潜艇深度模糊控制及仿真研究

Fuzzy Controller and Simulation of Submarine Depth

根据潜艇操纵控制过程非线性、慢时变的特点,本文在潜艇深度垂直面运动方程的基础上设计了一个带模糊积分环节的潜艇深度模糊控制器,仿真结果表明,模糊控制器不仅能较好的实现深度保持,对舵机的损耗也比传统的PID控制小,并且,带模糊积分的潜艇深度控制器比PID控制具有更好的稳态精度。

During the submarine maneuvering, there are characteristics of nonlinearity and slow time varying. A kind of fuzzy controller with fuzzy integrator for keeping submarine’s depth based on submarine’s vertical motion equation is proposed. The simulation results show that not only the fuzzy controller can keep submarine’s depth, but also the wastage to rudderpost is less than PID controller. The adaptability of the proposed fuzzy controller with fuzzy integrator is better than that of the conventional PID controller.