bubbles, logvinovich derives an empirical formula of a cavitation bubble morphology model based on the principle of independent expansion of the cavitation bubbles, wherein the cavitation bubbles are approximated as axisymmetric ellipsoids with a cross section approximating a circle; in the embodiment of the invention, the super-cavitation radius of the super-cavitation cut-off end surface is set as R c The supercavitation evolution model is expressed as:
wherein R is c Representing the supercavitation radius; r is R n Representing the cavitation radius; x is x 1 ＝2R n Representing a second-order curve separation point in the supercavitation model; x represents the distance from the supercavitation section to the head cavitation device of the navigation body; r is R 1 Representing x=x 1 Supercavitation radius at the point; r is R k Represents the maximum radius of supercavitation, L k Representing supercavitation length; c (C) x0 Representing the zero liter resistance coefficient of the cavitation device; sigma represents cavitation number.
Maximum radius R of cavitation k And cavitation length L k Expressed as:
wherein C is x0 Representing the zero-liter resistance coefficient of the cavitation device, and generally taking C x0 =0.82; sigma represents cavitation number, p ∞ The pressure representing the fluid environment in which the vehicle is located, in the present example taken as the pressure of water; p is p c Represents the saturated vapor pressure of water; ρ represents the density of the fluid environment in which the vehicle is located, taken as the density of water in the present embodiment; v represents the speed of the vehicle.
According to the supercavitation evolution model, the surface wetting condition of the body of the navigation body is greatly changed due to the fact that the supercavitation is continuously expanded and expanded in the acceleration process of the navigation body; when the supercavitation is in the initial stage of evolution and not fully wraps the projectile body, most of the tail of the navigation body is in a wet state, and the navigation body is subjected to the force of a cavitation device, self gravity, tail rudder control force, buoyancy and hydrodynamic force of the tail wet part and sliding force generated by the tail bat action. When the cavitation bubbles fully wrap the projectile body, the tail part is not subjected to buoyancy and hydrodynamic force generated by wetting; see in particular fig. 2.
And then carrying out specific stress analysis on the navigation body and the cavitation device.
(1) Cavitation device stress
Lift force F acting on cavitation device cl And resistance F cd The expression of (2) is:
wherein ρ represents the density of the fluid environment in which the vehicle is located; v (V) c Indicating cavitation velocity; s is S c Representing the cross-sectional area of the disk cavitation device; c (C) l Representing the cavitation lift coefficient; c (C) d Representing the cavitation resistance coefficient; c here l And C d Can be considered as being equal to the navigation speed V of the navigation body; alpha c Indicating the cavitation angle of attack.
The lift force F of the cavitation device under the speed coordinate system is obtained in the formula (3) cl And resistance F cd The force applied to the cavitation device under the body coordinate system of the supercavitation navigation body is as follows:
wherein F is xc ，F yc The components of the cavitation device in three directions along the X, Y axis under the coordinate system of the navigation body are respectively stressed; beta c Indicating the sideslip angle of the vehicle.
The stress of the cavitation device is acted on the pressure center of the cavitation device, and the coordinate of the pressure center under a body coordinate system is (x) assuming that the cavitation device has no deflection angle cg 0); when the cavitation device deflects, the coordinates will also change by a small amount, but the small amount is negligible compared to the length of the vehicle, and thereforeThe rotation moment of the acting force of the cavitation device relative to the mass center of the navigation body can be obtained:
wherein M is zc Representing the rotational moment of the cavitation force relative to the center of mass of the vehicle.
(2) Gravity and thrust of navigation body
In the present embodiment, it is assumed that the mass of the navigation body remains unchanged, and the mass reduction due to fuel consumption is ignored. In the ground coordinate system, the weight force experienced by the craft is decomposed into:
wherein G is xe And G ye Respectively representing the component force of gravity of the navigation body along the X axis and the Y axis under a ground coordinate system; wherein-mg means that the coordinate system is downward.
Converting equation 7 to obtain components of gravity of the vehicle along the X-axis and the Y-axis in the missile body coordinate system, expressed as:
wherein F is xg 、F xg Respectively representing the component force of gravity of the navigation body along the X axis and the Y axis under the projectile body coordinate system; since dynamics are established on the centroid, they are not acted upon by gravity moment.
