基于灰色预测的潜艇垂直面运动控制

Control of submarine's vertical motion based on gray predict

由于潜艇运动具有大惯性、大时延和非线性等特点,在外界干扰下,传统的PID控制器不能及时进行参数调整,将出现无效操舵、操舵幅度过大等现象。本文根据潜艇垂直面运动特点,设计一种基于灰色预测模型的潜艇垂直面运动控制器,采用灰色模型对潜艇深度和纵倾偏差进行实时预测,并将预测值应用于改进的PID控制器。仿真结果表明,该控制器比传统的PID控制器具有更好的动态特性,并能有效地减少无效操舵和操舵幅度过大等现象。

As submarine＇s motion has great inertia, significant delay of response and nonlinearity, under environment＇s disturbance,the traditional PID controller cannot adjust control performance in time, which leads to redundant steering and oversize manoeuvrability. According to the property of submarine＇s vertical motion, we design a controller of submarine＇s vertical motion based on the gray predict model, predict the error of submarine＇s depth and pitch using gray model in time, and apply it to improve PID controller. Compared to the traditional PID controller,the simulation result shows that this controller has a better dynamic property,and can reduce redundant steering and oversize manoeuvrability effectively.