对欠驱动UUV首尾平行操舵模式的控制特性和应用需求进行分析，建立首尾平行操舵控制数学模型。设计首尾平行操舵混合控制器，尾舵通过PID控制器实现深度控制，首舵通过基于模糊PID的前馈-反馈复合控制器实现姿态调整。首舵前馈控制器用于补偿尾舵引起的扰动，模糊PID反馈控制器用于补偿前馈控制偏差和外界扰动。仿真结果表明，设计的混合控制器实现了小攻角爬潜控制，控制器精度高、适应性好，首舵反馈控制采用模糊PID控制器后，具有更高的鲁棒性。
The control characteristics of the underactuation UUV's paralleled steering mode of bow rudder and stern rudder are analyzed, and the mathematical model of the control system is created. A hybrid controller of paralleled steering of bow rudder and stern rudder is designed, in which the depth of the UUV is adjusted by the stern rudder through a PID controller, and the pitch of the UUV is adjusted by the bow rudder through a feedforward-feedback multiple controller based on fuzzy PID controller. The feedforward controller of bow rudder is to compensate the disturbance of stern rudder, and the fuzzy PID feedback controller is to compensate the deviation of the feedforward control and disturbance from outside. The results of simulation in fuzzy logic toolbox of Matlab demonstrate that the proposed hybrid controller achieves its goal of small angle of attack in depth climbing, and possesses both the advantage of high-precise and flexibility. The robustness of the controller is improved when the fuzzy PID controller is being adapted.
2019,41(5): 65-69 收稿日期：2019-01-05
DOI：10.3404/j.issn.1672-7649.2019.05.013
分类号：U674.941
作者简介：段曰逊(1965-),男,高级工程师,研究方向为水下航行器控制技术
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