近水面小型水下航行器鲁棒反推滑模深度控制

Near-Surface Depth Control Based on Robust Backstepping Sliding Mode for Small Underwater Vehicles

小型水下航行器的近水面运动状态易遭受波浪扰动影响,致使其航行控制精度降低。为抑制波浪干扰,在建立小型水下航行器纵向模型的基础上,应用鲁棒反推滑模控制方法设计了深度控制器,建立了近水面波浪扰动模型和深度控制仿真模型,采用Matlab/Simulink对深度控制方法进行了仿真。仿真结果表明,所设计的控制器超调量小,调整时间短,鲁棒性强,在实际应用中易于实现。该研究为解决小型水下航行器深度控制中的波浪干扰问题提供了理论依据和技术支撑。

Near-surface motion state of a small underwater vehicle is influenced by wave disturbance to lower the control accuracy. To suppress wave disturbances, a longitudinal model of the small underwater vehicle was built in this study, and a depth controller was designed with the control method of robust backstepping sliding mode. A near-surface wave disturbance model and a depth control model were established to simulate the depth control method by using Matlab/Simulink. Simulation results show that the designed depth controller is easy to be implemented with small overshoot, short setting time and strong robustness. This study may provide theoretical and technical support for solving the problem of wave disturbance in depth control.