基于壁面滑移效应的XLUUV低可探测轨迹跟踪控制方法研究
Wall-Slip Enhanced Low-Observable Trajectory Tracking Control for Extra-Large Uncrewed Underwater Vehicles
摘要
超大型自主式潜航器(extra-large autonomous underwater vehicle, XLAUV)在复杂对抗环境中面临声学、磁场、电磁及流体尾迹等多模态探测威胁，其可探测性呈现跨域耦合与多尺度交织特征，而现有研究在能耗、机动性与隐身性的协同控制方面尚缺乏系统性的理论框架与技术支撑(目的)。本文系统综述了XLAUV低可探测性航行的关键技术进展。首先，梳理了多域可探测机理与签名预测方法，分析其在轨迹规划与控制中的建模特点；其次，比较了离线优化、模型预测控制、图搜索、博弈论及强化学习等五类主流低可探测轨迹规划方法的算法原理与适用场景；进而，探讨了控制输入对声源级、尾迹特征及结构振动的影响机制，并引入超滑减阻技术对“摩擦—振动—声”链路的抑制效果分析(方法)。研究表明，现有规划方法在静态环境中表现良好，但在动态不确定对抗场景下实时性与鲁棒性不足；控制层面，分层控制体系在隐身任务中优于单一反馈控制，而超滑表面可同步降低阻力与辐射噪声，实现能耗与隐身性的协同优化。在此基础上，构建了“材料—动力学—可探测性—规划—控制”五层一体化隐蔽航行框架(结果)。本文归纳出多域耦合建模、在线签名预测、多平台协同隐身三大关键科学问题，并指出数据驱动建模与物理机理融合是突破上述瓶颈的有效路径。该综述可为新一代低可探测性XLAUV的总体设计、算法选型与工程部署提供系统性参考(结论)。
Abstract
Objective/Problem: Extra-large autonomous underwater vehicles (XLAUVs) operating in complex adversarial environments are confronted with multimodal detection threats, including acoustic, magnetic, electromagnetic, and hydrodynamic wake signatures, whose detectability exhibits cross-domain coupling and multi-scale interdependencies. However, existing research lacks a systematic theoretical and technical framework that reconciles the inherent trade-offs among energy consumption, maneuverability, and stealth performance.Methods: This paper presents a comprehensive review of key technologies enabling low-observable navigation for XLAUVs. We first examine multi-domain detectability mechanisms and signature prediction methodologies, with emphasis on their modeling implications for trajectory planning and motion control. We then compare five mainstream low-observable trajectory planning approachesoffline optimization, model predictive control, graph-based search, game-theoretic strategies, and reinforcement learningin terms of algorithmic principles and applicable scenarios. Furthermore, we analyze the influence mechanisms of control inputs on radiated source levels, wake characteristics, and structural vibrations, coupled with an assessment of super-slip drag-reduction techniques along the frictionvibrationacoustic suppression chain.Results: Our review reveals that existing planning methods perform satisfactorily in static environments but suffer from insufficient real-time responsiveness and robustness under dynamic and uncertain adversarial conditions. At the control level, hierarchical control architectures demonstrate superior performance over single-loop feedback controllers for stealth-critical missions, while superhydrophobic surfaces concurrently reduce drag and radiated noise, achieving synergistic optimization between energy efficiency and detectability. On this basis, we establish an integrated five-layer "materialdynamicsdetectabilityplanningcontrol" framework for covert navigation.Conclusion/Significance: Three critical scientific challenges are identified: multi-domain coupled modeling, online signature prediction, and multi-platform collaborative stealth. We further contend that the fusion of data-driven modeling with physics-based mechanisms represents a promising pathway to overcome these bottlenecks. This review is intended to provide systematic guidance for the conceptual design, algorithmic selection, and engineering deployment of next-generation low-observable XLAUV systems.关键词
超大型无人潜航平台/隐蔽轨迹规划/鲁棒跟踪控制/超滑减阻/自适应智能决策Key words
XLUUV/Concealed trajectory planning/Robust tracking control/Ultra-smooth drag reduction/Adaptive intelligent decision-making引用本文复制引用
薄鹏.基于壁面滑移效应的XLUUV低可探测轨迹跟踪控制方法研究[EB/OL].(2026-08-26)[2026-08-29].https://chinaxiv.org/abs/202608.00177.学科分类
军事技术
