摘要
针对大潜深AUV大幅变深时弹道参数变化显著、小扰动线性化模型偏差大的问题,提出了一种易于实现的纵向运动变结构控制方法.设计了控制切换函数和控制算法,分析了系统在状态空间内的运动,证明了切换面的可到达性和控制算法的稳定性,给出了消减控制抖振的改进方法.应用Simulink编程,进行了AUV六自由度运动仿真.仿真结果表明,采用改进的纵向变结构控制,AUV变深速度快、航迹平滑,控制效果好.
In the process of deep-submergence AUV changing depth, the error of small- perturbation linearization model is large,and the trajectory parameters change noticeably. Aiming at this problem, a variable structure controller（VSC）for the longitudinal control was proposed. The controller which is easy to realize consists of switching function and control algorithm. The motion of system in state space was analyzed,and the teachability of switching manifold and the stability of control were proved. To reduce the chattering, a modified controller was proposed. Based on Simulink,the AUV 6-DOF motion was simulated. The result shows that the AUV with modified VSC can chang depth fast,and its trajectory is smooth,which brings high performance.
出处
《弹道学报》
EI
CSCD
北大核心
2012年第2期20-24,共5页
Journal of Ballistics
