关于回转机动时的横倾控制  

Control of Heeling in the Submarine's Turning Circle Maneuver

作　　者：于东宾[1] 周轶美[1] 孙元泉[1] 

机构地区：[1]武汉船舶设计研究所,武汉430064

出　　处：《船舶力学》1999年第1期37-43,共7页Journal of Ship Mechanics

摘　　要：本文介绍了潜艇回转运动时产生伴随横倾的最佳控制方法。首先介绍了建立潜艇水平回转运动数学模型一控制横倾状态方程的方法，然后应用最小值原理寻找保证潜艇输出横倾角最小和控制（操舵）功率也最小的指标。最后进行了实时仿真，结果表明本方法控制横倾角是有效的、最优的。In this paper, an optimum control method of companion heeling yielding in the turning circle maneuver isintroduced. First, the mathematics model-state equation of the heeling control for the submarine turning in thehorizontal plane is established. Then the minimum principle is tised to find out the index which can ensure that theoutput heeling angle and the control power are minimum. Finally, the real time simulation is carried out. Resultsfrom simulation verified that the method provided here is valid and optimum.

关 键 词：最佳控制 实时仿真 潜艇 回转运动 横倾 

分 类 号：U674.760.1[交通运输工程—船舶及航道工程] U661.333[交通运输工程—船舶与海洋工程]