水下航行体动力学分析与线性控制方法设计  

Dynamic Analysis and Linear Control Method Design for an Underwater Vehicle

作　　者：岳玲玮 赵长见[1] 宋志国[1] YUE Lingwei;ZHAO Changjian;SONG Zhiguo(China Academy of Launch Vehicle Technology,Beijing,100076)

机构地区：[1]中国运载火箭技术研究院,北京100076

出　　处：《导弹与航天运载技术(中英文)》2025年第1期29-36,41,共9页Missiles and Space Vehicles

摘　　要：为实现水下航行体的姿态稳定控制与定深控制,采用线性控制方法设计了过载控制回路与深度跟踪回路。根据初始状态响应结果,分析了航行体的尾舵与所受滑行力对其动力学特性产生的影响。针对角速率回路的弱阻尼特性,采用极点配置法得到理想的等效阻尼,并利用频域分析法对过载回路进行滞后校正,通过调节双回路反馈增益实现了深度跟踪。仿真试验验证了所设计的控制律能够实现对水下航行体的姿态稳定控制以及定深控制,并且具有一定的抗扰能力。控制器设计过程中采用的均为工程实践中常见的线性控制方法,控制器参数的计算均基于系统时域与频域性能指标,物理意义明确,对于水下航行体姿态控制相关的工程实践具有一定的参考意义。To achieve attitude stability and depth control of a underwater vehicle,the dynamic characteristics and the influence of the tail rudders and sliding force on its dynamic characteristics are analyzed.The system is divided into three loops,and the controllers are designed for them.According to the damping characteristics of the system,pole placement is performed on the diagonal rate loop,followed by hysteresis correction on the overload loop based on the frequency domain characteristics of the system.Finally,the time domain characteristics of the depth loop are improved by adjusting the gain.Through simulation experiments,it has been verified that the control law designed can achieve attitude stability and depth control of a underwater vehicle,and has certain anti-interference ability.The linear control methods used in the article are common in engineering practice,and the calculation of controller parameters is based on the system's time-domain and frequency-domain performance indicators.The physical meaning is clear,and it has certain reference significance for engineering practice related to underwater vehicle attitude control.

关 键 词：水下航行体 姿态控制 定深控制 极点配置 串联校正 

分 类 号：TP273[自动化与计算机技术—检测技术与自动化装置] V42[自动化与计算机技术—控制科学与工程]