摘要
对潜艇运动模型进行了合理简化，考虑了水平面与垂直面运动参量的耦合影响，通过运动方程估计垂向速度，对ＭＩＭＯ非线性系统直接进行联合操舵滑动控制规律的设计，研究了潜艇航深稳定和潜浮运动两种控制问题．得出的控制算法简单，易于实现．仿真结果表明，控制效果良好．
The movement
model is simplified reasonably, and the coupling of movement between the horizontal plane and
vertical plane is considered. The vertical velocity is estimated by solving the motion equation. The
MIMO nonlinear sliding control law of combined operating rudders is designed and the control of
depth and diving is discussed. The algorithm is simple and easy to realize. The simulation results
reveal the advantage of the method.
出处
《华中理工大学学报》
CSCD
北大核心
1999年第5期94-96,共3页
Journal of Huazhong University of Science and Technology
基金
国防科技研究基金
