潜艇定深运动仿人智能综合自动控制  

Comprehensive utilization of HSIC and PID control for the motion of submarine in fixed depth

作　　者：郝英泽[1] 胡建军[1] 

机构地区：[1]青岛海军潜艇学院,青岛266071

出　　处：《船海工程》2007年第2期97-99,共3页Ship & Ocean Engineering

摘　　要：针对潜艇定深运动过程中存在非线性、时变参数、复杂干扰的特点,在潜艇深度垂直面运动方程的基础上运用仿人智能(HSIC)、PID综合控制潜艇深度,建立深度控制的相关数学模型。仿真结果表明,HSIC-PID控制器不仅能较好的实现深度保持,对舵机的损耗也比传统的PID控制小,并且比PID控制具有更好的稳态精度。During the course of the movement of the submarine in the fixed depth, there are some characteristics of nonlinearity, timevarying parameters and influence of complex disturbance. The keeping method of the submarine＇s depth by using human-simulated intelligent control （HSIC） and PID control comprehensively is proposed based on submarine＇s vertical motion equation. The simulation results show that the method can keep submarine＇s depth very well with less wastage to rudderpost than PID controller. The stability precision of the proposed HSICPID controller is better than the conventional PID controller.

关 键 词：潜艇 操纵 深度 仿人智能控制 

分 类 号：TP391.9[自动化与计算机技术—计算机应用技术]