摘要
为了提高水下航行器的蔽障性能,进行组合导航蔽障控制器优化设计。针对水下航行器导航中容易出现横滚误差的问题,提出一种基于横滚小扰动误差补偿的组合导航蔽障控制算法,构建水下航行器组合导航蔽障控制对象模型,进行控制约束参量分析,设计组合导航蔽障的运动方程和控制目标函数,采用小扰动误差补偿方法进行横滚误差抑制,提高控制精度,在纵向运动的弹道模型下实现控制器的优化设计。仿真结果表明,采用该控制方法进行水下航行器组合导航蔽障控制的误差较小,收敛性和鲁棒性较好,性能优越。
In order to improve the performance of obstacle avoidance navigation Underwater Integrated Navigation barrier controller optimization design for underwater vehicle navigation is easy to occur in the roll error problem, put forward a barrier control algorithm of rolling perturbation error compensation based on integrated navigation, construction of underwater vehicle navigation barrier a model of control object, control parameter constraint analysis, the equations of motion and control function design of integrated navigation barrier, using the small perturbation method of error compensation for roll error suppression, improve control accuracy, realizing the optimization design of the controller in the longitudinal motion trajectory model. The simulation results show that the control method is less error, convergence and robustness, and better performance than the control method.
出处
《舰船科学技术》
北大核心
2017年第2X期64-66,共3页
Ship Science and Technology
基金
国家自然科学基金资助项目(61304259)
河南省科技攻关重点资助项目(122102210044)
河南工业大学青年骨干教师培育计划资助项目
组合导航信息融合技术研究
关键词
水下航行器
组合导航
控制
蔽障
扰动
underwater vehicle
integrated navigation
control
obstacle avoidance
disturbance
