潜艇垂直面运动多约束模型预测控制  

Submarine diving motion multi-constrained model predictive control

作　　者：李光磊 郭亦平 李军[2] 李兵军 LI Guang-lei;GUO Yi-ping;LI Jun;LI Bing-jun(Navy Military Representative Office in Jiujiang Aera,Jiujiang 332007,China;Jiujiang Branch of Tianjin Nautical Instrument Research Institute,Jiujiang 332007,China)

机构地区：[1]海军装备部驻九江地区军事代表室,江西九江332007 [2]天津航海仪器研究所九江分部,江西九江332007

出　　处：《舰船科学技术》2023年第20期51-57,共7页Ship Science and Technology

摘　　要：针对潜艇低噪声操纵控制问题,将模型预测控制理论应用于潜艇垂直面运动低噪声操纵控制的研究,提出的控制律设计方法可实时设置约束条件,能实时在线设计控制律,可解决满足多种操纵控制需求的控制律在线设计难题。基于潜艇垂直面线性运动方程,推导了一种离散时间增量式状态方程,作为预测控制运动状态方程;采用Laguerre正交网络模型预测控制理论,提出并完成了一种可在线设计的多约束条件下,潜艇垂直面运动模型预测控制算法和一种对偶原理与模型预测控制相结合的在线状态观测器设计方法。仿真结果表明,提出的垂直面运动模型预测控制算法,具有良好的控制性能和控制品质。Aiming at the problem of low noise maneuvering of submarine,the model predictive control theory is applied to submarine diving motion of low noise control research,the proposed control law design method can set the constraint conditions and design the control law online in real time,which can solve the problem of online control law design to meet control requirements of various maneuveringmissions.Based on the linear motion equation of submarine vertical plane,a discrete time incremental equation of state is derived as the predictive control motion equation of state.The Laguerre orthogonal network model predictive control theory is adopted,an online model predictive control algorithm for submarine vertical motion under multiple constraints、an online state observer design method combining duality principle and model predictive control are proposed and completed.The simulation results show that the proposed predictive control algorithm has good control performance and quality.

关 键 词：潜艇 水下噪声 操舵 预测控制 

分 类 号：U661.1[交通运输工程—船舶及航道工程]