In the embodiment of the invention, the thrust T is obtained along the axial direction of the navigation body, is a constant, can be directly obtained according to an engine, and can be directly obtained as a general parameter in dynamics analysis;
(3) Tail rudder control force
The tail vane control force can be subjected to similar treatment with a cavitation device, n is set as a similar coefficient, and n=0.5 is generally adopted; i (t, τ) is the wetting rate, characterizing the ratio of the wetted area at the tail rudder:
wherein F is finx And F finy Respectively representing component forces of the tail rudder acting force of the navigation body along an X axis and a Y axis under an projectile body coordinate system; f (F) find And F finl Respectively representing component forces of the tail rudder of the navigation body along an X axis and a Y axis under a speed system; delta f Representing the rudder angle of the tail rudder; alpha f Representing the angle of attack at the tail rudder; beta f Indicating the sideslip angle at the tail rudder.
The tail vane wetting rate I (t, tau) is calculated by the following steps:
wherein z is n (t- τ) represents the position of the cavitation at time t- τ; l (L) c Representing the distance from the head of the navigation body to the mass center; z (t) represents the depth of the vehicle; z n (t)＝z(t)-L c θ (t) represents the position of the cavitation device at time t; r is (r) s Representing the tail vane length.
(4) Tail sliding force
Hassan proposes a related theory regarding calculation of a planing force and a planing moment, and approximates the planing phenomenon of cavitation to a cylindrical free flow surface according to Hassan's theorem, thereby obtaining planing force and moment perpendicular to a longitudinal axis of a navigation body, expressed as:
M zw ＝F w L f (13)
wherein R is c Representing supercavitationRadius; ρ represents the density of the fluid environment in which the vehicle is located; v represents the navigation speed of the navigation body; l (L) f Representing the distance from the tail of the craft to the centroid; h represents the wet depth, alpha plane Indicating a wetting angle, namely an included angle between a central line of the navigation body and a central line of the cavitation bubbles; wherein h and alpha plane Other parametric expressions are as follows:
wherein R represents the tail radius of the aircraft; k (K) 1 And K 2 All represent parameters in the process, are only used for simplifying operation, and have no actual physical meaning. y is c 、z c All represent coordinates of the tail section cavitation center;indicating the supercavitation radius shrinkage rate.
(5) Tail wetting force
In the two stages of the acceleration stage and the supercavitation stage, a certain difference exists in modeling of the navigation body; wherein, when modeling the navigation body in the acceleration stage, the buoyancy and fluid dynamic force of the wetted tail part need to be considered, and the magnitude of the buoyancy and fluid dynamic force and moment are in direct proportion to the length of the wetted part; therefore, the length of the wet part needs to be solved firstly, and then a buoyancy and fluid dynamic model is built based on the length of the wet part; a schematic representation of buoyancy is shown with reference to fig. 3.
The buoyancy is expressed as:
B＝ρV wet g (20)
wherein ρ represents the density of the fluid environment in which the vehicle is located; g represents gravitational acceleration; s represents the bottom area of the navigation body; v (V) wet ＝Sl wet Indicating the wet part volume; wherein wet length l wet Can be given by the cavitation morphology equation.
The two-axis stress of buoyancy under the system is expressed as:
wherein F is xB ,F yB Respectively representing the component force of buoyancy of the navigation body along the X axis and the Y axis under the projectile body coordinate system; θ represents a pitch angle;representing the transformation matrix of the projectile coordinate system and the ground coordinate system.
The hydrodynamic portion is directly equivalent to the wet portion.
According to the stress analysis results of the navigation body and the cavitation device, combining with a classical dynamics equation, a dynamics equation of the navigation body in a longitudinal plane under a body coordinate system is obtained, namely, a dynamics model of an accelerating section of the supercavitation navigation body in the embodiment of the invention:
wherein the method comprises the steps of，F xg And F yg Respectively representing the component force of gravity of the navigation body along the X, Y axis under the projectile body coordinate system; f (F) xc And F yc Respectively representing the component force of the cavitation device along the X, Y axis under the navigation body coordinate system; m is M zc Representing the rotational moment of the cavitation device to the center of mass of the navigation body; f (F) finx And F finy Respectively representing the component force of the tail rudder stress of the navigation body along the X axis under the projectile body coordinate system; m is M zfin Representing the moment of force applied to the tail vane; f (F) xB And F yB Respectively representing the component force of the buoyancy of the navigation body along the X axis under the projectile body coordinate system; m is M B Moment representing buoyancy; f (F) w Representing the tail rudder glide force of the craft; m is M zw Moment of tail rudder sliding force; t represents thrust; m represents the mass of the vehicle; j represents the moment of inertia of the vehicle.
