CCV水下运载器系统结构及其模糊自校正解耦控制

The Structure of CCV Subsea Vehicles and its Fuzzy Self-tunning Uncoupled Controller

本文给出了一种基于随控布局技术CCV（ControlConfigredVechicle）的新型水下运载系统体系结构。CCV技术以主动控制为目的，以机动性为优先的一种设计方法，从而可使水下运载器具有非常规的机动性。为对水下运载器实行六自由度控制，并考虑到运载器本身动力学方程的非线性和参数不确定性的影响，本文还给出了基于模糊理论的模糊自校正解耦控制器设计。它与一般常规的PID控制器相比有着明显的优越性。

This paper gives a new structure of subsea vechicles based on the CCV(control configured vechicle)technology. The CCV tecnology is a method that makes active control augmentation surperior to stability augmentation.Therefore, the subsea vechicles have a good advantages for unconventional maneuverability. To control the threedimensional motion and considering the nonlinear equations of motion and the indeterminateness of some values,this paper also presents a fuzzy self-tunning uncoupled controller based on fuzzy theory. Compared with conventional PID controller, it has obvious andvantages.