针对潜艇垂直面运动强非线性、耦合性和参数不确定的特点，为更好地实现对潜艇垂直面运动的控制，在Matlab环境下，基于垂直面线性操纵运动模型，考虑舵的动态响应，用首舵控制深度，尾舵控制纵倾角，采用新型趋近律设计滑模控制器并设计了基本的全维状态观测器；同时设计了常规的PID控制器并选取了最佳的PID控制参数，分别在3种情况下对2种控制器控制下的潜艇垂直面运动进行对比仿真。仿真结果表明，滑模控制器比PID控制器具有更好的控制性能和较强的鲁棒性，对实际潜艇的垂直面运动控制有一定的指导意义。
In order to achieve reliable vertical plane control of the submarine, we used the submarine vertical linear model under the environment of Matlab in this paper. Considering the rudder dynamic response, the improved sliding reaching control law was used to design the bow rudder controller and the stern rudder controller in the presence of model of nonlinearity and parameter uncertainty for submarine vertical motion. A full order state observer was designed. The bow and stern rudder controller was used to control the depth and the pitch respectively. Meanwhile, we designed the convention PID controller with best parameters, and employed Matlab simulation to realize the vertical plane control simulation with this two kinds of controllers of the submarine under three cases. The simulations were carried and results show that the sliding mode control has more excellent dynamic property and robustness compared with PID controller.
2019,41(3): 55-61 收稿日期：2017-04-24
DOI：10.3404/j.issn.1672-7649.2019.03.011
分类号：U661.3
基金项目：国家自然科学基金资助项目（41474061，41631072）
作者简介：陆斌杰(1992-),男,硕士研究生,研究方向为舰船操纵控制
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