According to the relevant knowledge of navigation mechanics, a longitudinal motion equation under a ground coordinate system can be obtained:
wherein F is x 、F y Representing resultant forces of the navigation body along the X axis and the Y axis in the projectile body coordinate system respectively; m represents the resultant moment of the relative mass center of the navigation body;a derivative representing the pitch angle; w (w) z Representing pitch angle rate; />Representing w z Is a derivative of (2); />A derivative representing position X; />A derivative representing position Y; v (V) X Representing a velocity component of the vehicle along the x-axis; />Represents V X Is a derivative of (2); v (V) Y Representing a velocity component of the vehicle along the y-axis; />Represents V Y Is a derivative of (2); v represents the speed of the vehicle; m represents the mass of the vehicle; j represents the moment of inertia of the vehicle.
Finally, analyzing the dynamics characteristics of the target supercavitation navigation body in the accelerating section based on the supercavitation navigation body accelerating section dynamics model; in the embodiment of the invention, the dynamic characteristic analysis is specifically carried out on the navigation body with the initial speed of 30m/s, the given thrust is accelerated, and the simulation results are shown in fig. 4-10;
as can be seen from fig. 4 and 5, in the uncontrolled state, the pitch rate w of the vehicle z And the pitch angle theta continuously diverges, and if active control is not involved, the posture of the motor is not converged.
As can be seen from the longitudinal plane trajectories of the vehicle in fig. 6 and 7, the depth of the vehicle is unable to meet the self-stabilizing condition and will continue to drop when the vehicle is not actively controlled.
As can be seen from fig. 8 and 11, the cavitation number of the aircraft is gradually reduced and the supercavitation length is gradually increased as the aircraft continuously accelerates in the initial stage; however, as the self navigation posture diverges, the resistance increases, the acceleration cannot be continued, the speed decreases when the subsequent divergence is reached, the cavitation number increases instead, and the acceleration cannot be carried out to a supercavitation state.
It will be apparent to those skilled in the art that various modifications and variations can be made to the present invention without departing from the spirit or scope of the invention. Thus, it is intended that the present invention also include such modifications and alterations insofar as they come within the scope of the appended claims or the equivalents thereof.
Claims (8)
1. A multimode switching supercavitation navigation body acceleration section dynamics analysis method is characterized by comprising the following steps:
establishing a supercavitation evolution model, and obtaining the morphological change of the supercavitation in the accelerating process of the navigation body;
carrying out stress analysis on the navigation body and the cavitation device according to the morphological change of the supercavitation in the acceleration process of the navigation body; the cavitation device is positioned on the head of the navigation body;
constructing a supercavitation navigation body acceleration section dynamics model according to the stress analysis results of the navigation body and the cavitation device;
analyzing the dynamics characteristics of the target supercavitation navigation body in the accelerating section through the supercavitation navigation body accelerating section dynamics model;
the force analysis results of the navigation body and the cavitation device comprise:
stress data of the cavitation device under a navigation body coordinate system;
a rotational moment of the force of the cavitation device relative to the center of mass of the vehicle;
gravity data of the navigation body under a projectile body coordinate system;
thrust received by the navigation body;
acting force data of the tail rudder of the navigation body under the projectile body coordinate system and corresponding moment;
the tail rudder sliding force and the corresponding moment of the navigation body;
buoyancy data of the navigation body under the projectile body coordinate system and corresponding moment.
2. The method for analyzing dynamics of an acceleration section of a multimode switching supercavitation navigation body according to claim 1, wherein the establishing a supercavitation evolution model is expressed as:
wherein R is c Representing the supercavitation radius; r is R n Representing the cavitation radius; x is x 1 ＝2R n Representing a second-order curve separation point in the supercavitation model; x represents the supercavitation section to the cavitation deviceA distance; r is R 1 Representing x=x 1 Supercavitation radius at the point; r is R k Represents the maximum radius of supercavitation, L k Representing supercavitation length; c (C) x0 Representing the zero liter resistance coefficient of the cavitation device; sigma represents cavitation number.
3. The method for analyzing dynamics of an acceleration section of a multimode switching supercavitation navigation body according to claim 1, wherein obtaining stress data of the cavitation device in a navigation body coordinate system comprises:
acquiring density rho and cavitation device speed V of fluid environment of navigation body c Cavitation device cross section S c Cavitation lift coefficient C l Cavitation resistance coefficient C d Cavitation device angle of attack alpha c ；
Calculating the lifting force F of the cavitation device under a speed coordinate system according to the acquired data cl And resistance F cd ；
Based on the lift force F of the cavitation device under a speed coordinate system cl And resistance F cd Combined with sideslip angle beta of navigation body c And calculating the component force of the cavitation device force along the X, Y, Z axis under the navigation body coordinate system.
