针对单一控制方法对潜艇深度控制效果不佳的问题，开展了PD控制与模糊控制有机结合的潜艇深度复合控制方法研究。以潜艇垂直面运动为例，设计了潜艇深度PD-模糊控制器以及纵倾模糊控制器。利用Matlab/Simulink的Aerospace工具箱建立了潜艇三自由度仿真模型，并分别开展了PID控制器和复合控制器在不同工况下的仿真试验。仿真结果表明，与常规PID控制器相比，该复合控制器具有响应速度快、抗干扰能力强、鲁棒性好等特点。
Aiming at the problem that the single control method is ineffective to control depth of submarine, a compound control method combining PD control with fuzzy control was studied for keeping submarine depth. Based on vertical motion of submarine, PD-fuzzy controller for depth and fuzzy controller for pitch were designed. The three-degree-of-freedom simulation model of the submarine was established by using the Aerospace toolbox of Matlab/Simulink. The PID controller and the compound controller were used for simulation test under different working conditions. The simulation results show that, compared with the conventional PID controller, the compound controller has the characteristics of fast response, strong anti-interference ability and good robustness.
2019,41(1): 59-65 收稿日期：2017-05-22
DOI：10.3404/j.issn.1672-7649.2019.01.011
分类号：TP273
基金项目：国家自然科学基金资助项目（51179196）
作者简介：刘徐明(1992-),男,硕士研究生,研究方向为舰船动力装置自动化及仿真技术
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