Dimensional kinematics model of underwater high-speed supercavitating vehicles

A dimensional kinematics model incorporated with time-delay effects is established for supercavitating vehicles. And the dynamics forces and moments caused by the position deviating of body axis from supercavity´s axis have been presented. A space trajectory simulation has been carried out, by using the dimensional kinematics model. Following conclusions are obtained: the motion characteristics of the strong maneuvering vehicles could be well described by the dimensional kinematics model; time-delay leads to destabilization of limit-cycle motion; with three-channel PID control-algorithm and up-and-down rudder control mode, value of the limited rudder angle is a key problem for oscillation of rudder angle. The research results have an important significance to the control technology of underwater high-speed vehicles.