4. The method for analyzing dynamics of an acceleration section of a multimode switching supercavitation navigation body according to claim 1, wherein obtaining gravity data of the navigation body in a projectile body coordinate system comprises:
acquiring component forces of gravity of the navigation body along an X axis and a Y axis under a ground coordinate system;
and converting the component force of the gravity of the navigation body along the X axis and the Y axis in the ground coordinate system into the component force of the gravity of the navigation body along the X axis and the Y axis in the projectile body coordinate system.
5. The method for analyzing dynamics of an acceleration section of a multimode switching supercavitation navigation body according to claim 1, wherein obtaining force data of a tail rudder of the navigation body in a projectile body coordinate system comprises:
obtaining the tail rudder length r s A vehicle tail radius R, a vehicle depth z (t), a vehicle head-to-centroid distance L c And cavitation device position, combined with supercavitation radius R c Calculating the tail vane wetting rate I (t, tau) of the navigation body;
based on the tail rudder wetting rate I (t, tau), the component force of the tail rudder of the navigation body along the X axis and the Y axis under the speed system is combined with the tail rudder angle delta f Angle of attack alpha at tail rudder f And sideslip angle beta at tail rudder f And calculating the component force of the tail rudder acting force of the navigation body along the X axis and the Y axis under the projectile body coordinate system.
6. The method for analyzing dynamics of an acceleration section of a multimode switching supercavitation vehicle according to claim 1, wherein obtaining a tail rudder glide force and a corresponding moment of the vehicle comprises:
obtaining the density rho of the fluid environment where the navigation body is located, the navigation speed V of the navigation body and the shrinkage rate of the supercavitation radiusVehicle tail radius R, vehicle wetting angle alpha plane And a wet depth h, combined with a supercavitation radius R c Calculating the tail rudder sliding force F of the navigation body w ；
According to the tail rudder sliding force F of the navigation body w Combining the distance L from the tail of the navigation body to the mass center f And calculating the moment of the tail vane sliding force.
7. The method for analyzing dynamics of an acceleration section of a multimode switching supercavitation navigation body according to claim 1, wherein obtaining buoyancy data of the navigation body in a projectile body coordinate system comprises:
acquiring a bottom area S of the navigation body and a wetting length l of the navigation body wet Calculating the volume of the wetted part of the navigation body;
according to the volume of the wetted part of the navigation body, calculating the buoyancy of the navigation body by combining the density rho of the fluid environment where the navigation body is positioned;
and according to the buoyancy of the navigation body, based on a transformation matrix of the projectile body coordinate system and the ground coordinate system, obtaining component forces of the buoyancy of the navigation body along the X axis and the Y axis under the projectile body coordinate system.
8. The multimode switching supercavitation vehicle acceleration section dynamics analysis method according to claim 1, wherein the supercavitation vehicle acceleration section dynamics model is expressed as:
wherein F is xg And F yg Respectively representing the component force of gravity of the navigation body along the X, Y axis under the projectile body coordinate system; f (F) xc And F yc Respectively representing the component force of the cavitation device along the X, Y axis under the navigation body coordinate system; m is M zc Representing the rotational moment of the cavitation device to the center of mass of the navigation body; f (F) finx And F finy Respectively representing the component force of the tail rudder stress of the navigation body along the X axis under the projectile body coordinate system; m is M zfin Representing the moment of force applied to the tail vane; f (F) xB And F yB Respectively representing the component force of the buoyancy of the navigation body along the X axis under the projectile body coordinate system; m is M B Moment representing buoyancy; f (F) w Representing the tail rudder glide force of the craft; m is M zw Moment of tail rudder sliding force; t represents thrust; m represents the mass of the vehicle; j represents the moment of inertia of the vehicle.
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| CN111666628A (en) * | 2020-05-13 | 2020-09-15 | 哈尔滨工业大学 | Adaptive fault-tolerant control method for supercavitation navigation body |
| CN113885539A (en) * | 2021-09-29 | 2022-01-04 | 哈尔滨工业大学 | Design method of super-cavity navigation body LPV controller |
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| CN111666628A (en) * | 2020-05-13 | 2020-09-15 | 哈尔滨工业大学 | Adaptive fault-tolerant control method for supercavitation navigation body |
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