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.
2023,45(20): 51-57 收稿日期：2022-10-8
DOI：10.3404/j.issn.1672-7649.2023.20.009
分类号：U661.1
作者简介：李光磊(1983-)男,硕士,工程师,研究方向为舰船导航及操纵控制
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