基于专家S面控制的UUV姿态控制系统设计  

Design of UUV Attitude Control System Based on Expert S Control

作　　者：黄悦华[1] 刘瑞勇[1] 杨培培[1] 李闯[1] 向东旭[1] 

机构地区：[1]三峡大学电气与新能源学院,湖北宜昌443002

出　　处：《三峡大学学报（自然科学版）》2015年第6期80-84,共5页Journal of China Three Gorges University：Natural Sciences

基　　金：人才科研启动基金(KJ2014B016)

摘　　要：近年来,长航程UUV的应用越来越多,长航程UUV在水下进行长距离航行时,由于不同水域的海水密度不同,使得UUV的受力状况发生变化,从而影响其航行姿态角,使其不能按照预定的路径完成航行任务,甚至发生危险.本文针对姿态变化问题,将专家控制和S面控制相结合,设计一种专家S面控制器,并进行半实物仿真.仿真试验结果表明,该方法可以实现对UUV实时准确的定深定向调节,满足实际使用要求.In recent years, the application of long voyage UUV becomes more and more popular, when the UUV underwater to sail long-distance, due to the different densities of seawater in different waters, the force status of UUV changed, so as to affect the sailing attitude of UUV; so the UUV can not be complete the navigation task in accordance with a predetermined path, even in danger. In this paper, for the attitude change, we combine the S control and expert control to design a expert s controller and having a semi-physical simulation. The simulation results show that this method can meet the actual requirements to adjust the depth-direction of UUV in real-time and accurately.

关 键 词：UUV 整体构架 专家S面控制 定深定向 半实物仿真 

分 类 号：TP273[自动化与计算机技术—检测技术与自动化装置]