滑模控制在水下航行器横滚姿态控制中的应用研究

Sliding Mode Control in the Underwater Vehicle Poll Attitude Control

水下航行器的横滚会使其纵向运动与侧向运动发生交连耦合,给其运动带来一系列不良后果。针对水下航行器航行环境复杂、模型参数摄动大、执行机构的饱和非线性等特点,采用滑模控制设计水下航行体横滚姿态控制器,以达到抑制和消除横滚的目的。仿真结果表明,滑模控制器操舵平滑,控制速度快,鲁棒性和环境适应能力更好。完全能胜任水下航行器横滚姿态控制的要求。

The AUV roll will make the vertical movement and lateral movement AC coupled, brings a series of adverse consequences to its movement. In view of the navigation environment complex, model parameter perturbation,nonlinear saturation characteristics of execution mechanism to the underwater vehicle, the roll attitude controller body horizontal sliding mode control design of underwater vehicles, in order to achieve the purpose ofinhibiting and eliminating roll. The simulation results show that the sliding mode controller steering control, smooth, fast speed, robustness and the ability to adapt to the environment better. Can roll attitude control requirements for cross for under water vehicle.