Disturbance observer and compensation design for supercavitating vehicles

when the underwater high-speed supercavitation vehicles aft end pierces the bubble generated planning force, for the phenomenon of periodic collisions, the control mothod based on observer is used to compensate and eliminate the influence of gravity. Disturbance observer equation was deduced and the compensator was given. Simulations of vehicle maneuvers demonstrate that the compensation can avoid the phenomenon of cyclical collisions, and control surface deflection angle satisfy the requirements of the scope of work. After the observer access to the system and compensate the Constant disturbance, the supercavitation vehicles can be back to smoothly running from periodic slapping the cavity wall quickly. Conclusion is that observer and compensation control avoid the planning force generating, which makes the underwater high-speed supercavitation vehicles run smoothly and the resistance is reduced aslo. Disturbance estimation and compensation control design was proposed, which avoid the problem that actuator stroke is too large in direct compensation, and this idea can be used in the design of general control system.