水下滑翔机QFT鲁棒控制器设计

The horizontal fixed wing design of underwater glider

水下滑翔机以其低功耗、低成本和低噪声等优势在海洋科研、环境监测、资源探测和军事侦察等领域具有广阔的应用前景,由于水下滑翔机长时间、大范围在水下作业,受海洋波浪影响严重,因此要求其具有优良的抗干扰能力。本文首先对水下滑翔机俯仰回路多阶水动力模型进行Pade'降阶,随后针对降阶后的模型设计了QFT鲁棒控制器,系统仿真结果表明在该控制器作用下,系统鲁棒性较强。

Underwater glider has broad application prospect in marine scientific research,environmental monitoring,resource exploration and military reconnaissance etc since it consumpts less energy,costs less and has less noise. The sea wave has a serious impact on the underwater glider because it works not only in a large underwater range but also for a long time. So it is required a good robust performance. In this paper,the underwater glider pitch loop multi-order hydrodynamic model was Pade order-reduced firstly,then the QFT robust controller was designed for the order-reduced model,system simulation results show that under the control of the controller,the system has strong robustness.