潜艇悬停运动模糊控制

Research on submarine hovering based on fuzzy control

潜艇水下悬停是指潜艇在水下无航速时深度保持和变动,它是一个复杂的非线性过程。传统的控制方法缺乏自适应能力,影响了控制效果。模糊控制能够很好地解决上述问题。本文从模糊控制原理出发,确定悬停控制的模糊控制器结构,根据典型的阶跃响应指定了潜艇悬停的模糊规则,采用Simulink完成自抗扰微分器的程序设计。通过对2种典型工况进行仿真,表明模糊控制器能在潜艇定深悬停中起到很好的控制效果,并具有超调量小、调整时间短及鲁棒性好的优点。

The underwater hovering of submarine is to keep and alter depth at zero speed,which is a complex nonlinear process.Traditional control methods affect the effect because of lacking of adaptive capability,while fuzzy control can solve the problem well.Here the structure of fuzzy controller was set up based on the principle of fuzzy control.Then the rule for hovering control was carried out according to the classic step response.At last,the anti-jamming differentiator was set up by Simulink.The result of two basic working condition simulation showed that fuzzy controller was able to fix the submarine depth well,and had the advantage of fast and robust.