倾斜转弯鱼雷的分散自适应变结构控制

Decentralized Adaptive Variable Structure Control for Bank-to-turn Torpedo

为了解决鱼雷倾斜转弯机动过程中俯仰、偏航与横滚通道间存在较强的运动、流体动力耦合的问题,将其控制系统表示为具有非匹配不确定性的关联大系统形式,采用扰动补偿的方法设计协调回路部分抵消关联子系统间耦合;根据局部模型跟踪原理处理系统中的非匹配不确定性,利用左特征向量设计切换函数,提出自适应变结构控制律;利用Lyapunov稳定性理论证明系统的全局渐近稳定性。仿真结果表明,该控制方法满足鱼雷倾斜转弯机动的需求。

As with strong fluid dynamic and kinematic coupling among pitch, yaw, and roll channels of bank-to-turn （BTT） torpedo, the control system can be described as an interconnected large scale system with unmatched uncertainties. A decentralized adaptive sliding mode control scheme is proposed. Considering the coupling among the subsystems, a coordination loop is designed to counteract their partial influence, and a partial model following control is proposed for the model with unmatched uncertainties. A switching function is designed by left eigenvector for each subsystem, and the corresponding partial model following adaptive variable structure control law is presented. The global asymptotic stability of the system is proved by Lyapunov stability theorem. The simulation results show that the control system has perfect tracking capability and satisfies the requirements of bank-to-turn torpedo.