潜艇应急上浮时的滑模模糊灰色预测控制

Design of sliding mode fuzzy grey predictive controller for the submarine during emergency ascent

潜艇应急上浮是一个时变的、强非线性过程,难以建立精确的数学模型,采用常规基于模型的控制方法的控制效果并不理想.将广泛用于非线性控制系统设计的2种有效方法模糊控制与滑模控制相结合,取长补短,实现优势互补.为了克服舵、主压载水舱的注排水装置及高压气吹除系统等执行机构响应滞后的影响,设计了一种新型的滑模模糊灰色预测控制器用于潜艇应急上浮的自动控制,仿真结果表明控制方法是有效的,系统稳定,鲁棒性强.

In order to eliminate the effects of strong coupling between all dimensions of movements, se- vere nonlinearities and time--varying characteristics, a sliding mode fuzzy controller for a submarine during emergency ascent was developed in this paper. A novel multivariable sliding mode fuzzy grey predictive controller was also proposed in order to compensate the delay of the actuators such as rudder, drainage and the pneumatic blowing system. The simulation results show that the control approach not only remains robustness of sliding mode control, but also avoids the effects of chattering phenomenon, and possess better performance of the system. The stability and robustness of the system are good .