基于变结构的水下航行体航行姿态控制系统设计方法  

A Method of Navigating Pose Controlling System Design for Underwater Vehicle Based on Variable Structure Control

作　　者：张西勇[1] 王树宗[1] 李宗吉[1] 

机构地区：[1]海军工程大学兵器工程系,湖北武汉430033

出　　处：《兵工学报》2013年第3期301-309,共9页Acta Armamentarii

基　　金：国家自然科学基金项目(60974136)

摘　　要：水下航行体在高速转弯时,由于俯仰、偏航和横滚3个通道间存在较大的耦合,以及水下海流的不确定性干扰等因素的影响,水下航行体的姿态控制难度较大,传统控制技术无法达到控制目的。为了解决水下航行体姿态解耦控制的难题,通过水下航行体旋转动力学方程构建了水下航行体姿态运动子系统状态方程,并应用变结构控制策略设计了水下航行体姿态控制器,理论推导和仿真表明:所设计的控制器能够使得水下航行体姿态角稳定地跟踪指令航向角,并对海流干扰具有强鲁棒性,实现了水下航行体姿态子系统间的解耦控制。The navigating pose of underwater vehicle is difficult to be controlled because there exist coupling between pitching, yawing, rolling and uncertain disturbance caused by varying ocean current, so traditional control technology cannot obtain controlling objective. For solving the difficulty existed in underwater vehicle＇ s pose decoupling controlling, the subsystem status equation of pose controller of under-water vehicle adopting variable structure control is constructed through constructing state equation of underwater vehicle pose moving subsystems. Theory analysis and simulation show that the designed controller makes pose angle track course angle of trajectory steadily and has good robustness for uncertain dis- turbance caused by varying ocean current, and achieves decoupling controlling between underwater vehicle pose moving subsystems.

关 键 词：自动控制技术 水下航行体 变结构控制 解耦 

分 类 号：TJ630.1[兵器科学与技术—武器系统与运用工程]