小型航行体近水面纵向运动鲁棒控制  

H_∞ Robust Control of the Longitudinal Motion for Small Underwater Vehicles Near Free-Surface

作　　者：边江楠[1] 冯顺山[1] 邵志宇[1] 李永明[1] 聂为彪 

机构地区：[1]北京理工大学爆炸科学与技术国家重点实验室,北京100081

出　　处：《北京理工大学学报》2015年第10期1027-1031,共5页Transactions of Beijing Institute of Technology

摘　　要：质量较轻的小型航行体在近水面运动时易受波浪力干扰,影响运动稳定性和控制精度,为抑制干扰,在建立纵向平面动力学模型的基础上,采用H∞混合灵敏度鲁棒控制方法设计了小型航行体近水面纵向运动控制器,建立了近水面波浪力模型,并结合所建立的波浪力模型进行了小型航行体纵向运动控制的数学仿真和半实物仿真实验研究.结果表明,所设计的控制器调整时间短,超调小,鲁棒性较强,可较好地解决小型航行体近水面航行时的波浪干扰问题,为小型航行体总体控制系统设计提供参考依据.The lightweight small underwater vehicle which runs near free-surface of water is subject to wave disturbance which has a remarkable effect on the stability and precision of the control system. In order to suppress interference, a H∞ mixed sensitivities controller was designed to adjust the longitudinal plane control system based on a dynamic model of the longitudinal plane of the small underwater vehicle. The wave force model was established. With the model, the mathematical and hardware-in-the-loop simulations of the longitudinal motion control of the small underwater vehicle were done. Test results show that the settling time of the controller is short, the overshoot of the system is small, and the system is robust. The wave disturbance can be suppressed. The results provide a very useful reference for the design of the whole control system of the underwater vehicles.

关 键 词：小型航行体 近水面 波浪模型 H∞混合灵敏度鲁棒控制 

分 类 号：TP273.1[自动化与计算机技术—检测技术与自动化装置]