基于模糊控制的潜器悬停系统

Hovering system based on fuzzy control

潜器水下悬停是一个非线性过程,随潜器状态及航行环境的不同而有很大变化。简要论述了潜器水下悬停的概念及对潜器的意义,研究分析了潜器水下悬停运动的数学模型及干扰力数学模型,将模糊控制技术引入潜器水下悬停控制过程中,通过仿真与传统的控制方式比较证明模糊控制具有的控制优势。

The underwater hovering system of submarine is a nonlinear process, which changes with the state of submarine and the difference of navigational condition. The traditional control method lacks selfadjusting ability, which affects the effect of control process. This paper simply introduces the conception of the underwater hovering system of submarine and the significance of its. Through research and analysis, it establishes a mathematic model for the underwater hovering movement of submarine and a mathematic expression of disturbing force while submarine hovered underwater. Lastly the fuzzy control method is applied to the hovering system. Through the simulation, the compare of the fuzzy control and the traditional control method proves the advantage of the fuzzy control method.