潜艇近水面低航速减摇的自适应神经元变结构控制  

Adaptive variable structure control with neuron for low speed stabilizing of submarine near surface

作　　者：金鸿章[1] 潘立鑫[1] 王琳琳[2] 

机构地区：[1]哈尔滨工程大学自动化学院,哈尔滨150001 [2]内蒙古工业大学信息工程学院,呼和浩特010051

出　　处：《控制与决策》2010年第4期562-566,571,共6页Control and Decision

基　　金：国家自然科学基金项目(50575048;50879012)

摘　　要：潜艇在近水面低航速航行时,为了有效克服波浪干扰力矩的作用,依据仿生翼减摇原理和变结构控制理论,在潜艇非线性模型基础上提出横摇控制器和纵摇控制器的设计方法.该方法以横摇角和纵摇角各自的偏差及其导数建立变结构控制切换面,选取相应的指数趋近律,计算了横摇和纵摇的变结构控制律.针对抖振现象,利用自适应神经元对趋近率进行在线修正.仿真结果表明,改进后的变结构控制提高了潜艇近水面低航速航行时的减摇控制性能.Considering the case of submarine navigating with low speed near surface,a method for the design of roll and pitch motion controller is proposed in order to counteract wave moment effectively.Variable structure control is applied based on the nonlinear model of submarine motion and the principle of bionic wings stabilizing.Sliding surface of variable structure controllers is founded with the corresponding error and error derivative of roll angle and pitch angle.Exponential approach law is used to derive control algorithm for roll and pitch accordingly.Adaptive neurons are used for approaching speed adjusting online,so chattering phenomenon is restrained.Simulation results show better stabilizing performance of submarine navigating with low speed near surface by using modified variable structure control.

关 键 词：潜艇 水面 航速 横摇 纵摇 神经元 

分 类 号：U666[交通运输工程—船舶及航道工程]