Nonlinear Time Delay Kinematic Model of Underwater Maneuverable Supercavitating Vehicles

Hydrodynamics of underwater supercavitating vehicles are characterized by coupling relationship between body and cavitation. While maneuvering, supercavitating vehicle depends on a bank-to-turn strategy for making a turn, and could not be described exactly by the kinematic model built under the condition of straight line navigation. Based on cavitation theory of unattached expansion, the paper establishes the vector from empennage center to supercavitation center in body-fixed reference frame as shown in eq. (7), considering time delay effect of cavitation. And a kinematic model for maneuverable supercavitating vehicles is developed. Then, the kinematic model is simplified based on investigating the motion characteristics. The research may be useful for designing the motion control system of maneuverable supercavitating vehicles.