Enter your email address
Submit
Write your message
Assistant Professor, Department of Electrical Engineering, University of Science and Technology of Mazandaran, P.O. Box 48518 - 78195, Behshahr, Iran
Abstract: (20 Views)
Supercavitating underwater vehicles move inside a large gas bubble that surrounds almost the entire hull, significantly reducing drag (hydrodynamic resistance). Due to the significant drag reduction, these submarines are capable of achieving very high speeds underwater, but they require careful design of the cavitator and control systems to maintain stability and maneuverability. The cavitator in the water environment faces variable currents and turbulence, which makes it difficult to accurately control the angle of attack. Any small deviation can lead to large changes in the shape and stability of the cavitation bubble. In this paper, a new stable adaptive control scheme based on Lyapunov theory with a multiple model approach is presented for three submarine operating conditions. Simulation results have shown that the proposed controller, due to its ability to deal with constraints in a targeted manner and being robust to environmental disturbances, was able to cope well with severe changes in the resistive force and prevent the cavitation bubble from disappearing. For quantitative analysis, the proposed method is compared with classical adaptive control. The acceptable tracking performance of the multiple model method compared to conventional adaptive control is clear both in the simulation figures and in the table of mean square error.
Type of Study: Research Paper |
Subject:
Submarine Hydrodynamic & Design
Received: 2025/08/19 | Accepted: 2025/12/30
Received: 2025/08/19 | Accepted: 2025/12/30
فایل صوتی چکیده مقاله [MP3 1709 KB] (3 Download)
References
1. Xu, H., Wang, C., Wei, Y. and Cao, W., (2023), On the nonlinear hydrodynamic characteristic of a ventilated supercavitating vehicle with high Froude number, Ocean Engineering, Vol. 268, p.113457.
https://doi.org/10.1016/j.oceaneng.2022.113457 [DOI:10.1016/j.oceaneng.2022.113457.]
2. Daijin, L., Fengjie, L., Yazhen, S., Jianjun, D. and Kai, L., (2020), A novel hydrodynamic layout of front vertical rudders for maneuvering underwater supercavitating vehicles, Ocean Engineering, Vol. 215, p.107894.
https://doi.org/10.1016/j.oceaneng.2020.107894 [DOI:10.1016/j.oceaneng.2020.107894.]
3. Li, Y., Wang, C., Wei, Y., Cao, W., Lu, J., Xia, S. and Xu, H., (2023), On water-entry cavity evolution models and maneuvering motion of supercavitating vehicle. Physics of Fluids, Vol. 35(7).
https://doi.org/10.1063/5.0158099 [DOI:10.1063/5.0158099.]
4. Zou, W., Liu, T., Shi, Y. and Wang, J., (2021). Analysis of motion characteristics of a controllable ventilated supercavitating vehicle under accelerations. Journal of Fluids Engineering, Vol. 143(11), p.111204.
https://doi.org/10.1115/1.4051216 [DOI:10.1115/1.4051216.]
5. Kamali, H.A., Erfanian, M.R. and Pasandidehfard, M., (2024). Experimental and numerical analysis of cavitator angle effects on artificial cavitation characteristics under low ventilation coefficients, with prediction using optimized random forest and extreme gradient boosting models. Ocean Engineering, Vol. 309, p.118446.
https://doi.org/10.1016/j.oceaneng.2024.118446 [DOI:10.1016/j.oceaneng.2024.118446.]
6. O'neill, J.P., (1954). Flow around bodies with attached open cavities (No. E247). [DOI:10.21236/AD0064364]
7. Pham, D., Hong, J.W., Hilo, A.K. and Ahn, B.K., (2022). Numerical study of hot-gas ventilated supercavitating flow. International Journal of Naval Architecture and Ocean Engineering, Vol. 14, p.100470.
https://doi.org/10.1016/j.ijnaoe.2022.100470 [DOI:10.1016/j.ijnaoe.2022.10047.]
8. Kamali, H.A., Pasandidehfard, M., and Kadivar, E., (2024). Analyzing the influence of dimensions of the body behind the cavitator on ventilated cavitation. Physics of Fluids, Vol. 36,
https://doi.org/10.1063/5.0207797 [DOI:10.1063/5.0207797.]
9. Mao, X. and Wang, Q., (2015). Adaptive control design for a supercavitating vehicle model based on fin force parameter estimation. Journal of Vibration and Control, 21(6), pp.1220-1233.
https://doi.org/10.1177/1077546313496263 [DOI:10.1177/1077546313496263.]
10. Goel, A., (2005). Robust control of supercavitating vehicles in the presence of dynamic and uncertain cavity. University of Florida ProQuest Dissertations & Theses, 3192387.
11. Yun-tao, H., Zhen, X., & Tao, B. (2020). Predictive Control of Supercavitating Vehicle Based on Time Delay Characteristics. Journal Huazhong University of Science&Technology, Vol. 48(7), pp. 52-57.
https://doi.org/10.1109/ACCESS.2020.3046517 [DOI:10.1109/ACCESS.2020.3046517.]
12. Zou, W., Liu, T., & Shi, Y. (2021). Optimization of the maximum range of supercavitating vehicles based on a genetic algorithm. Ocean Engineering, Vol. 239, 109892.
https://doi.org/10.1016/j.oceaneng.2021.109892 [DOI:10.1016/j.oceaneng.2021.109892.]
13. Li, Y., Wang, C., Wei, Y., Cao, W., Lu, J., Xia, S., & Xu, H. (2023). On water-entry cavity evolution models and maneuvering motion of supercavitating vehicle. Physics of Fluids, Vol. 35(7).
https://doi.org/10.1063/5.0158099 [DOI:10.1063/5.0158099.]
14. Du, X., Shi, Y., Yang, L.H. and Sun, X.M., (2022). A method of multiple model adaptive control of affine systems and its application to aero-engines. Journal of the Franklin Institute, Vol. 359(10), pp.4727-4750.
https://doi.org/10.1016/j.jfranklin.2022.05.001 [DOI:10.1016/j.jfranklin.2022.05.001.]
15. Panda, S.K. and Subudhi, B., (2022). A review on robust and adaptive control schemes for microgrid. Journal of Modern Power Systems and Clean Energy, Vol. 11(4), pp.1027-1040.
https://doi.org/10.35833/MPCE.2021.000817 [DOI:10.35833/MPCE.2021.000817.]
16. Mokhtarzadeh H., Balas, G. and Arndt, R., (2012). Effect of cavitator on supercavitating vehicle dynamics. IEEE Journal of Oceanic Engineering, 37(2), pp.156-165.
https://doi.org/10.1109/JOE.2011.2177689 [DOI:10.1109/JOE.2011.2177689.]
Send email to the article author
| Rights and permissions | |
 |
This work is licensed under a Creative Commons Attribution-NonCommercial 4.0 International License. |
International Journal of Maritime Technology is licensed under a
Creative Commons Attribution-NonCommercial 4.0 International License.