Analysis and Improvement of Mathematical Model for Control-Oriented Supercavitating Vehicle

In order to establish a scientific and reasonable mathematical model of the supercavitating vehicle, an improved model was proposed based on Dzielski model. First, the limitations of Dzielski model in force analysis and planing force description were pointed out. Then, an improved model was proposed considering the memory effect and floatation of cavity. The origin of the body coordinate system was located at the center of gravity, which realized the decoupling between vertical speed and pitch rate. The simulation results show that the proposed model is more concise and consistent with Dzielski model.