摘要
针对自主水下航行器(AUV)近水面航行过程中波浪扰动的问题,研究了模糊滑模控制在AUV近水面纵向运动控制中的应用。在AUV六自由度非线性模型的基础上进行合理的近似和简化,建立了线性化纵向运动方程。根据随机长峰波理论和波浪谱密度函数对AUV受到的波浪力和力矩进行了数值计算和仿真。基于滑模控制方法设计了AUV纵向运动控制器,对1阶波浪力扰动下的深度控制性能进行了分析,并通过在滑模控制器的基础上引入模糊逻辑解决1阶波频扰动引起的控制输入高频抖动问题。近水面深度控制计算机仿真结果表明,所设计的模糊滑模控制器在保持良好的控制性能的基础上能够达到减弱舵角高频抖动的目的。
To solve wave turbulence problem when an autonomous underwater vehicle（AUV） is running in near-surface sea,we apply fuzzy sliding mode control to AUV longitudinal motion control.Based on the approximation and simplification of a six-degree-of-freedom model,linear equations of motion in longitudinal plane are established.Wave force and moment on AUV are computed and simulated according to the theory of random long-crested wave and the function of wave spectral den-sity.An AUV longitudinal motion controller is designed based on the sliding mode control method.Depth control performance of sliding mode under first-order wave frequency turbulence is analyzed and evaluated with Matlab,and fuzzy logic is intro-duced to eliminate the input shake caused by the first-order wave frequency turbulence.The simulation results demonstrate that the proposed controller achieves good control performance,and reduce the high frequency shake of input rudder angle.
出处
《鱼雷技术》
2011年第5期360-364,共5页
Torpedo Technology
关键词
自主式水下航行器
模糊滑模控制
近水面
波浪扰动
纵向运动控制
autonomous underwater vehicle（AUV）
fuzzy sliding mode control
near-surface
wave turbulence
longitudinal motion control
