潜艇深度终端滑模控制技术  

Research of depth control of submarine based on terminal sliding control

作　　者：夏极[1] 胡大斌[1] 

机构地区：[1]海军工程大学船舶与动力学院,湖北武汉430033

出　　处：《舰船科学技术》2012年第2期55-58,62,共5页Ship Science and Technology

摘　　要：潜艇垂直面运动因其强非线性、强耦合性,易干扰等因素的影响,对控制设计要求非常高。基于潜艇垂直面非线性模型,考虑舵的动态响应,用首舵控制深度,尾舵控制纵倾角,分别设计了终端滑模面,采用终端趋近律设计控制器并进行仿真研究。仿真结果表明,该系统具有良好的控制性能和很强的鲁棒性。由于采用连续的控制器,解决了系统的抖振问题。The submarine vertical control system is of strong nonlinearity and strong coupling,and can be easily influenced by the disturbance, so the design of system control is very difficult to carry out. Based on the submarine vertical nonlinear model and considering the rudder dynamic response, the terminal sliding mode and terminal sliding reaching law were used to design both the bow rudder controller and the stern rudder controller. The bow and stern rudder controller was used to control the depth and the pitch respectively. The simulations were carried out and the results show that the control system has great performance and strong robustness, and the chattering problem was solved by using the continuous controller law.

关 键 词：潜艇 深度 终端滑模控制 鲁棒性 

分 类 号：TP273[自动化与计算机技术—检测技术与自动化装置]