超空泡航行体深度跟踪串级控制策略

针对空泡与航行体之间非线性滑行力导致的超空泡航行体稳定性问题，提出了基于圆判据理论和Nelder-Mead算法的超空泡航行体深度跟踪串级控制方法。介绍了超空泡航行体数学模型以及圆判据定理基础知识。结合模型特性推导了超空泡航行体串级误差状态方程，利用圆判据定理研究了内环绝对稳定性。通过Nelder-Mead算法对内环反馈参数进一步优化。仿真分析结果表明：所提控制方法便于反馈参数整定，可以充分利用超空泡航行体的控制量实现深度跟踪。

Cascade control strategy for depth tracking of supercavitating vehicle

To enhance the stability of the supercavitating vehicle caused by the nonlinear planing force between the cavitation and the vehicle, a cascade control method for the depth tracking was proposed based on the circle criterion theory and the Nelder-Mead algorithm. The mathematical model of the supercavitating vehicle and the circle criterion theorem were introduced. The cascade error state equation of the supercavitating vehicle was established based on the model, and the absolute stability of the inner-loop was studied using the circle criterion. The inner-loop feedback parameters were further optimized through the Nelder-Mead algorithm. The simulation analysis results show that the control method proposed in this paper is convenient for feedback parameter tuning, and can realize the accurate depth tracking effectively.